CN115100038A - Vehicle infrared imaging device and method based on static door frame - Google Patents
Vehicle infrared imaging device and method based on static door frame Download PDFInfo
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Abstract
The invention provides a vehicle infrared imaging device and method based on a static door frame, which comprises the following steps: establishing a transformation matrix between the infrared image and the visible light image; respectively collecting an infrared image and a visible light image of a vehicle entering the vehicle; splicing the collected visible light images to obtain splicing position information; and converting the splicing position into coordinates corresponding to the infrared image through a transformation matrix, and then performing matching splicing on the infrared image by using the coordinate information. The vehicle infrared imaging method based on the static door frame is simple to operate and good in imaging effect, and can effectively improve the vehicle detection precision.
Description
Technical Field
The invention relates to the technical field of infrared imaging, in particular to a vehicle infrared imaging device and method based on a static door frame.
Background
With the development of infrared imaging technology, infrared image processing has become an indispensable important component in infrared technology as an important technical means in infrared technology. Among them, the infrared image stitching technology has become a hotspot of research in the field of image processing as an important means for expanding the field of vision, and is widely applied in the field of automobile detection.
However, due to a special imaging mechanism of infrared radiation, images obtained by an infrared camera generally have the characteristics of poor imaging uniformity, coarse imaging details, low signal-to-noise ratio and the like, and because the infrared images reflect the numerical distribution of the temperature difference of the surface of an object, if the temperature difference of the surface of the object is small, the surface characteristics of the object cannot be reflected, and in the face of such a situation, only the infrared images are used for matching and splicing the characteristic points, so that the image acquisition of the whole object is difficult to realize. And then influenced vehicle imaging, reduced the accuracy of formation of image.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The first purpose of the invention is to provide a vehicle infrared imaging method based on a static portal, and the vehicle infrared imaging method can capture the characteristics of the surface of an object by combining and applying a visible light image and an infrared image even if the temperature difference of the surface of the object is small, thereby improving the imaging precision, facilitating the realization of the integral image acquisition of a vehicle and being beneficial to improving the reliability of vehicle detection.
The second objective of the present invention is to provide a vehicle infrared imaging apparatus applying the vehicle infrared imaging method, in which an infrared camera is combined with a visible light camera, so as to effectively improve imaging accuracy and imaging quality, and thus, effectively improve reliability of vehicle detection.
In order to achieve the above purpose of the present invention, the following technical solutions are adopted:
the invention provides a vehicle infrared imaging method based on a static portal, which comprises the following steps:
establishing a transformation matrix between the infrared image and the visible light image;
respectively collecting an infrared image and a visible light image of a vehicle entering the vehicle;
splicing the collected visible light images to obtain splicing position information;
and converting the splicing position into a coordinate corresponding to the infrared image through a transformation matrix, and then matching and splicing the infrared image by using the coordinate information.
In the prior art, due to a special imaging mechanism of infrared radiation, images shot by an infrared camera generally have the characteristics of poor imaging uniformity, coarse imaging details, low signal-to-noise ratio and the like, and the infrared images reflect the numerical distribution of the temperature difference of the surface of an object, so that the surface characteristics of the object cannot be reflected if the temperature difference of the surface of the object is small.
In order to solve the technical problems, the invention provides a vehicle infrared imaging method based on a static portal, which combines and applies a visible light imaging technology to the infrared imaging technology and utilizes the visible light imaging mode to overcome the problem that the infrared image cannot reflect the surface characteristics of an object when the temperature difference of the surface of the object is small in the prior art. Specifically, the method respectively collects visible light images and infrared images of the driven vehicles, maps the visible light images into the infrared images by using a transformation matrix, improves the accuracy of the infrared images, and can obtain the integral images of the object by using an image matching and splicing algorithm, thereby completing the task of collecting the images of the driven vehicles.
Preferably, the establishing of the transformation matrix between the infrared image and the visible light image includes the following steps:
collecting infrared image and visible light image of the same article, extracting the same characteristic point of the article located in the infrared image and the visible light image, respectively obtaining infrared position information and visible light position information of the characteristic point, and obtaining transformation matrix by using the information
Wherein x 'and y' are infrared position information of the characteristic point, namely a coordinate point of the characteristic point in the infrared image; x and y are visible light position information of the characteristic point, namely a coordinate point of the characteristic point in the visible light image; r is 00 、R 01 、R 10 、R 11 、T x And T y The transformation parameters to be solved.
