WO2021114883A1

WO2021114883A1 - Image registration method, terminal, and storage medium

Info

Publication number: WO2021114883A1
Application number: PCT/CN2020/122474
Authority: WO
Inventors: 权威; 马元蛟; 罗俊
Original assignee: Oppo广东移动通信有限公司
Priority date: 2019-12-10
Filing date: 2020-10-21
Publication date: 2021-06-17
Also published as: CN111127528A

Abstract

Disclosed in embodiments of the present application are an image registration method, a terminal, and a storage medium. The image registration method comprises: obtaining a first image at a first moment, and then obtaining a second image at a second moment; determining a rotation parameter between the first moment and the second moment, and performing registration processing on the first image according to the rotation parameter to obtain a first registration image; and determining a movement parameter between the first registration image and the second image, and performing registration processing on the first registration image according to the movement parameter to obtain a second registration image.

Description

Image registration method, terminal and storage medium

This application is based on a prior Chinese patent application with the application number 201911260229.8, the application date being December 10, 2019, and the application name "Image registration method, terminal and storage medium", and the priority of the prior Chinese patent application is required Right, the entire content of the prior Chinese patent application is hereby incorporated into this application as a reference.

Technical field

The embodiments of the present application relate to the field of image processing technology, and in particular, to an image registration method, terminal, and storage medium.

Background technique

Image registration is a process of matching and superimposing two or more images acquired at different times, different sensors (imaging equipment) or under different conditions (weather, illuminance, camera position and angle, etc.). At present, block matching, feature detection or optical flow methods are commonly used to detect the movement of picture pixels, and then use the above results to re-move the pixels to generate a new image to match the image content.

Due to the rotation and movement of the shooting device during the shooting process, there will be a large inter-frame motion between continuous shooting or continuous multiple frames of video images. However, the current image registration method will have the problem of reduced accuracy and greatly reduced processing speed when moving between larger frames.

Summary of the invention

The embodiments of the present application provide an image registration method, terminal, and storage medium, which effectively improve the processing speed and the accuracy of image registration during image registration processing.

The technical solutions of the embodiments of the present application are implemented as follows:

In the first aspect, an embodiment of the present application provides an image registration method, the method including:

After the first image is acquired at the first moment, the second image is acquired at the second moment;

Determining a rotation parameter between the first time and the second time, and performing registration processing on the first image according to the rotation parameter to obtain a first registration image;

A movement parameter between the first registration image and the second image is determined, and registration processing is performed on the first registration image according to the movement parameter to obtain a second registration image.

In a second aspect, an embodiment of the present application provides a terminal, the terminal includes: an acquisition part, a determination part, a registration part,

The acquiring part is configured to acquire a second image at a second time after acquiring the first image at the first time;

The determining part is configured to determine a rotation parameter between the first time and the second time;

The registration part is configured to perform registration processing on the first image according to the rotation parameter to obtain a first registered image;

The determining part is further configured to determine a movement parameter between the first registration image and the second image;

The registration part is further configured to perform registration processing on the first registration image according to the movement parameter to obtain a second registration image.

In a third aspect, an embodiment of the present application provides a terminal. The terminal includes a processor and a memory storing executable instructions of the processor. When the instructions are executed by the processor, the above-mentioned Image registration method.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium with a program stored thereon and applied to a terminal. When the program is executed by a processor, the image registration method as described above is implemented.

The embodiments of the present application provide an image registration method, terminal, and storage medium. After acquiring the first image at the first time, the terminal acquires the second image at the second time; determining the rotation between the first time and the second time Parameters, and perform registration processing on the first image according to the rotation parameters to obtain the first registration image; determine the movement parameters between the first registration image and the second image, and register the first registration image according to the movement parameters Alignment processing to obtain a second registered image. That is, in the embodiment of the present application, the terminal can record the rotation parameter and the movement parameter between the first time and the second time while acquiring the first image and the second image at the first time and the second time. First use the rotation parameter to correct the change of the image content caused by the terminal rotation, and then use the movement parameter to correct the change of the image content caused by the terminal translation, so that the first image and the second image can be achieved from different aspects. Alignment processing, which can obtain better registered images at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of the rotation parameters by the gyroscope and the movement parameters obtained by the translation search processing, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

Description of the drawings

Figure 1 is the first schematic diagram of the implementation process of the image registration method;

Figure 2 is a second schematic diagram of the implementation process of the image registration method;

Figure 3 is the third schematic diagram of the implementation process of the image registration method;

Figure 4 is a schematic diagram of the amount of rotation in a spatial direction;

Fig. 5 is a schematic diagram of the rotation of the imaging surface;

Fig. 6 is the first schematic diagram of the projection sequence in the y-axis direction;

Fig. 7 is the second schematic diagram of the projection number sequence in the y-axis direction;

Figure 8 is a schematic diagram of the amount of movement in the x-axis plane direction;

Figure 9 is a schematic diagram of the amount of movement in the y-axis plane direction;

Figure 10 is a schematic diagram of a terminal structure;

Figure 11 is a second schematic diagram of the terminal structure.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It is understandable that the specific embodiments described here are only used to explain the related application, but not to limit the application. In addition, it should be noted that, for ease of description, only the parts related to the relevant application are shown in the drawings.

Image registration is a common method in image processing. In the shooting of multi-frame images, due to the movement of the shooting device, the content of the captured images will have slight differences, which often requires priority in multi-frame image processing. After global registration is performed on the image, various other processings are performed. In other words, image registration is the process of matching and superimposing two or more images acquired at different times, different sensors (imaging equipment) or under different conditions (weather, illuminance, camera position and angle, etc.). It is widely used in remote sensing data analysis, computer vision, image processing and other fields.

Image registration methods are mainly divided into three categories: pixel-based registration methods, feature-based registration methods, and model-based registration methods. Among them, the first two methods are global image registration techniques, which require the assumption of The reason for the change of the object is often caused by motion. The third method is suitable for the local nonlinear deformation correction of the object holder in the image. This distortion is usually caused by the nonlinearity of the spatial encoding of the imaging system.

