WO2016026349A1 - 高鲁棒性的标志点解码方法及系统 - Google Patents
高鲁棒性的标志点解码方法及系统 Download PDFInfo
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- the invention belongs to the technical field of image processing, and particularly relates to a high robust marker point decoding method and system for splicing and matching three-dimensional shapes of large-sized objects in a multi-sensor network.
- the global matching method of the global control network is used to transform the depth data of different perspectives into a unified reference coordinate system to complete multi-view matching, so the accuracy of the matching is to improve the three-dimensional data stitching. An important part of the correct rate.
- the design schemes for coding landmarks are mainly divided into two categories: concentric circles (rings) as shown in Fig. 1(a) and Fig. 1(b) and points shown in Fig. 1(c) and Fig. 1(d). distributed.
- the G-STAR system of the US GSI adopts the Hattori coded mark (Fig. 1(c)); DPA-Pro of AICON 3D of Germany
- the system uses the Schneider coded marker point (Fig. 1(b)).
- the DPA-Pro system is integrated by at least two companies in its own related products:
- the first technical problem to be solved by the present invention is to provide a highly robust marker point decoding method, which can better avoid the factors such as shooting angle, camera resolution and noise, and the judgment of the coding feature region in the marker point. error.
- the present invention is implemented in such a manner that a highly robust marker point decoding method includes the following steps:
- Step A estimating a homography matrix, and transforming the perspective projection image of the marker point into an orthographic projection image by using the estimated homography matrix;
- Step B traverse the code segment of the orthographic image of the marker point in a polar coordinate system, obtain a pixel value corresponding to each pixel of the code segment in a Cartesian coordinate system, and determine the length of each code segment according to the distribution of each pixel value. In order to determine the number of code values occupied by each code segment in the binary code sequence, and then use the pixel value of each code segment as its code value in the binary code sequence to form a code for use in a Cartesian coordinate system. Characterizing a binary code sequence of the marker point code value;
- the marker point image is a ring-shaped binary coded image, and when the image of the marker point is equally divided by N, each of the aliquots is encoded as a pixel value, and each of the codes Duan Containing at least one aliquot;
- Step C cyclically shifting the binary code sequence, and converting each shifted sequence into a decimal code value, and finally marking the smallest one decimal code value as the coded value of the mark point.
- the homography matrix in step A is estimated by using five points: two intersections of the long axis and the edge of the central ellipse of the marker point image, two intersections of the minor axis and the edge, and an elliptical center point.
- step B specifically maps an image including a plurality of landmark points from a polar coordinate system to a Cartesian coordinate system according to the following formula:
- x 0 is the polar coordinate transformation center abscissa
- y 0 is the polar coordinate transformation center ordinate
- r is the polar diameter
- theta is the polar angle
- the polar diameter r is within the image range of the marker point.
- the polar diameter r is taken as: r ⁇ [2R, 3R], where R is the center circle radius of the image of the marker point; the polar angle theta is: theta ⁇ [1°, 360°] .
- the ratio of the center circle radius of the image of the marker point, the inner radius of the coded loop, and the outer radius of the coded loop are 1:2:3.
- a perspective projection transformation module configured to transform the perspective projection image of the marker point into an orthographic projection image by using the estimated homography matrix
- a coordinate transformation module is configured to traverse the code segment of the orthographic image of the marker point in a polar coordinate system, obtain a pixel value corresponding to each pixel of the code segment in a Cartesian coordinate system, and determine each code according to the distribution of each pixel value The length of the segment, in order to determine the number of code values occupied by each code segment in the binary code sequence, and then use the pixel value of each code segment as its code value in the binary code sequence to form a Cartesian coordinate system.
- mark point image is a ring-shaped binary coded image, and when the image of the mark point is equally divided by N, each of which a portion as a pixel value encoding bit, and each of the encoding segments further includes at least one aliquot;
- a decoding marking module configured to cyclically shift the binary code sequence, convert each shifted sequence into a decimal code value, and finally mark the smallest one decimal code value as the coded value of the flag point.
- the coordinate transformation module maps an image including a plurality of marker points from a polar coordinate system to a Cartesian coordinate system according to the following formula:
- x 0 is the polar coordinate transformation center abscissa
- y 0 is the polar coordinate transformation center ordinate
- r is the polar diameter
- theta is the polar angle
- the polar diameter r is within the image range of the marker point.
