CN110211043B - A Registration Method Based on Grid Optimization for Panoramic Image Stitching - Google Patents
A Registration Method Based on Grid Optimization for Panoramic Image Stitching Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于数字图像处理技术领域,具体涉及一种用于全景图像拼接的基于网格优化的图像配准方法。The invention belongs to the technical field of digital image processing, and in particular relates to an image registration method based on grid optimization for panorama image mosaic.
背景技术Background technique
随着信息技术的迅猛发展和人们生活水平的提高,人们对于高质量的全景图像的需求也越来越旺盛,无论是虚拟现实、全景直播,还是医学成像、辅助驾驶,全景图像都有很好的应用前景。从功能上,人们能够从全景图像中获取更多的信息,获得更好的视觉体验。With the rapid development of information technology and the improvement of people's living standards, people's demand for high-quality panoramic images is also increasing. Whether it is virtual reality, panoramic live broadcast, medical imaging, or assisted driving, panoramic images are very good. application prospects. Functionally, people can get more information from panoramic images and get a better visual experience.
为了获取宽视角的图像,传统的方法是使用广角镜头,如鱼眼镜头,它可以拍摄水平面上近乎180度的全部场景,但是这种方法存在至少以下三个不足:一是会引入肉眼可见的畸变和失真,二是由于拍摄视角过大造成分辨率下降,三是广角镜头造价昂贵。In order to obtain wide-angle images, the traditional method is to use a wide-angle lens, such as a fisheye lens, which can capture nearly 180 degrees of the entire scene on the horizontal plane, but this method has at least the following three shortcomings: First, it will introduce distortion visible to the naked eye and distortion, the second is that the resolution is reduced due to the large shooting angle, and the third is that the wide-angle lens is expensive.
在这样的背景与需求下,图像拼接技术应运而生,该技术旨在将一组带有重叠区域的、小视角的图像序列,经过一系列的处理与操作,最终得到一张包含全部场景信息的、具有大视角特性和超高分辨率的全景图。由于每个镜头只负责拍摄场景中的一部分,如果采用高清镜头,那么细节的分辨率就会较高,同时普通镜头也避免了广角引入的畸变。Under such a background and demand, image mosaic technology came into being. This technology aims to combine a group of image sequences with overlapping areas and small viewing angles, through a series of processing and operations, and finally obtain a picture that contains all scene information. Panoramic images with large viewing angle characteristics and ultra-high resolution. Since each lens is only responsible for shooting a part of the scene, if a high-definition lens is used, the resolution of the details will be higher, and the normal lens will also avoid the distortion introduced by the wide-angle.
传统的图像拼接技术主要可分为以下步骤:图像获取、SIFT特征提取、特征匹配、单应性矩阵求解、相机参数矫正以及图像融合。一个单应性矩阵只能对齐一个平面,如果在初始图像中存在视差和拉伸,使用传统方法得到的拼接图中就会出现非常严重的重影和倾斜,甚至拼接失败(结果图完全失真)。The traditional image stitching technology can be divided into the following steps: image acquisition, SIFT feature extraction, feature matching, homography matrix solution, camera parameter correction and image fusion. A homography matrix can only align one plane, if there is parallax and stretching in the initial image, very serious ghosting and skewing will appear in the mosaic obtained by using traditional methods, and even the mosaic will fail (the resulting image is completely distorted) .
发明内容Contents of the invention
本发明的目的在于克服当前技术不足,提供一种用于全景图像拼接的基于网格优化的图像配准方法。The purpose of the present invention is to overcome the shortcomings of the current technology and provide an image registration method based on grid optimization for panoramic image mosaic.
本发明适用于自由视角的图像配准,对图像的尺度变换、亮度变换和旋转变换都表现出优越的稳定性。因此,此发明不仅能够应用于镜头固定的全景监控,还适用于镜头移动、旋转的无人机勘测等。The invention is suitable for image registration of free viewing angles, and exhibits excellent stability for image scale transformation, brightness transformation and rotation transformation. Therefore, this invention can not only be applied to panoramic monitoring with a fixed lens, but also to drone surveys with moving and rotating lenses.