Formally, because image registration is a technical means to align image content after transformation, block matching, feature detection or optical flow methods are often used to detect the movement of picture pixels, and then use the above results to re-move the pixels to generate a new image to match Image content. In the image matching method based on feature detection, for the input multiple images, the terminal can first perform feature detection processing to obtain feature points, and then can find matching feature point pairs by performing similarity measurement to complete feature matching; then pass The matched feature point pairs obtain the image space coordinate transformation parameters, and finally the image registration is performed by the coordinate transformation parameters to obtain the matching image.

However, if there is a large inter-frame motion between consecutive multiple frames of images, the matching process will be more complicated when using block matching, feature detection or optical flow method for image matching. Correspondingly, the registration accuracy and matching efficiency will be both affected.

To sum up, due to the rotation and movement of the shooting device during the shooting process, there will be a large inter-frame motion between consecutive multiple frames of continuous shooting or video images. However, the current image registration method will have the problem of reduced accuracy and greatly reduced processing speed when moving between larger frames. In order to overcome the above shortcomings, an image registration method proposed in this application, the terminal can record the rotation between the first time and the second time while acquiring the first image and the second image at the first time and the second time. Parameters and movement parameters, first use the rotation parameter to correct the change of the image content caused by the terminal rotation, and then use the movement parameter to correct the change of the image content caused by the terminal translation, so that the first image can be realized from different aspects. Alignment processing with the second image, so that a better registered image can be obtained at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of the rotation parameters by the gyroscope and the movement parameters obtained by the translation search processing, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

An embodiment of the present application provides an image registration method. FIG. 1 is a schematic diagram of the implementation process of the image registration method. As shown in FIG. 1, in the embodiment of the present application, the method for the terminal to perform image registration may include The following steps:

Step 101: After acquiring the first image at the first moment, acquire the second image at the second moment.

In the embodiment of the present application, the terminal may first obtain the first image at the first time, and then obtain the second image at the second time. Among them, the second moment is any moment after the first moment.

It should be noted that in the embodiments of the present application, the terminal can be any device with communication and storage functions, such as: tablet computer, mobile phone, e-reader, remote control, personal computer (PC), notebook computer , In-vehicle equipment, Internet TV, wearable devices and other equipment.

It can be understood that, in the embodiment of the present application, the terminal may be equipped with a photographing device, so that the photographing device may be used to sequentially acquire the first image and the second image. Among them, the photographing device may be an image sensor. Exemplarily, the photographing device may be a charge-coupled device (CCD) or a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) configured with a terminal. Specifically, CCD is a detection element that expresses the signal size by the amount of charge and transmits the signal in a coupling mode. It has self-scanning, wide sensing spectrum range, small distortion, small size, light weight, low system noise, low power consumption, and longevity. A series of advantages such as long, high reliability, etc., and can be made into a highly integrated assembly. CMOS refers to a technology used to manufacture large-scale integrated circuit chips or chips manufactured by this technology. It is a readable and writable random access memory (RAM) chip on a computer motherboard. Because of the readable and writable characteristics, it is used to save the data after the hardware parameters of the Basic Input Output System (BIOS) are set on the computer motherboard. This chip is only used to store the data.

Further, in the embodiment of the present application, the terminal may use a photographing device to sequentially photograph and obtain two frames of images at the first time and the second time, that is, the first image and the second image. Specifically, the terminal may first use the camera to capture the first image at the first moment, and then use the camera to capture the second image at the second moment.

It should be noted that, in the embodiment of the present application, after obtaining the first image and the second image, the terminal may define the first image corresponding to the first moment as the image to be registered, that is, the image used for registration processing. At the same time, the terminal may define the second image corresponding to the second moment as a reference image, that is, an image used as a reference reference.

Further, in the embodiment of the present application, the terminal may also be equipped with a gyroscope, so as to use the gyroscope to detect the rotation of the terminal. Among them, the gyroscope is an angular motion detection device that uses the moment-of-momentum-sensitive housing of a high-speed rotating body to rotate one or two axes orthogonal to the rotation axis relative to the inertial space. Angular motion detection devices made by other principles are also called gyroscopes that perform the same function.

It can be understood that, in the embodiment of the present application, the terminal can use the configured gyroscope to perform real-time detection, so as to obtain each rotation data corresponding to each moment. The rotation data may include angular velocity data in different spatial directions. For example, the terminal may use a gyroscope to detect angular velocities on the x-axis, y-axis, and z-axis.

Step 102: Determine the rotation parameter between the first time and the second time, and perform registration processing on the first image according to the rotation parameter to obtain the first registered image.

In the embodiment of the present application, after the terminal obtains the first image and the second image at the first time and the second time respectively, it can first determine the rotation parameters between the first time and the second time, and then can determine the rotation parameters between the first time and the second time. The parameter performs registration processing on the first image, thereby obtaining the first registered image.

It should be noted that, in the embodiment of the present application, before determining the rotation parameter between the first time and the second time, the terminal may first use the configured gyroscope to collect and obtain each rotation data corresponding to each time. And store these rotation data.

Further, in the embodiment of the present application, when the terminal determines the rotation parameter between the first time and the second time, it can first read the difference between the first time and the second time from the address where the rotation parameter is stored. Then, based on the rotation data between the first time and the second time, the rotation parameters between the first time and the second time can be further generated.

It can be understood that, in the embodiment of the present application, the rotation parameter may be used to determine the specific rotation amount of the terminal between the first time and the second time.

Further, in the embodiment of the present application, since the rotation data may include angular velocity data in different spatial directions, correspondingly, the rotation parameters generated by the terminal based on the rotation data between the first time and the second time may also include different Different amounts of rotation in the spatial direction. Exemplarily, the rotation parameter may be the angle of change on the x-axis, the y-axis, and the z-axis generated by the terminal between the first moment and the second moment.

It should be noted that, in the embodiment of the present application, when the terminal uses the second image collected at the second time as the reference image, and the first image collected at the first time is the image to be registered for image registration, the rotation parameter needs to be used. , Wherein the rotation parameter is determined by multiple rotation data between the first time and the second time detected by the gyroscope.