Preferably, the number of the feature points is at least three pairs. The transformation parameters in the transformation matrix can be solved by taking the preset characteristic point coordinates as known quantities, so that the subsequent mapping between the visible light image and the infrared image is facilitated. Furthermore, the number of the characteristic points is ten pairs, so that errors can be reduced during solving, and the result is more accurate.
Preferably, the infrared image and the visible light image of the entering vehicle are the same object image captured at the same time.
Preferably, the splicing the collected visible light images to obtain the splicing position information includes:
and acquiring a homography matrix among the visible light frames through a RANSAC algorithm, converting the images of the frames to a common plane and splicing the images together.
Preferably, mapping the stitching position to the infrared image through the transformation matrix comprises the following steps:
constructing a Gaussian pyramid scale space;
determining the characteristic points of the splicing positions through a Non-Maximum Suppression algorithm (NMS Non Maximum Suppression), selecting the main direction of the characteristic points, and constructing a characteristic point description operator;
and mapping the characteristic points of the splicing positions to the infrared images through the transformation matrix to obtain the coordinate information of the corresponding infrared images.
Preferably, the constructing the gaussian pyramid scale space includes: using Hessian matrix determinant approximation images
Wherein x and y are coordinates of the characteristic points of the visible light image.
According to the invention, the characteristic points of the visible light image are extracted through a SURF (speeded Up Robust features) algorithm, the characteristic points of the visible light image are mapped into the infrared image through a transformation matrix, and an infrared characteristic point set of the same object at a plurality of front and back moments, namely an infrared image characteristic point position information set of continuous frames, can be obtained through sequential operation, so that the problem of image splicing difficulty caused by discontinuous infrared image acquisition in the prior art is solved.
Preferably, the matching and stitching of the infrared images by using the coordinate information includes the following steps:
and acquiring a homography matrix among the infrared images of each frame through a RANSAC algorithm, converting the images of each frame to a common plane and splicing the images together.
Specifically, a RANSAC (random Sample consensus) algorithm is utilized to randomly extract n Sample data from a feature point set, a transformation matrix H is calculated and recorded as a model M; calculating projection errors of all data in the feature point set and the model M, and adding the feature point set into the inner point set if the errors are smaller than a threshold value; when the number of elements of the inner point set is larger than that of the optimal inner point set, updating the optimal inner point set and updating the iteration times k; if the iteration times are larger than k, the algorithm is calculated, otherwise, the iteration times are added by 1, and the process is repeated. And keeping the updating process under the condition that the iteration times k are not more than the maximum iteration times.
Where p is the confidence, typically taken to be 0.995, w m Is the interior point set of model M.
The invention also provides a vehicle infrared imaging device of the vehicle infrared imaging method, which comprises the following steps:
gantry frame: the portal frame is fixed on the ground;
an infrared camera: the infrared image acquisition device is arranged on the portal frame and is used for acquiring infrared images of vehicles running in;
visible light camera: and the infrared camera is arranged on the infrared camera and is used for acquiring visible light images of the driving vehicles.
Preferably, the number of the infrared cameras is three, and the three infrared cameras are respectively arranged on two side arms and a top arm of the portal frame.
Preferably, an extension rod is arranged on the infrared camera, and the infrared camera is fixed on the portal frame through the extension rod.
Preferably, the gantry is provided with a memory and a processor, and the processor is used for executing a calculation formula program stored in the memory so as to realize the steps of the method.
The invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the vehicle infrared imaging method as described above.
Compared with the prior art, the invention has the beneficial effects that:
according to the vehicle infrared imaging method based on the static portal, the visible light image acquisition and the infrared image acquisition are respectively carried out on the driven vehicle, the visible light image is mapped into the infrared image by using the transformation matrix, the accuracy of the infrared image is improved, and meanwhile, the image of the whole object can be obtained by using the image matching and splicing algorithm, so that the image acquisition task of the driven vehicle is completed, the improvement of the vehicle detection accuracy is facilitated, and the reliability of the detection result is ensured.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic structural diagram of a stationary gantry-based vehicle infrared imaging device according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
fig. 3 is a flowchart of a stationary gantry-based vehicle infrared imaging method according to an embodiment of the present invention.
Wherein:
1-a portal frame; 2-an infrared camera;
3-a visible light camera; 4-an extension rod.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are a part of the embodiments of the present invention, rather than all of the embodiments, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The examples, in which specific conditions are not specified, were carried out according to conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are conventional products which are not indicated by manufacturers and are commercially available.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to more clearly illustrate the technical solution of the present invention, the following description is made in the form of specific embodiments.