对于图像序列的获取,本发明使用三种方法:其一,固定摄像头旋转拍摄获取周围全景,这样得到的图像序列最为规则;其二,手持相机拍摄图像序列,相邻重叠区域在20%左右即可,如此获取的图像序列会存在旋转、抖动、平移等变换;其三,无人机高空获取图像,相机位置固定但会调整拍摄方向,获得的图像存在尺度、旋转变换且分辨率较高。For the acquisition of the image sequence, the present invention uses three methods: one, the fixed camera rotates and shoots to obtain the surrounding panorama, and the image sequence obtained like this is the most regular; Yes, the image sequence obtained in this way will have transformations such as rotation, shaking, and translation; third, the UAV acquires images at high altitude, the camera position is fixed but the shooting direction will be adjusted, and the obtained images have scale, rotation transformation and high resolution.
本发明提供的用于全景图像拼接的基于网格优化的图像配准方法,具体步骤如下:The grid optimization-based image registration method for panoramic image mosaic provided by the present invention, the specific steps are as follows:
(1)应用ORB【1】进行快速的特征提取。使用FAST【2】算法进行特征检测,然后基于改进的BRIEF【3】描述符生成特征点的相关描述子,其中包含该特征点的尺度信息、位置和方向信息。(1) Apply ORB [1] for fast feature extraction. Use the FAST [2] algorithm for feature detection, and then generate the relevant descriptor of the feature point based on the improved BRIEF [3] descriptor, which contains the scale information, position and direction information of the feature point.
(2)采用高维树(K-D树)和最优节点优先算法(BBF)进行特征点的粗匹配,然后对得到的匹配点用公式(1)进行比值测试,p为当前特征点,其定义为p的最邻近特征点pbest-closed与次邻近特征点psecond-closed的汉明距离的比值要小于一个阈值(ratio),阈值一般取为0.65;应用公式(2)进行交叉测试;遍历图像I中的特征点,寻找图像J中与之匹配的点,记为MI->J,然后遍历图像J中的特征点,寻找图像I中相对应的点,记为MJ->I,交叉测试认为只有当两者相互对应时方为一对正确的匹配;(2) Use the high-dimensional tree (KD tree) and the optimal node first algorithm (BBF) for rough matching of feature points, and then use the formula (1) to perform a ratio test on the obtained matching points, p is the current feature point, which is defined as p The ratio of the Hamming distance between the nearest feature point p best-closed and the second adjacent feature point p second-closed is less than a threshold (ratio), the threshold is generally taken as 0.65; apply the formula (2) for cross-testing; traverse the image I The feature points in the image J, find the matching point in the image J, recorded as M I->J , then traverse the feature points in the image J, find the corresponding point in the image I, recorded as M J->I , cross The test considers a pair of correct matches only when the two correspond to each other;
MI&J=MI->J∩MJ->I (2)M I&J =M I->J ∩M J->I (2)
(3)然后,对精匹配后的匹配点对进行多层RANSAC【4】筛选,在图像的多个平面中筛选特征点对的内点集,使得最终内点集的数目占总匹配对数目的80%以上,最大限度的保留匹配信息。(3) Then, perform multi-layer RANSAC [4] screening on the matching point pairs after fine matching, and filter the interior point sets of feature point pairs in multiple planes of the image, so that the number of final interior point sets accounts for the total number of matching pairs More than 80% of the matching information is retained to the greatest extent.
(4)通过MDLT(移动直接线性转换)将特征匹配点映射为分布更加规则均匀的顶点匹配点。将图像划分成密集网格,每个网格对应一个单应性矩阵投影变换,如公式(3)所示,其中表示网格中某一匹配点的初始坐标(x,y,1),/>表示变换后的坐标(x′,y′,1),均为三维,因此矩阵H的维度为3×3。(4) Through MDLT (Moving Direct Linear Transformation), the feature matching points are mapped to vertex matching points with more regular and uniform distribution. Divide the image into dense grids, and each grid corresponds to a homography matrix projection transformation, as shown in formula (3), where Indicates the initial coordinates (x,y,1) of a matching point in the grid, /> Indicates the transformed coordinates (x′, y′, 1), all of which are three-dimensional, so the dimension of the matrix H is 3×3.