It is understandable that, in the embodiment of the present application, when the gyroscope configured on the terminal is collecting rotation data, the higher the sampling frequency, the better. For example, the gyroscope can use With a sampling frequency higher than 200HZ, the angular velocities in the three different spatial directions of the x-axis, the y-axis and the z-axis are collected, so as to obtain multiple rotation data between the first moment and the second moment. In other words, when the terminal uses the gyroscope to collect rotation data, a higher sampling frequency is more conducive to a more accurate registration effect.

Further, in the embodiment of the present application, after the terminal determines the rotation parameter between the first time and the second time, it can perform registration processing on the first image according to the rotation parameter, so that the registration result can be obtained, that is, The first registration image.

It should be noted that, in the embodiment of the present application, since the rotation parameter includes a plurality of rotation amounts corresponding to a plurality of spatial directions, where one spatial direction corresponds to a rotation amount, the terminal performs the first image according to the rotation parameters. During the registration process, a plurality of rotation amounts may be used to generate a rotation matrix, and then the first image is rotated according to the rotation matrix to complete the registration of the first image and the second image.

Further, in the embodiment of the present application, the rotation matrix is used to determine the rotation of the terminal between the first time and the second time, that is, to characterize the rotation change when the terminal takes the first image and the second image. The terminal uses the rotation matrix to perform image registration processing, which can be used to compensate for the difference between the first image and the second image caused by the rotation of the terminal.

It should be noted that, in the embodiment of the present application, since the rotation parameters are multiple rotation quantities corresponding to multiple spatial directions, the rotation matrix is a multi-dimensional matrix composed of multiple rotation quantities in multiple spatial directions. Exemplarily, when the rotation parameters are the angle values on the x-axis, y-axis, and z-axis, the rotation can first construct an angle matrix in each spatial direction based on the amount of rotation in each spatial direction, and then use all the spatial directions All the angle matrices above constitute the rotation matrix of the terminal between the first moment and the second moment. In other words, when the terminal generates a rotation matrix using multiple rotations, it may first construct multiple sub-matrices based on the multiple rotations, and then generate the rotation matrix based on the multiple sub-matrices.

It is understandable that, in the embodiment of the present application, when the terminal performs rotation processing on the first image based on the rotation matrix, it can first determine all the pixel coordinates corresponding to all the pixels in the first image, and then use the rotation matrix and all the pixel coordinates. The pixel coordinates are subjected to a dot product operation, so that the rotation processing of the first image can be completed. That is, in this application, the terminal can obtain all the pixel coordinates corresponding to all the pixels in the first image, and then use the rotation matrix to rotate all the pixel coordinates, so as to obtain the first registration image to realize the image registration. Quasi-processing.

Step 103: Determine a movement parameter between the first registration image and the second image, and perform registration processing on the first registration image according to the movement parameter to obtain a second registration image.

In the embodiment of the present application, the terminal determines the rotation parameter between the first time and the second time, and performs registration processing on the first image according to the rotation parameter, and after obtaining the first registered image, it can continue to determine the first image. The movement parameters between the registered image and the second image can then be registered with the first registered image according to the movement parameters, so that the second registered image can be obtained.

It is understandable that, in the embodiment of the present application, since the gyroscope records the angle of the terminal's rotation between the first time and the second time, it cannot completely monitor the terminal's rotation between the first time and the second time. The movement situation is determined. Therefore, after the terminal realizes the correction of the rotation of the terminal through the first registration image, it can continue to determine the movement of the terminal, that is, perform a translation search.

It should be noted that, in the embodiment of the present application, when the terminal performs a translation search, it can determine the amount of movement of the first registration image in different plane directions based on the second image (reference image), so as to obtain The movement parameter between the first registered image and the second image.

It can be understood that, in the embodiment of the present application, the movement parameter can be used to determine the specific movement amount of the terminal between the first time and the second time. That is, in this application, the movement parameter may include multiple movement amounts corresponding to multiple plane directions. Exemplarily, the movement parameter may be the changing distance on the x-axis and the y-axis generated by the terminal between the first time and the second time.

Specifically, in the embodiment of the present application, the terminal may first determine a plurality of projection series corresponding to the first registration image and the second image along a plurality of different plane directions, and then may use the first registration image The correlation between the two projection numbers in the same plane direction as the second image can determine the amount of movement between the two in the plane direction, which can then determine how much the first registered image and the second image are. Multiple amounts of movement in each plane direction. That is, in this application, when determining the movement parameter between the first registration image and the second image, the terminal may first determine multiple first projection sequences of the first registration image in multiple plane directions. At the same time, multiple second projection numbers in multiple plane directions can be determined for the second image; then multiple first projection numbers and multiple second projection numbers can be used to determine multiple shifts between the two. the amount.

Further, in the embodiment of the present application, after the terminal determines the movement parameter between the first moment and the second moment, it can perform registration processing on the first registered image according to the movement parameter, so that the registration result can be obtained. , Which is the second registration image.

It should be noted that, in the embodiment of the present application, since the movement parameters include multiple movement amounts corresponding to multiple plane directions, where one plane direction corresponds to one movement amount, the terminal is performing the first registration according to the movement parameters. When the image is subjected to registration processing, a plurality of movement amounts may be used to perform translation processing on the first registration image to complete the re-registration of the first registration image and the second image.

Further, in the embodiment of the present application, the movement parameter is used to determine the movement of the terminal from the first moment to the second moment, that is, to characterize the movement change when the terminal takes the first image and the second image. The terminal uses the movement parameters to perform image registration processing, which can be used to compensate for the difference between the first image and the second image caused by the movement of the terminal.

It is understandable that, in the embodiment of the present application, the method proposed in step 102 above can be used to correct the rotation change of the terminal when performing image registration, and can realize rough alignment of the first image and the second image. The method proposed in step 103 above can be used to correct the movement changes of the terminal when performing image registration, and can also achieve coarse alignment of the first image and the second image.

In the embodiment of the present application, further, FIG. 2 is a second schematic diagram of the implementation process of the image registration method. As shown in FIG. 2, the terminal performs registration processing on the first registered image according to the movement parameters to obtain the second registration method. After the image is aligned, that is, after step 103, the method for the terminal to perform image registration may further include the following steps:

Step 104: Determine the pixel movement amount corresponding to the second registration image by using the movement parameter.