Examples
Referring to fig. 1, the present embodiment provides a stationary gantry-based vehicle infrared imaging apparatus, including: the system comprises a portal frame 1, an infrared camera 2 used for collecting infrared images of a vehicle entering the portal frame, and a visible light camera 3 used for collecting visible light images of the vehicle entering the portal frame. Wherein, the portal frame 1 is fixed on the ground; the infrared camera 2 is installed on the portal frame 1, and the visible light camera 3 is installed on the infrared camera 2.
The three infrared cameras 2 are respectively arranged on two side arms and a top arm of the portal frame 1. The viewing angle of the infrared camera 2 is 90 °. The three-side image of the vehicle can be simultaneously collected by the arrangement, and the complete coverage of the vehicle when the image is collected by the camera is ensured by limiting the visual angle of the vehicle.
As shown in fig. 2, an extension rod 4 is provided on the infrared camera 2, and the infrared camera 2 is fixed on the gantry 1 through the extension rod 4. All pass through bolted connection between infrared camera 2 and extension rod 4, between extension rod 4 and portal frame 1, make things convenient for follow-up dismouting and maintenance like this. The extension rod is arranged to ensure that the focus of the camera is focused on the vehicle and ensure the accuracy and definition of the generated image.
In this embodiment, the gantry 1 is provided with a memory and a processor, and the processor is configured to execute a calculation program stored in the memory to implement the steps of the vehicle infrared imaging method.
The use method of the device is as follows: when the portal frame type image splicing and imaging system is used, a vehicle runs under the portal frame 1, the visible light camera 3 and the infrared camera 2 collect images of the vehicle, the images are transmitted to the processor after collection is finished, and the processor automatically splices and images the images by executing a program in the memory.
As shown in fig. 3, the infrared imaging method for a vehicle based on a stationary gantry of the present embodiment includes the following steps:
s1, establishing a transformation matrix between the infrared image and the visible light image;
the method specifically comprises the following steps: collecting infrared image and visible light image of the same article, extracting the same characteristic point of the article located in the infrared image and the visible light image, respectively obtaining infrared position information and visible light position information of the characteristic point, and obtaining transformation matrix by using the information
Wherein x 'and y' are infrared position information of the characteristic point, namely a coordinate point of the characteristic point in the infrared image; x and y are visible light position information of the characteristic point, namely a coordinate point of the characteristic point in the visible light image; r 00 、R 01 、R 10 、R 11 、T x And T y Are the transformation parameters to be solved.
In this embodiment, the number of feature points is at least three pairs. By using preset characteristic point coordinates as known quantity, transformation parameters R in transformation matrix can be solved 00 、R 01 、R 10 、R 11 、T x And T y Thereby facilitating mapping between subsequent visible light images and infrared images. Specifically, the number of the feature points can be selected to be ten pairs, so that errors can be reduced during solving, and the result is more accurate.
S2, respectively collecting an infrared image and a visible light image of the vehicle entering the vehicle;
the infrared image and the visible light image of the vehicle are the same object image shot at the same time. During the collection process, the relative positions of the visible light camera and the infrared camera are kept fixed. The affine transformation matrix describes the mapping relation of coordinate systems in the visual fields of the two cameras, the relative positions of the two cameras are unchanged, and the feature points in one visual field can be always mapped to the coordinate points in the other visual field through the transformation matrix.
S3, splicing the collected visible light images to obtain splicing position information;
the visible light images can be spliced by using a RANSAC algorithm, specifically, a homography matrix between each frame of visible light is obtained by using the RANSAC algorithm, and then each frame of images is converted to a common plane and spliced together.
And S4, converting the splicing position into the coordinate of the corresponding infrared image through a transformation matrix, and then performing matching splicing on the infrared image by using the coordinate information.
The method specifically comprises the following steps:
s401, constructing a Gaussian pyramid scale space: approximation image using Hessian matrix determinant
Wherein x and y are coordinates of the characteristic points of the visible light image.
S402, determining feature points of the splicing positions through a Non-Maximum Suppression algorithm (NMS Non Maximum Suppression), selecting the main direction of the feature points, and constructing feature point description operators;
and S403, mapping the characteristic points of the splicing positions to the infrared images through the transformation matrix to obtain the coordinate information of the corresponding infrared images. The infrared characteristic point sets of the same object at a plurality of front and back moments, namely the infrared image characteristic point position information sets of continuous frames, can be obtained through sequential operation.
