CN103310225A - Multi-view visual matching method and system of images - Google Patents
Multi-view visual matching method and system of images Download PDFInfo
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Abstract
The invention provides a multi-view visual matching method of images. The method is applied to a multi-view visual equipment group; the multi-view visual equipment group comprises at least two sets of visual equipment; and the method comprises the following steps: projecting encoding light to an object to be detected so that the encoding light is overlapped with the object to be detected; and carrying out image matching on an image of the object to be detected, which is collected by each set of visual equipment in the multi-view visual equipment group. According to the multi-view visual matching method of the images disclosed by the invention, the encoding light is projected on the object to be detected, and a code of the encoding light is fixed on the object to be detected. After each set of visual equipment collects the image of the object to be detected, which is projected with the encoding light, a coded value of any target point on the object to be detected in each image is not changed; the images of the object to be detected, which are collected by the all sets of visual equipment, can be matched according to the code; the matching precision is higher, and the matching efficiency is improved.
Description
Technical field
The application relates to the images match field, particularly matching process and system between a kind of image of used for multi-vision visual.
Background technology
Used for multi-vision visual equipment refers to comprise the device clusters of a plurality of visual apparatus, and wherein each equipment all can be gathered the image of testee.
The used for multi-vision visual ranging process refers to measure respectively in the used for multi-vision visual equipment each visual apparatus to the distance of testee.Concrete measuring method is mated for the image to the testee of each visual apparatus collection, calculates distance between each visual apparatus and the testee respectively according to the result of coupling.
The mode that the image of existing testee to each visual apparatus collection mates is, calculates by the image of fixing application algorithm to each visual apparatus collection, realizes matching process.Because the application efficiency of algorithm is low, and the computation process very complicated, thereby cause the precision of mating low, and reduced matching efficiency.
Summary of the invention
The application's technical matters to be solved provides matching process between a kind of image of used for multi-vision visual, when carrying out mating between image in order to solve in the prior art image to each visual apparatus collection in the used for multi-vision visual, owing to adopt fixing application algorithm to mate, cause the low problem of precision of mating, further, improved images match efficient between each visual apparatus.
The application also provides matching system between a kind of image of used for multi-vision visual, in order to guarantee said method realization and application in practice.
In order to address the above problem, the application discloses matching process between a kind of image of used for multi-vision visual, and this method is applied to the used for multi-vision visual device clusters; Described used for multi-vision visual device clusters comprises at least two visual apparatus; Described method comprises:
The projection encoded light makes described encoded light and described testee superimposed to testee;
The coding of the encoded light on the described testee of foundation carries out images match to the testee image of each visual apparatus collection in the described used for multi-vision visual device clusters.
Above-mentioned method, preferred, also comprise:
Matching result in the described used for multi-vision visual device clusters of foundation between the testee image of each visual apparatus collection is measured the distance between each visual apparatus and the described testee.
Above-mentioned method, preferred, each visual apparatus becomes the multi-angle setting with respect to described testee in the described used for multi-vision visual device clusters.
Above-mentioned method, preferred, each visual apparatus is positioned at a side on described testee plane of living in the described used for multi-vision visual device clusters.
Above-mentioned method, preferred, described projection encoded light to testee comprises:
In the different time intervals, throw the encoded light of different coding according to default pro-jection rule to described testee.
Above-mentioned method, preferred, described projection encoded light to testee comprises:
Throw encoded light according to default pro-jection rule to the global area projection encoded light of described testee or to the subregion of testee.
Above-mentioned method, preferred, described images match comprises:
Determine the first target visual equipment in each visual apparatus in described used for multi-vision visual device clusters; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts corresponding encoded radio;
In the first visual apparatus group, select in the testee image of each visual apparatus collection to put the identical picture point of corresponding encoded radio with described first target image; The described first visual apparatus group belongs to described used for multi-vision visual device clusters and does not comprise the described first target visual equipment;
Being gathered the picture point that has the same-code value in the testee image with each visual apparatus in the described used for multi-vision visual device clusters is benchmark, finishes the coupling that each visual apparatus is gathered the testee image.
Matching system between a kind of image of used for multi-vision visual, described system applies is in the used for multi-vision visual device clusters; Described used for multi-vision visual device clusters comprises at least two visual apparatus; Described system comprises:
Projecting unit is used for the projection encoded light to testee, makes described encoded light and described testee superimposed;
Matching unit is used for according to the coding of the encoded light on the described testee testee image of described each visual apparatus collection of used for multi-vision visual device clusters being carried out images match.