Step 105: Perform registration processing according to the pixel shift amount to obtain a third registered image.

In the embodiment of the present application, after the terminal performs registration processing on the first registration image according to the movement parameters to obtain the second registration image, it may continue to use the movement parameters to determine the pixel movement amount corresponding to the second registration image. Then, the translation processing can be performed according to the pixel shift amount, so that the fourth registration image can be obtained to complete the registration processing of the first image and the second image.

It should be noted that, in the embodiment of the present application, in order to obtain a higher-precision registration result, that is, to achieve fine alignment between the first image and the second image, the terminal may continue after obtaining the second registered image Using the movement parameters to perform pixel translation processing on the second registered image.

Further, in the embodiment of the present application, the terminal may first use the movement parameters to further search to obtain all pixel movement amounts corresponding to all pixels in the second registration image, and then may use all pixel movement amounts to perform translation processing on all pixels In this way, a third registration image can be obtained to complete the fine alignment between the first image and the second image.

In the embodiment of the present application, further, FIG. 3 is the third schematic diagram of the implementation process of the image registration method. As shown in FIG. 3, the terminal performs registration processing on the first image according to the rotation parameter to obtain the first registered image After that, that is, after step 102, the method for the terminal to perform image registration may further include the following steps:

Step 106: Determine a movement parameter between the first registration image and the second image, and determine the pixel movement amount corresponding to the second registration image according to the movement parameter.

Step 107: Perform translation processing according to the pixel shift amount to obtain a fourth registered image.

In the embodiment of the present application, the terminal determines the rotation parameter between the first time and the second time, and performs registration processing on the first image according to the rotation parameter. After obtaining the first registration image, it can continue to determine the first registration. The movement parameter between the quasi-image and the second image is further determined according to the movement parameter and the pixel movement amount corresponding to the second registration image.

It is understandable that, in the embodiments of the present application, in order to obtain a higher-precision registration result, that is, to achieve fine alignment between the first image and the second image, the terminal may skip to the first image after obtaining the first registered image. Instead of coarsely aligning the first registration image by using the movement parameters, the movement parameters are directly used to perform pixel translation processing on the first registration image.

Further, in the embodiment of the present application, the terminal may first use the movement parameters to further search to obtain all pixel movement amounts corresponding to all pixels in the first registration image, and then use all pixel movement amounts to perform translation processing on all pixels In this way, a fourth registration image can be obtained to complete the fine alignment between the first image and the second image.

That is to say, in the embodiment of the present application, when the terminal performs image registration, it can first use the method proposed in step 102 to correct the rotation change of the terminal, so as to realize the rough alignment of the first image and the second image; Directly using the method proposed in step 106 and step 107 above, when correcting the movement change of the terminal, the first image and the second image are directly aligned to obtain the fourth registered image.

According to an image registration method proposed in an embodiment of the present application, a terminal acquires a first image at a first time, and then acquires a second image at a second time; determines the rotation parameter between the first time and the second time, and determines the rotation parameter according to the rotation Parameter performs registration processing on the first image to obtain the first registration image; determines the movement parameter between the first registration image and the second image, and performs registration processing on the first registration image according to the movement parameter to obtain the first registration image Two registration images. That is, in the embodiment of the present application, the terminal can record the rotation parameter and the movement parameter between the first time and the second time while acquiring the first image and the second image at the first time and the second time. First use the rotation parameter to correct the change of the image content caused by the terminal rotation, and then use the movement parameter to correct the change of the image content caused by the terminal translation, so that the first image and the second image can be achieved from different aspects. Alignment processing, which can obtain better registered images at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of the rotation parameters by the gyroscope and the movement parameters obtained by the translation search processing, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

Based on the above-mentioned embodiment, in another embodiment of the present application, the terminal may use a gyroscope to detect the rotation of the terminal. Specifically, the terminal uses the gyroscope to perform real-time detection, so that each rotation corresponding to each moment can be obtained. data. The rotation data may be angular velocity data in different spatial directions. For example, the terminal may use a gyroscope to detect each angular velocity on the x-axis, y-axis, and z-axis corresponding to each moment.

That is to say, in this application, the terminal can use the configured gyroscope to record the real-time angular velocity of the terminal in the three directions of the x-axis, the y-axis, and the z-axis.

Further, in the embodiment of the present application, after obtaining the rotation data between the first time and the second time detected by the gyroscope, the terminal may obtain the rotation parameters between the first time and the second time based on the rotation data. .

Exemplarily, in this application, the gyroscope detects multiple angular velocities on the x-axis, y-axis, and z-axis between the first time t1 and the second time t2, and then the x-axis, the y-axis, and the z-axis can be adjusted on the time axis. The multiple angular velocities on the y-axis and the z-axis are integrated to obtain the rotation amount of the terminal in the x-axis, y-axis, and z-axis directions between the first time t1 and the second time t2. That is, the rotation parameters between the first moment and the second moment are obtained.

It should be noted that, in the embodiment of the present application, when the terminal obtains the rotation parameter between the first time and the second time based on the rotation data. Since the rotation data detected by the gyroscope is discrete, the terminal needs to perform interpolation and smoothing processing on the rotation data according to the time series, so as to obtain the corresponding rotation parameters. Fig. 4 is a schematic diagram of the amount of rotation in a spatial direction. As shown in Fig. 4, the angular velocities w1, w2, and w2 of a spatial direction collected by the gyroscope at t1, t2, t3, t4, t5, t6, t7, t8, and t9 w3, w4, w5, w6, w7, w8, and w9 are discretely distributed. The terminal smooths the angular velocity in the spatial direction on the time t axis and then integrates, and finally the terminal's angular velocity in the time period from t1 to t9 can be obtained. , The amount of rotation in the spatial direction.

Further, in the embodiment of the present application, after the terminal sequentially calculates and obtains multiple rotation quantities corresponding to each spatial direction, it may use the multiple rotation quantities to generate a rotation matrix. Specifically, the terminal may first construct multiple sub-matrices based on multiple rotation amounts; and then generate corresponding rotation matrices based on the multiple sub-matrices.