- the homography matrix transformation can effectively eliminate the influence of the oblique shooting angle
- the polar coordinates themselves have rotation invariance, which can eliminate the influence of the rotation
- the oversampling of the coding loop band can eliminate the camera resolution to some extent
- the negative influence of noise can be widely applied under the premise of ensuring high robustness, and it can better avoid the errors caused by the shooting angle, camera resolution and noise affecting the judgment of the coded feature area in the marker point.
- Figure 1a Figure 1b is a schematic diagram of a concentric circle (ring) design of coded landmarks
- Figure 1c, Figure 1d is a schematic diagram of a distributed design of points encoding code points
- FIG. 2 is a flowchart showing an implementation of a highly robust decoding method for a ring coded marker point provided by the present invention
- Figure 3a is a schematic diagram of the design of the coded marker points provided by the present invention.
- Figure 3b is a schematic diagram of a marker point designed by the present invention using the principle shown in Figure 3a;
- Figure 4 is an image taken from a target with a certain inclination and rotation for a target to which the coded mark provided by the present invention is attached;
- FIG. 5 and FIG. 6 are schematic diagrams of coordinate transformation provided by the present invention.
- FIG. 7 is a schematic diagram of a marker point with an encoding value of 1463 provided by the present invention.
- Figure 8 is a flow chart for decoding the marker points shown in Figure 7;
- Figure 9 is a schematic diagram showing the decoding result of the image in Figure 4.
- FIG. 10 is a logical structural diagram of a highly robust decoding system for ring coded landmarks provided by the present invention.
- Figure 11 is a schematic illustration of the perspective projection transformation provided by the present invention to an orthographic projection.
- the invention selects a Schneider coding pattern which is more practical and easy to expand as the basis of the research, and the decoding method used has wide applicability under the premise of ensuring high robustness, whether it is 12 equal parts or 14 equal parts or more subdivision.
- the coded loops can achieve high decoding accuracy.
- FIG. 2 shows an implementation flow of a highly robust marker point decoding method provided by the present invention, which is described in detail below.
- Step A estimating a homography matrix, and transforming the perspective projection image of the marker point into a front projection image by using the solved homography matrix;
- the image of the marker point is a ring-shaped binary coded image, and when the image of the marker point is equally divided by N, each of the aliquots is encoded as a pixel value, as shown in FIG. 3a.
- the ring surrounding the center is the coded feature area---the coded ring band, which is equally divided into N equal parts (called N bits bit code), and each aliquot is called an coded bit, and each code is called Bit can be seen as a second Binary digits, black for 0, white for 1, so that each marker can be decoded into an N-bit binary code, and the ratio of the center circle radius, the inner radius of the coded ring, and the outer radius of the coded ring is 1:2. :3.
- each white code segment may contain at least one of the above aliquots.
- the above marker points can be generated by using the software AICON logo point generator. Paste a set of markers with different encoding values generated by the software AICON's marker generator onto the target, and use a camera (such as a SLR camera) to capture the captured image from the target with the marker point and transfer the captured image to the computer. .
- the present invention captures a target having 72 different landmarks from a certain angle of inclination and rotation, as shown in FIG.
- edge detection is performed on the acquired image, and noise and non-target objects are filtered through a series of constraints and criteria to complete the recognition of the target.
- sub-pixel positioning of the edge of the marker image captured by the camera is performed, and the positioning process is as follows:
- Step 1 Using the Canny operator to perform edge detection of the marker points
- Step 2 Obtain an image containing only the edge of the marker point according to a series of constraints such as a length criterion (number of pixels at the edge of the marker point), a closure criterion, a brightness criterion, and a shape criterion;
- Step 3 Sub-pixel center localization algorithm based on surface fitting of circular marker points, using sub-pixel positioning method combined with elliptic curve fitting method and surface fitting method for sub-pixel center positioning;
- Sub-pixel edge localization A cubic polynomial surface fitting is performed on the 5 ⁇ 5 neighborhood of each pixel of the pixel-level edge, and the position of the first derivative local extremum of the surface is obtained, that is, the sub-pixel position.
- f(x,y) k 1 +k 2 x+k 3 y+k 4 x 2 +k 5 xy+k 6 y 2 +k 7 x 3 +k 3 x 2 y+k 9 xy 2 +k 10 y 3
- the sub-pixel position of the edge point can be solved as (x 0 + ⁇ cos ⁇ , y 0 + ⁇ sin ⁇ ).
- Sub-pixel center positioning Perform the least squares fitting equation of all elliptical sub-pixel edges to obtain the center position of the marker point.