Above-mentioned system, preferred, also comprise:
Range cells is for the distance of measuring according to the matching result between the testee image of described each visual apparatus collection of used for multi-vision visual device clusters between each visual apparatus and the described testee.
Above-mentioned system, preferred, described matching unit comprises:
Determine subelement, be used in each visual apparatus of described used for multi-vision visual device clusters, determining the first target visual equipment; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts many corresponding codes value;
The chooser unit is used for selecting to put the identical picture point of corresponding encoded radio with described first target image in the testee image of first each visual apparatus collection of visual apparatus group; The described first visual apparatus group belongs to described used for multi-vision visual device clusters and does not comprise the described first target visual equipment;
The coupling subelement, being used for being gathered the picture point that has the same-code value in the testee image with described each visual apparatus of used for multi-vision visual device clusters is benchmark, finishes the coupling that each visual apparatus is gathered the testee image.
Compared with prior art, the application comprises following advantage:
In this application, before the image of each visual apparatus collection in the used for multi-vision visual equipment mated, the projection encoded light made described encoded light and described testee superimposed to testee; Then, each visual apparatus is gathered the image that described projection has the testee of encoded light, and the coding of the encoded light on the described testee of foundation carries out images match.
Among the application, because projection has encoded light on the testee, being coded on the testee of encoded light fixed.After the image of the testee that encoded light is arranged was throwed in each visual apparatus collection, the encoded radio of the arbitrary impact point in each image on the testee was constant, realized the images match of the testee that each visual apparatus is gathered according to described coding; Matching precision is higher, and has promoted matching efficiency.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present application, the accompanying drawing of required use is done to introduce simply in will describing embodiment below, apparently, accompanying drawing in describing below only is some embodiment of the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the process flow diagram of matching process embodiment 1 between the application's a kind of image of used for multi-vision visual;
Fig. 2 is process flow diagram among the matching process embodiment 2 between the application's a kind of image of used for multi-vision visual;
Fig. 3 is the particular flow sheet of matching process embodiment 1 between the application's a kind of image of used for multi-vision visual;
Fig. 4 is the structural representation of a kind of used for multi-vision visual equipment of the application;
Fig. 5 is the structural representation of used for multi-vision visual equipment in another of the application;
Fig. 6 is the principle schematic of matching process between the application's a kind of image of used for multi-vision visual equipment;
Fig. 7 is the structured flowchart of matching system embodiment 1 between the application's a kind of image of used for multi-vision visual;
Fig. 8 is the structured flowchart of matching system embodiment 2 between the application's a kind of image of used for multi-vision visual;
Fig. 9 be between the application's a kind of image of used for multi-vision visual matching system embodiment 3 structured flowchart.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment only is the application's part embodiment, rather than whole embodiment.Based on the embodiment among the application, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of the application's protection.
The application can be used in numerous general or special purpose calculation element environment or the configuration.For example: personal computer, server computer, handheld device or portable set, plate equipment, multiprocessor device, comprise distributed computing environment of above any device or equipment etc.
The application can describe in the general context of the computer executable instructions of being carried out by computing machine, for example program module.Usually, program module comprises the routine carrying out particular task or realize particular abstract data type, program, object, assembly, data structure etc.Also can in distributed computing environment, put into practice the application, in these distributed computing environment, be executed the task by the teleprocessing equipment that is connected by communication network.In distributed computing environment, program module can be arranged in the local and remote computer-readable storage medium that comprises memory device.
With reference to figure 1, show the process flow diagram of matching process embodiment 1 between the image of a kind of used for multi-vision visual of the application, the method that the embodiment of the present application 1 provides is applied in the used for multi-vision visual device clusters, and described used for multi-vision visual device clusters comprises at least two visual apparatus; Described method can may further comprise the steps:
Step 101: the projection encoded light makes described encoded light and described testee superimposed to testee;
In the embodiment of the present application, in the used for multi-vision visual device clusters, light source is set, be used for to testee projection encoded light, each visual apparatus in the embodiment of the present application in the used for multi-vision visual device clusters is together with described light source, be positioned at a side on described testee plane of living in simultaneously, namely no matter described each visual apparatus arranges with which kind of angle or position, all exist a plane pass described testee will described each visual apparatus and light source cut the same side on described plane; Guarantee that thus each visual apparatus all can collect the image that described projection has the testee of encoded light.