不妨设H为:May wish to set H as:
则将公式(3)化开可得:Then formula (3) can be decomposed to get:
整理成矩阵相乘的格式,便为:Organized into the format of matrix multiplication, it is:
aih=0 (6)a i h = 0 (6)
其中,ai表示第i对匹配点构成的2×9矩阵,h为H的列向量格式(维度为9×1):Among them, a i represents the 2×9 matrix formed by the i-th pair of matching points, and h is the column vector format of H (the dimension is 9×1):
h=[h1h2h3h4h5h6h7h8h9]T h=[h 1 h 2 h 3 h 4 h 5 h 6 h 7 h 8 h 9 ] T
将M对匹配点全部考虑在内,如公式(8),通过最小化平方误差ek来求解变换矩阵h,其中A为M对匹配点对应的变换矩阵,维度为2M×9;Wk为每对匹配点的权值对角阵,维度为2M×2M,每个元素通过公式(4)计算;/>为第i对匹配点对第k个网络的影响权值,由该匹配点与网格中心的距离决定。公式(4)中xk表示第k个网格的中心坐标,xi表示第i对匹配点的坐标,μ为调整参数。Taking all M pairs of matching points into consideration, as shown in formula (8), the transformation matrix h is solved by minimizing the square error e k , where A is the transformation matrix corresponding to M pairs of matching points, and its dimension is 2M×9; W k is The weight diagonal matrix of each pair of matching points, the dimension is 2M×2M, each element Calculated by formula (4); /> is the influence weight of the i-th pair of matching points on the k-th network, which is determined by the distance between the matching point and the grid center. In formula (4), x k represents the center coordinate of the k-th grid, x i represents the coordinates of the i-th pair of matching points, and μ is an adjustment parameter.
ek=argmin||WkAh||2s.t.||h||=1 (8)e k =argmin||W k Ah|| 2 st||h||=1 (8)
然后应用计算得到的单应性矩阵在另一幅图像中找到网格顶点的匹配点,顶点匹配点分布均匀规则,以此作为网格优化中的匹配点,能够有效地减少计算量。Then use the calculated homography matrix to find the matching points of the grid vertices in another image. The distribution of the matching points of the vertices is even and regular, and they are used as the matching points in the grid optimization, which can effectively reduce the amount of calculation.
(5)引入基于网格优化的三个约束项:针对重叠区域的坐标对齐约束项、针对非重叠区域的局部相似约束项和针对全局结构一致性的全局相似约束项。首先设置几个标志,将图像之间的匹配关系存入集合T,图像i和图像j经步骤(4)映射后得到的匹配点对的集合设为Mij,由于图像已划分成网格,设Vi和Ei为图像i中网格的顶点集合和边集合。(5) Three constraint terms based on grid optimization are introduced: the coordinate alignment constraint term for overlapping regions, the local similarity constraint term for non-overlapping regions, and the global similarity constraint term for global structural consistency. First set several flags, store the matching relationship between images into the set T, and set the set of matching point pairs obtained after image i and image j are mapped in step (4) as M ij , since the image has been divided into grids, Let V i and E i be the set of vertices and edges of the mesh in image i.
坐标对齐约束项如公式(10)所示,其作用为确保在网格优化后与相应匹配点的坐标尽可能一致,减少相邻图像重叠区域的对齐误差。其中m(p)返回特征点p在另一幅图像上的匹配点,Ψ(p)用4个网格顶点坐标的线性组合来表示特征点p的位置。The coordinate alignment constraint item is shown in formula (10), and its function is to ensure that the coordinates of the corresponding matching points are as consistent as possible after grid optimization, and reduce the alignment error in the overlapping area of adjacent images. Among them, m(p) returns the matching point of feature point p on another image, and Ψ(p) uses the linear combination of four grid vertex coordinates to represent the position of feature point p.
局部相似约束项如公式(11)所示,其主要目的是确保网格优化前后同一向量边的长度和方向不会有太大变化。由于投影矩阵主要适用于重叠区域,在非常重叠区域引入相似变换矩阵表示边/>的相似变换,具体计算如公式(12),其中/>和/>是关于顶点变量的线性组合,主要模拟旋转和大小变换【5】;/>和/>表示原图像上同一条边的两个顶点位置,vj′i和v′k k表示网格优化后的顶点位置,Ei表示网格的边集合。The local similarity constraint item is shown in formula (11), and its main purpose is to ensure that the length and direction of the same vector edge will not change much before and after mesh optimization. Since the projection matrix is mainly suitable for overlapping areas, similar transformation matrices are introduced in very overlapping areas means side /> The similarity transformation of , the specific calculation is as formula (12), where /> and /> It is a linear combination of vertex variables, mainly simulating rotation and size transformation [5]; /> and /> Indicates the two vertex positions of the same edge on the original image, v j ′ i and v′ k k represent the vertex positions after grid optimization, and E i represents the edge set of the grid.