S404, obtaining a homography matrix among the infrared images of each frame through a RANSAC algorithm, converting the images of each frame to a common plane and splicing the images together to obtain the infrared imaging large image of the driving vehicle.
The specific method comprises the following steps: randomly extracting n Sample data from the feature point set by using a RANSAC (random Sample consensus) algorithm, calculating a transformation matrix H, and recording the transformation matrix H as a model M; calculating projection errors of all data in the feature point set and the model M, and adding the feature point set into the inner point set if the errors are smaller than a threshold value; when the number of elements of the inner point set is larger than that of the optimal inner point set, updating the optimal inner point set and updating the iteration times k; if the iteration number is larger than k, the algorithm is calculated, otherwise, the iteration number is increased by 1, and the process is repeated. And keeping the updating process under the condition that the iteration times k are not more than the maximum iteration times.
Where p is the confidence, typically taken to be 0.995, w m Is the set of interior points of model M.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by instructions associated with hardware via a program, which may be stored in a computer-readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, and the like.
In a word, the vehicle infrared imaging method based on the static door frame is simple to operate, good in imaging effect and capable of effectively improving the vehicle detection precision.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle infrared imaging method based on a static door frame is characterized by comprising the following steps:
establishing a transformation matrix between the infrared image and the visible light image;
respectively collecting an infrared image and a visible light image of a driven vehicle;
splicing the collected visible light images to obtain splicing position information;
and converting the splicing position into coordinates corresponding to the infrared image through a transformation matrix, and then performing matching splicing on the infrared image by using the coordinate information.
2. The stationary gantry based infrared imaging method for vehicles of claim 1, wherein said establishing a transformation matrix between the infrared image and the visible light image comprises the steps of:
collecting infrared image and visible light image of the same article, extracting the same characteristic point of the article located in the infrared image and the visible light image, respectively obtaining infrared position information and visible light position information of the characteristic point, and obtaining transformation matrix by using the information
Wherein x 'and y' are infrared position information of the characteristic point, namely a coordinate point of the characteristic point in the infrared image; x and y are visible light position information of the characteristic point, namely a coordinate point of the characteristic point in the visible light image; r 00 、R 01 、R 10 、R 11 、T x And T y The transformation parameters to be solved.
3. The stationary gantry based infrared imaging method of the vehicle of claim 2, wherein the number of feature points is at least three pairs.
4. The stationary gantry based vehicle infrared imaging method of claim 1, wherein the incoming vehicle infrared image and the visible light image are the same object image taken at the same time.
5. The stationary gantry based vehicle infrared imaging method of claim 1, wherein the converting the stitching location to coordinates of the corresponding infrared image through a transformation matrix comprises the steps of:
constructing a Gaussian pyramid scale space;
determining characteristic points of the splicing positions through a non-maximum suppression algorithm, selecting the main direction of the characteristic points, and constructing a characteristic point description operator;
and mapping the characteristic points of the splicing positions to the infrared images through the transformation matrix to obtain the coordinate information of the corresponding infrared images.
6. The stationary gantry based vehicle infrared imaging method of claim 5, wherein the constructing a Gaussian pyramid scale space comprises: approximation image using Hessian matrix determinant
Wherein x and y are coordinates of the characteristic points of the visible light image.
7. The stationary gantry based infrared imaging method for vehicles of claim 1, wherein said matched stitching of infrared images using the coordinate information comprises the steps of:
and acquiring a homography matrix among the infrared images of each frame through a RANSAC algorithm, converting the images of each frame to a common plane and splicing the images together.
8. A vehicle infrared imaging apparatus to which the vehicle infrared imaging method according to any one of claims 1 to 7 is applied, characterized by comprising:
gantry frame: the portal frame is fixed on the ground;
an infrared camera: the infrared image acquisition device is arranged on the portal frame and is used for acquiring infrared images of vehicles running in;
visible light camera: and the infrared camera is arranged on the infrared camera and is used for acquiring visible light images of the driving vehicles.
9. The vehicle infrared imaging apparatus of claim 8, characterized in that a memory and a processor are installed on the gantry, and the processor is used for executing a calculation formula program stored in the memory to realize the steps of the vehicle infrared imaging method.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the vehicle infrared imaging method as set forth in any one of claims 1-7.
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