As Fig. 4 and shown in Figure 5, be example to comprise two visual apparatus in the described used for multi-vision visual device clusters in the embodiment of the present application, arranging between visual apparatus a and the visual apparatus b can be same horizontal line, also can be angled setting; Also can be staggered front to back setting; Described light source can be arranged on the centre position of visual apparatus a and visual apparatus b; Also can be arranged at the side of described visual apparatus a and visual apparatus b; Position relation for each visual apparatus in the used for multi-vision visual device clusters and light source in the embodiment of the present application is provided with multiple, its main central idea is that each visual apparatus can collect described projection simultaneously has the image of the testee of encoded light to get final product.
In the image matching method between the used for multi-vision visual that the embodiment of the present application provides, light source throws the encoded light of different coding to described testee in the different time intervals according to default pro-jection rule in the process of testee projection encoded light.In the projection process, according to each visual apparatus the collection period of testee image is carried out the projection of encoded light, also can be according to the encoded light that specifically be applied in different time cycle in projection different coding of each visual apparatus to the testee image acquisition.
In the image matching method between the used for multi-vision visual that the embodiment of the present application provides, all according to each visual apparatus in concrete the application application purpose of the testee image of collection is determined for the projection cycle of encoded light and concrete coding selection.Wherein can comprise multiple identification markings such as color, numeral for the encoded light coding selection.
The embodiment of the present application provides in the matching process, for throwing encoded light to testee, according to the requirement that each visual apparatus is gathered testee image size and displaying ratio, can also can carry out the projection of regional area to the specific region of testee to the global area projection of testee.
Step 102: the coding of the encoded light on the described testee of foundation carries out images match to the testee of each visual apparatus collection in the described used for multi-vision visual device clusters.
Detailed process such as the embodiment of the present application for images match in the embodiment of the present application are shown in Figure 3, comprising:
Step S201: determine the first target visual equipment in each visual apparatus in described used for multi-vision visual device clusters; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts corresponding encoded radio;
In the process of carrying out images match, the selected first target visual equipment in each visual apparatus in the used for multi-vision visual device clusters, the described first target visual equipment is the arbitrary visual apparatus in the described used for multi-vision visual device clusters, be reference device with described target visual equipment, carry out described target visual equipment and other visual apparatus and gather images match between the testee image.
Selected first target image point in the testee image that described first target device is gathered determines that described first target image puts corresponding encoded radio; This encoded radio can be multiple code identifications such as color, numerical value.It is unique that described first target image is put corresponding encoded radio.
Step S202: in the first visual apparatus group, select in the testee image of each visual apparatus collection to put the identical picture point of corresponding encoded radio with described first target image; The described first visual apparatus group belongs to described used for multi-vision visual device clusters and does not comprise the described first target visual equipment;
Determine the first visual apparatus group, the described first visual apparatus group belongs to the used for multi-vision visual device clusters and does not comprise the described first target visual equipment; In the described first visual apparatus group, select to have with described first target image point picture point of same-code value in the testee image of each visual apparatus collection.
Step S203: being gathered the picture point that has the same-code value in the testee image with each visual apparatus in the described used for multi-vision visual device clusters is benchmark, finishes the coupling that each visual apparatus is gathered the testee image.
Be reference point with the picture point that has the same-code value in the testee image that each visual apparatus is gathered in the described used for multi-vision visual device clusters, realize that the collection of each visual apparatus is by the coupling of altimetric image.
Testee image with two different visual apparatus collections in the embodiment of the present application is example, for the picture point with same encoded radio, on the testee image of two different visual apparatus collections, select two location points with same-code value arbitrarily, can finish the coupling of two width of cloth images.
Same matching principle is applied in the used for multi-vision visual device clusters, determines the reference map picture point in the image that each visual apparatus is gathered, and carries out the coupling between image centered by described reference map picture point.Wherein the number of reference map picture point is chosen not uniquely, can select one or more.