Exemplarily, in this application, the terminal performs interpolation and smoothing processing on the rotation data in the x-axis, y-axis, and z-axis directions according to the time series, and the corresponding rotation amount in the x-axis direction is obtained by integration as λ, and the corresponding rotation in the y-axis direction The rotation amount of is γ, the corresponding rotation amount in the z-axis direction is ρ, then the terminal can use the following formula to obtain the corresponding sub-matrix R _x in the x-axis direction, the corresponding sub-matrix R _{y in the} y-axis direction, and the z-axis The corresponding sub-matrix R _{z in the} direction:

Next, the terminal can use the corresponding sub-matrix R _x in the x-axis direction, the corresponding sub-matrix R _{y in the y-} axis direction, and the corresponding sub-matrix R _{z in the} z-axis direction to further generate the rotation matrix, as follows:

R=R _x ×R _y ×R _z (4)

It can be understood that, in the present application, the terminal can calculate and obtain three rotation amounts in the x-axis, y-axis, and z-axis directions in the above-mentioned manner. As the terminal rotates, the imaging surface obtained by the photographing device also rotates accordingly. Therefore, the terminal can correct the movement caused by the rotation of the terminal by applying this rotation to the imaging surface. Figure 5 is a schematic diagram of the rotation of the imaging surface. As shown in Figure 5, the center of rotation is selected as the middle position of the image plane (the cross of the dashed line), and the terminal can be generated by the amount of rotation based on the x-axis, y-axis, and z-axis direction. The rotation matrix of, the imaging surface is corrected, and the corrected imaging surface is obtained. It should be noted that due to the existence of translation, the center of rotation also has a corresponding offset. Therefore, the motion of the screen caused by the rotation of the terminal cannot be completely corrected. However, it has been proved that this method can perform the motion of the screen caused by the rotation of the terminal. Preliminary estimation, so it can be used to initially align images.

Further, in the embodiment of the present application, after the terminal generates a rotation matrix using multiple rotation amounts, it may further perform rotation processing on the first image based on the rotation matrix to obtain the first registered image. Specifically, the terminal may first obtain all the pixel coordinates corresponding to all the pixels in the first image, and then use the rotation matrix to rotate all the pixel coordinates, so as to obtain the first registered image.

Exemplarily, in this application, the terminal uses the rotation matrix to perform rotation processing on the first image. The rotation matrix can be used to perform dot product calculations on all pixel coordinates corresponding to all pixels in the first image to obtain the calculation results, and then project the calculation results in the z-axis direction, so that the coordinates of the rotated pixels can be obtained , The specific formula is as follows:

[x',y',z']=[x,y,0]·R (5)

That is to say, the terminal can move the point with the projection coordinates (x, y) to the position with the projection coordinates (x', y'), and finally can complete the rotation processing of the pixel coordinates of the pixel point. Accordingly, After the terminal completes the rotation processing of all pixel coordinates in the first image based on the rotation matrix, the first registration image can be obtained, thereby completing the preliminary registration of the first image.

It should be noted that in the embodiment of the present application, if the rotated projection coordinates (x′, y′) are non-integer points, then the terminal needs to perform interpolation processing to obtain pixel values of integer points. The interpolation method can only win bilinear interpolation or bicubic interpolation, which is not specifically limited in this application.

In summary, when the terminal performs image registration, the rotation matrix obtained by calculation can be used to correct the rotation change of the terminal, so as to realize the rough alignment of the first image and the second image.

Based on the foregoing embodiment, in another embodiment of the present application, the first registered image obtained by the terminal performing registration processing on the first image according to the rotation parameter has largely corrected the image content brought about by the terminal rotation However, since the gyroscope only records the angle information when the terminal is rotating, it cannot record the movement information of the terminal. Therefore, the terminal still needs to perform further registration processing on the first registration image through a translation search.

It can be understood that, in the embodiment of the present application, the movement parameter determined by the terminal may include multiple movement amounts corresponding to multiple plane directions. For example, the movement parameter may be that the terminal moves between the first time and the second time. The resulting two movements on the x-axis and y-axis.

Specifically, in the embodiment of the present application, when the terminal determines the movement parameters, it may first determine the first registration image and the first registration image along a plurality of different plane directions, such as the x-axis direction and the y-axis direction. Multiple projection sequences corresponding to the two images. That is to say, since the first registration image has corrected most of the rotation changes, in order to speed up the image registration, the terminal can directly search for the movement amount of the x-axis and the y-axis by means of a translation search.

Exemplarily, in this application, the terminal may perform an averaging operation on the first registered image and the second image along the x-axis direction and the y-axis direction, respectively, so as to obtain two projection numbers in the x-axis direction and the y-axis direction. Specifically, the terminal may add and average the image data of the first column of the first registration image to obtain the result of the first column projection in the y-axis direction, and then sequentially calculate and obtain the y-axis direction of the first registration image. Projection sequence on the. Correspondingly, the terminal can add the image data of the first column of the second image and average it, so as to obtain the result of the first column projection in the y-axis direction, and then sequentially calculate and obtain the projection number sequence in the y-axis direction of the second image. . By analogy, the terminal can respectively calculate and obtain the projection number sequence of the first registered image and the second image in the x-axis direction and the y-axis direction. FIG. 6 is a schematic diagram 1 of the projection number sequence in the y-axis direction. As shown in FIG. 6, based on the image data of the first registration degree image, each column of image data is projected along the y-axis direction to obtain the first projection number sequence. Fig. 7 is the second schematic diagram of the projection number sequence in the y-axis direction. As shown in Fig. 7, based on the image data of the second image, each column of image data is projected along the y-axis direction to obtain the second projection number sequence.

That is, in this application, when determining the movement parameter between the first registration image and the second image, the terminal may first determine multiple first projection sequences of the first registration image in multiple plane directions. At the same time, multiple second projection number sequences of the second image in multiple plane directions can be determined, and then multiple first projection number sequences and multiple second projection number sequences can be used to determine multiple movement amounts. Specifically, the terminal can determine the correlation between the first registration image and the second image in the same plane direction based on the first projection number sequence and the second projection number sequence in the same plane direction, and then can use the correlation between the two The amount of movement between the two in the plane direction is determined, and finally, the amount of movement in the multiple plane directions of the first registered image and the second image can be determined.