- the five parameters B, C, D, E, and F of the elliptic equation can be obtained by fitting, and the ellipse center coordinates are:
- a circular perspective projection is an ellipse on the image surface, but there is a deviation between the centroid of the ellipse and the projection of the center on the image plane. Therefore, there is a systematic error in the imaging position at the center of the marker point by the centroid of the marker point image (ellipse) processed by the marker point center (centroid) positioning algorithm.
- Deviation analysis based on Ahn's formula in "Systematic geometric image measurement errors of circular object targets: Mathematical formulation and correction” (The Photogrammetric Record, 16 (93): 485-502), and Heikkil in “A four-step camera”
- the deviation correction is performed by the formula in the calibration procedure with implicit image correction” (IEEE Computer Society Conference on, 1997, Proceedings. 1106-1112).
- the correction of the centering deviation of the marker points is realized in combination with Heikkil's positional deviation model and Chen's circle-based camera calibration in "Camera calibration with two arbitrary coplanar circles” (Computer Vision-ECCV, 2004, 521-532).
- a Homography matrix H can be used to describe the transformation relationship between the two.
- two intersections of the long axis and the edge of the center point ellipse of the marker point image, two intersection points of the minor axis and the edge, and the center of the ellipse ie, the center of the above marker point
- the homography matrix H can be estimated from the five pairs of corresponding points. Using this homography matrix to apply a transformation to each pixel in the image, the actual image (ellipse) of the marker point can be corrected to an orthographic projection image (a perfect circle).
- Step 1 Estimate the homography matrix H
- Step 2 Apply a homography matrix transformation to each pixel.
- step B the code segment of the marker point image is traversed according to a certain rule in a polar coordinate system, and the pixel value of the point corresponding to each point in the Cartesian coordinate system is obtained, and the length of each code segment is determined according to the distribution of the pixel values.
- the code value of each code segment determines its code value in the binary code sequence, forming a code for use in a Cartesian coordinate system.
- a binary code sequence characterizing the marker point code value.
- the invention specifically uses the Log Polar transform, that is, polar coordinate transformation, to map an image in a Cartesian coordinate system into a polar coordinate system.
- Log Polar Transform maps images from (x,y) to (log(r),theta)
- present invention maps images from (x,y) to (r,theta).
- Figure 5 The transformation formula is:
- the central angle of the coded band is 360°, so the polar angle theta takes the value of theta ⁇ [1,360], and the equal interval is 1 to take 360 angle values as variables in the process of traversing the code segment.
- the center coordinate of the polar coordinate transformation is required ( x 0 , y 0 ) is added as an offset to (x, y) in order for the polar coordinate system to correctly correspond to the Cartesian coordinate system to complete the transformation, as shown in Figure 6.
- step C the binary coded sequence is cyclically shifted, and each shifted sequence is converted into a decimal coded value, and finally the smallest one of the decimal coded values is marked as the coded value of the mark point.
- the binary code string is cyclically shifted to obtain the minimum value as the coded value of the marker point, so that the marker point has unique identity information.
- FIG. 8 shows The cyclic shift process of the binary code sequence can be seen that the values of 1901, 2998, 3509, and 3802 obtained during the cyclic shift process, wherein the minimum value 1463 is the coded value of the mark point, so that the mark point is unique. Identity information.
- the marker points on the target shown in FIG. 4 are decoded by the above decoding method, and the decoding result is as shown in FIG. 9. By correcting the correct code value, the decoding accuracy rate is 100%.
- Fig. 10 shows the logical structure of the highly robust marker point decoding system provided by the present invention, and for the convenience of description, only the parts related to the present embodiment are shown.
- the high robustness decoding system includes a perspective projection transformation module 101 and a coordinate transformation module.
- the block 102 and the decoding mark module 103 wherein the perspective projection transformation module 101 is configured to transform the perspective projection image of the marker point into a forward projection image, wherein the transformation is completed by using the homography matrix H.
- the coordinate transformation module 102 is configured to traverse the code segment of the orthographic image of the marker point in a polar coordinate system, obtain a pixel value corresponding to each pixel of the code segment in a Cartesian coordinate system, and determine each code according to the distribution of each pixel value.
- the length of the segment in order to determine the number of code values occupied by each code segment in the binary code sequence, and then determine the code value in the binary code sequence by the pixel value of each code segment to form a Cartesian coordinate system a binary code sequence for characterizing the mark point code value; as described above, the image of the mark point is a ring-shaped binary coded image, and when the image of the mark point is equally divided by N, wherein Each aliquot is encoded as a pixel value, and each of the encoded segments contains at least one aliquot.
- the decoding tagging module 103 cyclically shifts the binary code sequence, and converts each shifted sequence into a decimal coded value, and finally marks the smallest one of the decimal coded values as the coded value of the flag point.