The description of above-described embodiment is arranged as can be known, the main implementation procedure of matching process is between the image of the used for multi-vision visual that the application provides, and utilizes projection source projection encoded light to testee, makes encoded light and testee superimposed; Projection has on the testee of encoded light, the coding of the corresponding encoded light of arbitrary impact point is fixed, as the embodiment of the present application provide shown in Figure 6, be example to comprise two visual apparatus in the used for multi-vision visual device clusters, the image that two visual apparatus are gathered testee respectively is image 1 and image 2, for image 1 and image 2, it is owing to the angle of visual apparatus to the testee image acquisition, influence of various factors such as direction and scope, image 1 and the image 2 of the same object of gathering in two visual apparatus have difference, but for same impact point A, its corresponding codes is constant, carries out the coupling of image 1 and image 2 according to this constant encoded radio.
With reference to figure 2, show the process flow diagram of matching process embodiment 2 between the image of a kind of used for multi-vision visual of the application, on basis embodiment illustrated in fig. 1, also comprise step S103:
Step S103: the matching result in the described used for multi-vision visual device clusters of foundation between the testee image of each visual apparatus collection is measured the distance between each visual apparatus and the described testee.
Between the image of the used for multi-vision visual that the application provides in the matching process, the distance of measuring between each visual apparatus and the testee realizes according to two-sided range measurement principle, no matter comprise what visual apparatus in the described used for multi-vision visual device clusters, the principle of its range finding is the match point in the selected testee image of gathering, and calculates according to the side-play amount of described match point in each image then.In the embodiment of the present application, for a certain definite visual apparatus, after determining the target image point in the image of its collection, choose other visual apparatus arbitrarily, according to the match point side-play amount in the testee image of two visual apparatus collections, can calculate and obtain described definite visual apparatus and the distance between the testee.
Be example with the application's used for multi-vision visual device clusters shown in Figure 5, comprise visual apparatus a and visual apparatus b in the described used for multi-vision visual device clusters, carry out in the process of vision range finding at foundation visual apparatus a and visual apparatus b, be reference point with described testee, become standard triangle setting between visual apparatus a, visual apparatus b and the described testee, because visual apparatus a is in the relative nearer regional extent with respect to testee with visual apparatus b, can be by the air line distance between direct distance measuring method acquisition visual apparatus a and the visual apparatus b; Simultaneously, also by the angle between the relative testee of multiple metering system acquisition visual apparatus a, the visual apparatus b; Reach the angle between the relative testee of visual apparatus b, the visual apparatus a; Can draw the distance value between visual apparatus a, visual apparatus b and the testee respectively by calculating thus.
For aforesaid each method embodiment, for simple description, so it all is expressed as a series of combination of actions, but those skilled in the art should know, the application is not subjected to the restriction of described sequence of movement, because according to the application, some step can adopt other orders or carry out simultaneously.Secondly, those skilled in the art also should know, the embodiment described in the instructions all belongs to preferred embodiment, and related action and module might not be that the application is necessary.
Corresponding with the method that matching process embodiment 1 between the image of a kind of used for multi-vision visual of above-mentioned the application provides, referring to Fig. 7, the application also provides matching system embodiment 1 between a kind of image of used for multi-vision visual, described system applies is in the used for multi-vision visual device clusters, and described used for multi-vision visual device clusters comprises at least two visual apparatus; In the present embodiment, this system can comprise:
Projecting unit 301 is used for the projection encoded light to testee, makes described encoded light and described testee superimposed;
Referring to Fig. 8, show the structural representation of matching system embodiment 2 between the image of a kind of used for multi-vision visual of the application; On the basis of Fig. 7, also comprise: range cells 303;
Referring to Fig. 9, show the structural representation of matching system embodiment 3 between the image of a kind of used for multi-vision visual of the application, on the basis of Fig. 8, matching unit 302 comprises:
Determine subelement 304, be used in each visual apparatus of described used for multi-vision visual device clusters, determining the first target visual equipment; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts many corresponding codes value;
Need to prove that each embodiment in this instructions all adopts the mode of going forward one by one to describe, what each embodiment stressed is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For device class embodiment, because it is similar substantially to method embodiment, so description is fairly simple, relevant part gets final product referring to the part explanation of method embodiment.