Exemplarily, in this application, when the terminal uses the correlation between the first projection number sequence and the second projection number sequence in the y-axis plane direction to determine the amount of movement between the two in the y-axis plane direction, the first The first projection sequence of a registered image is fixed, and then the second projection sequence of the second image is moved along the x-axis plane direction. At the same time, the correlation between the first projection sequence and the moved second projection sequence For real-time determination, when the correlation between the first projection number sequence and the moved second projection number sequence is the largest, the movement distance of the second projection number sequence in the x-axis plane direction at this time can be determined as the first registration image and The amount of movement of the second image in the x-axis plane direction.

Correspondingly, in this application, when the terminal uses the correlation between the first projection number sequence and the second projection number sequence in the x-axis plane direction to determine the amount of movement between the two in the x-axis plane direction, the first The first projection sequence of the registered image is fixed, and then the second projection sequence of the second image is moved along the y-axis plane direction. At the same time, the correlation between the first projection sequence and the moved second projection sequence is performed Real-time determination, when the correlation between the first projection number sequence and the moved second projection number sequence is the largest, the movement distance of the second projection number sequence in the y-axis plane direction at this time can be determined as the first registration image and the second projection number sequence. 2. The amount of movement of the image in the direction of the y-axis plane.

It can be understood that, in the embodiment of the present application, when determining the correlation between the first projection sequence and the moved second projection sequence, a zero cross-correlation algorithm or an average absolute difference can be used. Algorithm (mean absolute difference, MAD) is used for calculation, which is not specifically limited in this application.

Figure 8 is a schematic diagram of the amount of movement in the x-axis plane direction. As shown in Figure 8, the first projection number sequence in the y-axis plane direction is fixed, and the second projection number sequence in the y-axis plane direction is performed along the x-axis direction. Translation, when the moving distance is d1, the correlation between the first projection number sequence and the second projection number sequence is the largest. At this time, d1 can be used as the movement amount of the first registration image and the second image in the x-axis plane direction mv _x .

Figure 9 is a schematic diagram of the amount of movement in the y-axis plane direction. As shown in Figure 9, the first projection number sequence in the x-axis plane direction is fixed, and the second projection number sequence in the x-axis plane direction is performed along the y-axis direction. Translation. When the movement distance is d2, the correlation between the first projection number sequence and the second projection number sequence is the largest. At this time, d2 can be used as the movement amount of the first registration image and the second image in the y-axis plane direction mv _y .

It should be noted that, based on the above figures and figures, whether the terminal uses the figure to determine the amount of movement in the x-axis plane direction or uses the figure to determine the amount of movement in the y-axis plane direction, calculate the first projection sequence and the first When the correlation between the two projection number series is concerned, only the common part between the first projection number series and the moved second projection number series is used as a reference.

Further, in the embodiment of the present application, after determining multiple movement amounts corresponding to multiple plane directions, the terminal may use the multiple movement amounts to perform translation processing on the first registration image. For example, the terminal may _{Use the movement amount mv x in the} x-axis plane direction to translate the first registered image along the x-axis direction, and at the same time, use the movement amount mv _{y in the} y-axis plane direction to move the first registered image along the y-axis By performing translation processing in the direction, the further alignment of the first registration image can be completed, and the second registration image can be obtained.

In summary, when the terminal performs image registration, the movement parameters can be obtained through translation search processing, which can be used to correct the movement changes of the terminal, and the rough alignment of the first image and the second image can also be achieved.

In the embodiment of the present application, further, in order to obtain a more accurate registration result, the terminal may continue to use the movement after performing registration processing on the first registration image according to the movement parameters to obtain the second registration image. The parameters further finely align the second registration image. Specifically, the terminal may use the movement parameter to perform pixel translation processing on the second registered image.

Specifically, in this application, the terminal may use the movement parameter to obtain the pixel movement amount of the second registered image, where the pixel movement amount is used to perform translation processing of the pixel points. Exemplary, the terminal may use the amount of movement of the moving amount mv mv _x plane x-axis direction and the y-axis obtained above _y planar direction, as a starting point for a search for a second registration image, to obtain a further second registration The more accurate pixel shift corresponding to the image.

It should be noted that, in the embodiment of the present application, the terminal may use multiple methods to determine the pixel movement amount, such as an optical flow method or a block search method. That is to say, in this application, movement parameters including multiple movement amounts corresponding to multiple plane directions can be used as the initial value of fine alignment and input into the registration algorithm to speed up the registration process. This application does not deal with the search method of fine alignment. limited.

It is understandable that, in the embodiment of the present application, in order to achieve fine alignment between the first image and the second image, after obtaining the first registration image, the terminal may directly use the movement parameters to perform the adjustment of the first registration image. Perform pixel translation processing. In other words, the terminal can directly use the movement parameters to search for all pixel movement amounts corresponding to all pixels in the first registration image, and then use all pixel movement amounts to perform translation processing on all pixels, so as to obtain the fourth registration image , To complete the fine alignment between the first image and the second image.

According to an image registration method proposed in an embodiment of the present application, a terminal acquires a first image at a first time, and then acquires a second image at a second time; determines the rotation parameter between the first time and the second time, and determines the rotation parameter according to the rotation Parameter performs registration processing on the first image to obtain the first registration image; determines the movement parameter between the first registration image and the second image, and performs registration processing on the first registration image according to the movement parameter to obtain the first registration image Two registration images. That is, in the embodiment of the present application, the terminal can record the rotation parameter and the movement parameter between the first time and the second time while acquiring the first image and the second image at the first time and the second time. First use the rotation parameter to correct the change in the image content caused by the terminal rotation, and then use the movement parameter to correct the change in the image content caused by the terminal translation, so that the first image and the second image can be adjusted from different aspects. Alignment processing, which can obtain better registered images at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of rotation parameters and the movement parameters obtained by the translation search processing by the gyroscope, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

Based on the above-mentioned embodiment, in another embodiment of the present application, FIG. 10 is a schematic diagram 1 of the composition structure of the terminal. As shown in FIG. 10, the terminal 10 proposed in the embodiment of the present application may include an acquiring part 11, a determining part 12, and a configuration. Standard part 13, storage part 14.