- the proposed method has high robustness to a decoding method with coding characteristic points, and is less affected by shooting angle, camera resolution, noise, etc., and can be used for large-sized objects in a multi-sensor network. Splicing and matching of three-dimensional shapes.
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Claims (10)
- 一种高鲁棒性的标志点解码方法,其特征在于,包括下述步骤:步骤A,估计单应矩阵,利用估计出的单应矩阵将标志点的透视投影图像变换为正投影图像;步骤B,在极坐标系下遍历标志点正投影图像的编码段,得到编码段的每一像素点在笛卡尔坐标系中对应的像素值,根据各像素值的分布情况判断各编码段的长度,以此确定每一编码段在二进制编码序列中所占的码值位数,再将各编码段的像素值作为其在二进制编码序列中的码值,形成一个在笛卡尔坐标系下用于表征该标志点编码值的二进制编码序列;其中,所述标志点图像为环状二值编码图像,且当所述标志点的图像被等角度的N等分时,其中每一等份作为一个像素值编码位,而每个所述编码段又包含有至少一个等份;步骤C,将所述二进制编码序列进行循环移位,并将每次移位后的序列转换为一个十进制编码值,最后将最小的一个十进制编码值标记为该标志点的编码值。
- 如权利要求1所述的高鲁棒性解码方法,其特征在于,步骤A中单应矩阵利用如下五个点来进行估计:利用标志点图像中心椭圆的长轴与边缘的两个交点、短轴与边缘的两个交点以及椭圆中心点。
- 如权利要求1所述的标志点解码方法,其特征在于,步骤B具体根据如下公式完成极坐标系到笛卡尔坐标系的对应:X=x0+r×cos(theta);Y=y0+r×sin(theta);其中,x0为极坐标变换中心横坐标,y0为极坐标变换中心纵坐标,r表示极径,theta表示极角;极径r在标志点的图像范围之内。
- 如权利要求3所述的标志点解码方法,其特征在于,所述极径r取值为: r∈[2R,3R],R为标志点的图像的中心圆半径;所述极角theta取值为:theta∈[1°,360°]。
- 如权利要求4所述的标志点解码方法,其特征在于,步骤B中遍历编码段的具体方式为:将极径r作为定量,将极角theta以1°的等间隔取360个角度值作为变量,遍历标志点正投影图像的编码段;其中,极径r=2.5R。
- 如权利要求1所述的标志点解码方法,其特征在于,所述标志点图像的中心圆半径、编码环带内半径、编码环带外半径的比值为1∶2∶3。
- 一种高鲁棒性的标志点解码系统,其特征在于,包括下述模块:透视投影变换模块,用于利用估计出的单应矩阵将标志点的透视投影图像变换为正投影图像;坐标变换模块,用于在极坐标系下遍历标志点正投影图像的编码段,得到编码段的每一像素点在笛卡尔坐标系中对应的像素值,根据各像素值的分布情况判断各编码段的长度,以此确定每一编码段在二进制编码序列中所占的码值位数,再将各编码段的像素值作为其在二进制编码序列中的码值,形成一个在笛卡尔坐标系下用于表征该标志点编码值的二进制编码序列;其中,所述标志点图像为环状二值编码图像,且当所述标志点的图像被等角度的N等分时,其中每一等份作为一个像素值编码位,而每个所述编码段又包含有至少一个等份;解码标记模块,用于将所述二进制编码序列进行循环移位,并将每次移位后的序列转换为一个十进制编码值,最后将最小的一个十进制编码值标记为该标志点的编码值。
- 如权利要求7所述的高鲁棒性解码系统,其特征在于,所述坐标变换模块根据如下公式将包含多个标志点的图像从极坐标系映射到笛卡尔坐标系中:X=x0+r×cos(theta);Y=y0+r×sin(theta);其中,x0为极坐标变换中心横坐标,y0为极坐标变换中心纵坐标,r表示极径,theta表示极角;极径r在标志点的图像范围之内。
- 如权利要求8所述的高鲁棒性解码系统,其特征在于,所述极径r取值为:r∈[2R,3R],R为标志点的图像的中心圆半径;所述极角theta取值为:theta∈[1°,360°];所述标志点的图像的中心圆半径、编码环带内半径、编码环带外半径的比值为1∶2∶3。
- 如权利要求9所述的高鲁棒性解码系统,其特征在于,所述坐标变换模块将极径r作为定量,将极角theta以1°的等间隔取360个角度值作为变量,遍历标志点正投影图像的编码段;其中,极径r=2.5R。
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