全局相似约束项如公式(13)所示,其旨在提升图像序列中的整体结构一致性。其中为每条边的权值,从重叠区域到非重叠区域渐变,距离重叠区域越远,权重越大,定义为公式(14)。si定义为图像i的尺度量,可通过光束平差法估计图像i的相机参数获得;θi定义为图像i对于基准图像的旋转量,本发明定义LSD【6】特征线检测得到的线特征之间的夹角的平均值为两幅图像之间的旋转角;参数/>和/>在公式(12)中已经有所提及。The global similarity constraint term is shown in formula (13), which aims to improve the overall structural consistency in the image sequence. in is the weight of each edge, gradually changing from the overlapping area to the non-overlapping area, the farther away from the overlapping area, the greater the weight, defined as formula (14). s i is defined as the scale quantity of image i, which can be obtained by estimating the camera parameters of image i through bundle adjustment method; θ i is defined as the rotation amount of image i relative to the reference image, and the present invention defines the line obtained by LSD [6] characteristic line detection The average of the angles between the features is the rotation angle between the two images; parameter /> and /> It has been mentioned in formula (12).
其中,η和λ是调整参数,由实验产生,实施例中,η取6,λ取20。是共享边/>的网格集合(1个或2个,取决于是否为边界边),Mi表示图像i的重叠区域的全部网格的结合;d(qk,Mi)是一个函数,用以计算集合/>内的网格qk到重叠区域的距离;Ri和Ci表示图像i网格的行数和列数。Wherein, η and λ are adjustment parameters, which are generated by experiments. In the embodiment, η is 6, and λ is 20. is the shared side/> The set of grids (1 or 2, depending on whether it is a boundary edge), M i represents the combination of all grids in the overlapping area of image i; d(q k , M i ) is a function to calculate the set /> The distance from the grid q k within to the overlapping area; R i and C i represent the number of rows and columns of the grid of image i.
公式(15)结合三个约束项,最小化此公式即可获得网格优化后每个像素点在全景图中的坐标值,图像配准完成。Equation (15) combines the three constraints, and the coordinate value of each pixel in the panorama after grid optimization can be obtained by minimizing this equation, and the image registration is completed.
式中,γ为局部相似约束项的调整系数,实施例中取0.54。In the formula, γ is the adjustment coefficient of the local similarity constraint item, which is 0.54 in the embodiment.
以上便是本发明的基本步骤,如附图1所示。The above is the basic steps of the present invention, as shown in Figure 1.
本发明可以有效消除结果图中的重影和倾斜,提高配准精度,同时减少配准的时间消耗。The invention can effectively eliminate the ghost and tilt in the result image, improve the registration accuracy, and reduce the time consumption of registration at the same time.
附图说明Description of drawings
图1为本发明的架构流程图。FIG. 1 is a flowchart of the architecture of the present invention.
图2为手持相机拍摄图像序列的配准结果图与拼接全景图。Figure 2 shows the registration results and mosaic panorama of the image sequence captured by the hand-held camera.
图3为无人机高空拍摄高分辨率图像序列的配准结果图与拼接全景图。Figure 3 shows the registration results and mosaic panorama of the high-resolution image sequence captured by the drone at high altitude.
具体实施方式Detailed ways
下面通过实例,结合附图进一步描述本发明方法。Below by example, further describe the method of the present invention in conjunction with accompanying drawing.