The acquiring part 11 is configured to acquire a second image at a second time after acquiring the first image at the first time;

The determining part 12 is configured to determine a rotation parameter between the first time and the second time;

The registration part 13 is configured to perform registration processing on the first image according to the rotation parameter to obtain a first registered image;

The determining part 12 is further configured to determine a movement parameter between the first registration image and the second image;

The registration part 13 is further configured to perform registration processing on the first registration image according to the movement parameter to obtain a second registration image.

Further, in an embodiment of the present application, the rotation parameter includes a plurality of rotation amounts corresponding to a plurality of spatial directions, and the registration part 13 is specifically configured to generate a rotation matrix using the plurality of rotation amounts; The rotation matrix performs rotation processing on the first image to obtain the first registration image.

Further, in the embodiment of the present application, the registration part 13 is further specifically configured to construct a plurality of sub-matrices according to the plurality of rotation amounts; and generate the rotation matrix based on the plurality of sub-matrices.

Further, in the embodiment of the present application, the registration part 13 is further specifically configured to obtain all pixel coordinates corresponding to all pixels in the first image; and perform the calculation of all the pixel coordinates by using the rotation matrix. Rotate processing to obtain the first registered image.

Further, in the embodiment of the present application, the movement parameter includes a plurality of movement amounts corresponding to a plurality of plane directions, and the determining part 12 is specifically configured to determine that the first registration image is in the plurality of plane directions. A plurality of first projection number sequences of the second image are determined in the plurality of plane directions; the plurality of first projection number sequences and the plurality of second projection number sequences are used to determine the Multiple moves.

Further, in the embodiment of the present application, the acquisition part 11 is specifically configured to perform translation processing on the first registration image by using the plurality of movement amounts to obtain the second registration image.

Further, in the embodiment of the present application, the determining part 12 is further configured to perform registration processing on the first registration image according to the movement parameter, and after obtaining the second registration image, use the movement The parameter determines the pixel shift amount corresponding to the second registration image;

The acquiring part 11 is further configured to perform translation processing according to the pixel shift amount to obtain a third registered image.

Further, in the embodiment of the present application, the determining part 12 is further configured to perform registration processing on the first image according to the rotation parameter, and after obtaining the first registration image, determine the first registration The movement parameter between the quasi image and the second image, and determining the pixel movement amount corresponding to the second registration image according to the movement parameter;

The acquiring part 11 is further configured to perform translation processing according to the pixel shift amount to obtain a fourth registered image.

Further, in the embodiment of the present application, the acquiring part 11 is further configured to perform real-time collection through a gyroscope before determining the rotation parameter between the first time and the second time to obtain each time Each corresponding rotation data;

The storage part 14 is configured to store each of the rotation data.

Further, in the embodiment of the present application, the determining part 12 is further specifically configured to read a plurality of rotation data between the first moment and the second moment; determine according to the plurality of rotation data The rotation parameter between the first time and the second time.

FIG. 11 is a schematic diagram of the composition structure of the terminal. As shown in FIG. 11, the terminal 10 proposed in the embodiment of the present application may further include a processor 15 and a memory 16 storing executable instructions of the processor 15. Further, the terminal 10 may also It includes a communication interface 17 and a bus 18 for connecting the processor 15, the memory 16 and the communication interface 17.

In the embodiment of the present application, the above-mentioned processor 15 may be an Application Specific Integrated Circuit (ASIC), a digital signal processor (Digital Signal Processor, DSP), or a digital signal processing device (Digital Signal Processing Device, DSPD). ), Programmable Logic Device (ProgRAMmable Logic Device, PLD), Field Programmable Gate Array (Field ProgRAMmable Gate Array, FPGA), Central Processing Unit (CPU), Controller, Microcontroller, Microprocessor At least one of. It is understandable that, for different devices, the electronic devices used to implement the above-mentioned processor functions may also be other, which is not specifically limited in the embodiment of the present application. The terminal 10 may also include a memory 16, which may be connected to the processor 15, wherein the memory 16 is used to store executable program code, the program code includes computer operation instructions, the memory 16 may include a high-speed RAM memory, or may also include Non-volatile memory, for example, at least two disk memories.

In the embodiment of the present application, the bus 18 is used to connect the communication interface 17, the processor 15, the memory 16, and the mutual communication among these devices.

In the embodiment of the present application, the memory 16 is used to store instructions and data.

Further, in the embodiment of the present application, the above-mentioned processor 15 is configured to acquire a second image at a second time after acquiring the first image at the first time; determine whether the first time and the second time are different And perform registration processing on the first image according to the rotation parameter to obtain a first registration image; determine the movement parameter between the first registration image and the second image, and Performing registration processing on the first registration image according to the movement parameter to obtain a second registration image.

In practical applications, the aforementioned memory 16 may be a volatile memory (volatile memory), such as a random-access memory (Random-Access Memory, RAM); or a non-volatile memory (non-volatile memory), such as a read-only memory (Read-Only Memory, ROM), flash memory (flash memory), hard disk (Hard Disk Drive, HDD) or solid-state drive (Solid-State Drive, SSD); or a combination of the above types of memory, and send it to the processor 15 Provide instructions and data.

In addition, the functional modules in this embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware or software function module.

If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or correct The part that the prior art contributes or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer). A computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the method in this embodiment. The aforementioned storage media include: U disk, mobile hard disk, read only memory (Read Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes.

An embodiment of the present application proposes a terminal. After acquiring the first image at the first time, the terminal acquires the second image at the second time; determines the rotation parameter between the first time and the second time, and compares the rotation parameters according to the rotation parameter. The first image undergoes registration processing to obtain the first registration image; the movement parameters between the first registration image and the second image are determined, and the first registration image is registered according to the movement parameters to obtain the second registration image. Quasi-image. That is, in the embodiment of the present application, the terminal can record the rotation parameter and the movement parameter between the first time and the second time while acquiring the first image and the second image at the first time and the second time. First use the rotation parameter to correct the change in the image content caused by the terminal rotation, and then use the movement parameter to correct the change in the image content caused by the terminal translation, so that the first image and the second image can be adjusted from different aspects Alignment processing, which can obtain better registered images at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of the rotation parameters by the gyroscope and the movement parameters obtained by the translation search processing, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

The embodiment of the present application provides a computer-readable storage medium on which a program is stored, and when the program is executed by a processor, the above-mentioned image registration method is implemented.