At last, also need to prove, in this article, relational terms such as first and second grades only is used for an entity or operation are made a distinction with another entity or operation, and not necessarily requires or hint and have the relation of any this reality or in proper order between these entities or the operation.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thereby make and comprise that process, method, article or the equipment of a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or also be included as the intrinsic key element of this process, method, article or equipment.Do not having under the situation of more restrictions, the key element that is limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
For the convenience of describing, be divided into various unit with function when describing above the device and describe respectively.Certainly, when implementing the application, can in same or a plurality of softwares and/or hardware, realize the function of each unit.
As seen through the above description of the embodiments, those skilled in the art can be well understood to the application and can realize by the mode that software adds essential general hardware platform.Based on such understanding, the part that the application's technical scheme contributes to prior art in essence in other words can embody with the form of software product, this computer software product can be stored in the storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out the described method of some part of each embodiment of the application or embodiment.
More than a kind of search method, Apparatus and system that the application is provided be described in detail, used specific case herein the application's principle and embodiment are set forth, the explanation of above embodiment just is used for helping to understand the application's method and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to the application's thought, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as the restriction to the application.
Claims (10)
1. matching process between the image of a used for multi-vision visual is characterized in that, this method is applied to the used for multi-vision visual device clusters; Described used for multi-vision visual device clusters comprises at least two visual apparatus; Described method comprises:
The projection encoded light makes described encoded light and described testee superimposed to testee;
The coding of the encoded light on the described testee of foundation carries out images match to the testee image of each visual apparatus collection in the described used for multi-vision visual device clusters.
2. method according to claim 1 is characterized in that, also comprises:
Matching result in the described used for multi-vision visual device clusters of foundation between the testee image of each visual apparatus collection is measured the distance between each visual apparatus and the described testee.
3. method according to claim 1 is characterized in that, each visual apparatus becomes the multi-angle setting with respect to described testee in the described used for multi-vision visual device clusters.
4. method according to claim 3 is characterized in that, each visual apparatus is positioned at a side on described testee plane of living in the described used for multi-vision visual device clusters.
5. method according to claim 1 is characterized in that, described projection encoded light to testee comprises:
In the different time intervals, throw the encoded light of different coding according to default pro-jection rule to described testee.
6. method according to claim 1 is characterized in that, described projection encoded light to testee comprises:
Throw encoded light according to default pro-jection rule to the global area projection encoded light of described testee or to the subregion of testee.
7. method according to claim 1 is characterized in that, described images match comprises:
Determine the first target visual equipment in each visual apparatus in described used for multi-vision visual device clusters; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts corresponding encoded radio;
In the first visual apparatus group, select in the testee image of each visual apparatus collection to put the identical picture point of corresponding encoded radio with described first target image; The described first visual apparatus group belongs to described used for multi-vision visual device clusters and does not comprise the described first target visual equipment;
Being gathered the picture point that has the same-code value in the testee image with each visual apparatus in the described used for multi-vision visual device clusters is benchmark, finishes the coupling that each visual apparatus is gathered the testee image.
8. matching system between the image of a used for multi-vision visual is characterized in that, described system applies is in the used for multi-vision visual device clusters; Described used for multi-vision visual device clusters comprises at least two visual apparatus; Described system comprises:
Projecting unit is used for the projection encoded light to testee, makes described encoded light and described testee superimposed;
Matching unit is used for according to the coding of the encoded light on the described testee testee image of described each visual apparatus collection of used for multi-vision visual device clusters being carried out images match.
9. system according to claim 8 is characterized in that, also comprises:
Range cells is for the distance of measuring according to the matching result between the testee image of described each visual apparatus collection of used for multi-vision visual device clusters between each visual apparatus and the described testee.
10. system according to claim 8 is characterized in that, described matching unit comprises:
Determine subelement, be used in each visual apparatus of described used for multi-vision visual device clusters, determining the first target visual equipment; Selected first target image point in the testee image that the described first target visual equipment is gathered; Determine that described first target image puts many corresponding codes value;
The chooser unit is used for selecting to put the identical picture point of corresponding encoded radio with described first target image in the testee image of first each visual apparatus collection of visual apparatus group; The described first visual apparatus group belongs to described used for multi-vision visual device clusters and does not comprise the described first target visual equipment;
The coupling subelement, being used for being gathered the picture point that has the same-code value in the testee image with described each visual apparatus of used for multi-vision visual device clusters is benchmark, finishes the coupling that each visual apparatus is gathered the testee image.
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