Specifically, the program instructions corresponding to an image registration method in this embodiment can be stored on storage media such as optical disks, hard disks, USB flash drives, etc., when the program instructions corresponding to an image registration method in the storage medium When being read or executed by an electronic device, it includes the following steps:

Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) containing computer-usable program codes.

This application is described with reference to the schematic diagrams and/or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the application. It should be understood that each process and/or block in the schematic flow diagram and/or block diagram can be realized by computer program instructions, and the combination of processes and/or blocks in the schematic flow diagram and/or block diagram can be realized. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing equipment to generate a machine, so that instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device for realizing the functions specified in one or more processes in the schematic flow chart and/or one block or more blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device realizes the functions specified in one or more processes in the schematic diagram and/or one block or more in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing functions specified in one or more processes in the schematic diagram and/or one block or more in the block diagram.

The above are only preferred embodiments of the present application, and are not used to limit the protection scope of the present application.

Industrial applicability

In the embodiment of this application, after acquiring the first image at the first time, the terminal acquires the second image at the second time; determines the rotation parameter between the first time and the second time, and configures the first image according to the rotation parameter. A registration process is performed to obtain a first registration image; a movement parameter between the first registration image and the second image is determined, and registration processing is performed on the first registration image according to the movement parameter to obtain a second registration image. That is, in the embodiment of the present application, the terminal can record the rotation parameter and the movement parameter between the first time and the second time while acquiring the first image and the second image at the first time and the second time. First use the rotation parameter to correct the change of the image content caused by the terminal rotation, and then use the movement parameter to correct the change of the image content caused by the terminal translation, so that the first image and the second image can be achieved from different aspects. Alignment processing, which can obtain better registered images at a faster speed. That is to say, in this application, the terminal can perform registration processing on the first image and the second image through the real-time collection of the rotation parameters by the gyroscope and the movement parameters obtained by the translation search processing, which can not only speed up the image registration. Speed can also improve the accuracy of image registration.

Claims

An image registration method, the method includes:

After the first image is acquired at the first moment, the second image is acquired at the second moment;

Determining a rotation parameter between the first time and the second time, and performing registration processing on the first image according to the rotation parameter to obtain a first registration image;

A movement parameter between the first registration image and the second image is determined, and registration processing is performed on the first registration image according to the movement parameter to obtain a second registration image.
The method according to claim 1, wherein the rotation parameter includes a plurality of rotation amounts corresponding to a plurality of spatial directions, and the first image is registered according to the rotation parameter to obtain a first registration Images, including:

Generating a rotation matrix using the plurality of rotation amounts;

Performing rotation processing on the first image based on the rotation matrix to obtain the first registration image.
The method according to claim 2, wherein the generating a rotation matrix using the plurality of rotation amounts comprises:

Construct a plurality of sub-matrices according to the plurality of rotation amounts;

Based on the plurality of sub-matrices, the rotation matrix is generated.
The method according to claim 2, wherein the performing rotation processing on the first image based on the rotation matrix to obtain the first registered image comprises:

Acquiring all pixel coordinates corresponding to all pixels in the first image;

Using the rotation matrix to perform rotation processing on all the pixel coordinates to obtain the first registration image.
The method according to claim 1, wherein the movement parameter includes a plurality of movement amounts corresponding to a plurality of plane directions, and the determining the movement parameter between the first registration image and the second image includes :

Determining a plurality of first projection numbers of the first registration image in the plurality of plane directions, and determining a plurality of second projection numbers of the second image in the plurality of plane directions;

The plurality of movement amounts are determined by using the plurality of first projection number series and the plurality of second projection number series.
The method according to claim 5, wherein said performing registration processing on said first registration image according to said movement parameter to obtain a second registration image comprises:

Performing translation processing on the first registration image by using the plurality of movement amounts to obtain the second registration image.
The method according to claim 1, wherein, after performing registration processing on the first registration image according to the movement parameter, and after obtaining a second registration image, the method further comprises:

Determine the pixel movement amount corresponding to the second registration image by using the movement parameter;

Perform translation processing according to the pixel shift amount to obtain a third registered image.
The method according to claim 1, wherein, after performing registration processing on the first image according to the rotation parameter, and after obtaining the first registered image, the method further comprises:

Determining a movement parameter between the first registration image and the second image, and determining a pixel movement amount corresponding to the second registration image according to the movement parameter;

Perform translation processing according to the pixel shift amount to obtain a fourth registered image.
The method according to claim 1, wherein, before the determining the rotation parameter between the first time and the second time, the method further comprises:

Real-time collection through gyroscope to obtain every rotation data corresponding to every moment;

Store each of the rotation data.
The method according to claim 9, wherein the determining the rotation parameter between the first time and the second time comprises:

Reading a plurality of rotation data between the first time and the second time;

The rotation parameter between the first time and the second time is determined according to the plurality of rotation data.
A terminal, the terminal includes: an acquisition part, a determination part, a registration part,

The acquiring part is configured to acquire a second image at a second time after acquiring the first image at the first time;

The determining part is configured to determine a rotation parameter between the first time and the second time;

The registration part is configured to perform registration processing on the first image according to the rotation parameter to obtain a first registered image;

The determining part is further configured to determine a movement parameter between the first registration image and the second image;

The registration part is further configured to perform registration processing on the first registration image according to the movement parameter to obtain a second registration image.
A terminal comprising a processor and a memory storing executable instructions of the processor, and when the instructions are executed by the processor, the method according to any one of claims 1-10 is implemented.
A computer-readable storage medium with a program stored thereon and applied to a terminal. When the program is executed by a processor, the method according to any one of claims 1-10 is implemented.