对于一组测试图像序列A,使用本发明的方法对其进行图像配准,具体过程如下:For a group of test image sequences A, use the method of the present invention to carry out image registration, the specific process is as follows:
1、使用ORB算法对A中每幅图像进行快速特征提取,获得每幅图像的特征点;1. Use the ORB algorithm to perform fast feature extraction on each image in A, and obtain the feature points of each image;
2、在特征点粗匹配中引入K-D树,由于每个特征点的描述子为256位的二进制串,正好可作为32维数据,每维8位,应用于K-D树构建,然后基于BBF搜寻找到与此特征点最邻近的点,作为一对匹配点对;2. Introduce the K-D tree in the rough matching of feature points. Since the descriptor of each feature point is a 256-bit binary string, it can be used as 32-dimensional data, with 8 bits per dimension. It is applied to the K-D tree construction, and then found based on BBF search The points closest to this feature point are used as a pair of matching points;
3、对得到的匹配点对应用比值测试和交叉测试,剔除其中的错误匹配,保留下来的变为精匹配点对;3. Apply ratio test and cross test to the obtained matching point pairs, eliminate the wrong matches, and keep the remaining ones as fine matching point pairs;
4、对精匹配点对作多层RANAC筛选,在图像的多个平面中筛选特征点对的内点集,使得最终内点集的数目占总匹配对数目的80%以上,最大限度的保留匹配信息;4. Perform multi-layer RANAC screening on fine matching point pairs, and filter the interior point sets of feature point pairs in multiple planes of the image, so that the number of final interior point sets accounts for more than 80% of the total number of matching pairs, and the maximum retention matching information;
5、通过MDLT(移动直接线性转换)将特征带你匹配点映射为分布更加规则均匀的顶点匹配点。将图像划分成密集网格,每个网格对应一个单应性矩阵投影变换,然后应用得到的单应性矩阵在另一幅图像中找到网格顶点的匹配点,顶点匹配点分布均匀规则,以此作为网格优化中的匹配点能够有效地减少计算量;5. Through MDLT (Moving Direct Linear Transformation), the feature belt matching points are mapped to vertex matching points with more regular and uniform distribution. Divide the image into dense grids, each grid corresponds to a homography matrix projection transformation, and then apply the obtained homography matrix to find the matching points of the grid vertices in another image, the vertex matching points are evenly distributed, Using it as a matching point in grid optimization can effectively reduce the amount of calculation;
6、引入基于网格优化的三个约束项:针对重叠区域的坐标对齐约束项、针对非重叠区域的局部相似约束项和针对全局结构一致性的全局相似约束项,通过最小化误差函数的方法来获得像素点在全景图上的坐标位置。6. Introduce three constraints based on grid optimization: coordinate alignment constraints for overlapping regions, local similarity constraints for non-overlapping regions, and global similarity constraints for global structural consistency. By minimizing the error function To obtain the coordinate position of the pixel point on the panorama.
综上所述,测试图像序列A的图像配准完成,得到的配准结果以及最终的拼接全景图如附图2和3所示。In summary, the image registration of the test image sequence A is completed, and the obtained registration results and the final mosaic panorama are shown in Figures 2 and 3 .
参考文献:references:
【1】定向简洁特征提取算法,参考文献:E.Rublee,V.Rabaud,K.Konolige,etal.ORB:An efficient alternative to SIFTor SURF[C].International Conference onComputer Vision,2011:2564-2571.【1】Oriented concise feature extraction algorithm, reference: E.Rublee, V.Rabaud, K.Konolige, etal.ORB: An efficient alternative to SIFTor SURF[C].International Conference on Computer Vision,2011:2564-2571.
【2】快速角点检测算法,参考文献:E.Rosten,T.Drummond.Machine learning forhigh-speed corner detection[C].European Conference on computer Vision,2006:430-443.【2】Fast corner detection algorithm, reference: E.Rosten, T.Drummond. Machine learning for high-speed corner detection [C]. European Conference on computer Vision, 2006: 430-443.
【3】简洁描述符,参考文献:M.Calonder,V.Lepetit,C.Strecha,et al.BRIEF:Binary Robust Independent Elementary Features[C].European Conference onComputer Vision.2010:778-792.【3】Concise descriptors, references: M.Calonder, V.Lepetit, C.Strecha, et al.BRIEF: Binary Robust Independent Elementary Features[C].European Conference on Computer Vision.2010:778-792.
【4】随机抽样一致性算法,参考文献:M.A.Fischler,Bolles R.C..Random sampleconsensus:a paradigm for model fitting with applications to image analysisand automatic cartography[J].Communications of the ACM,1981,24(6):381-395.【4】Random sampling consensus algorithm, reference: M.A.Fischler, Bolles R.C..Random sample consensus: a paradigm for model fitting with applications to image analysis and automatic cartography[J].Communications of the ACM,1981,24(6):381 -395.
【5】相似变换的详情可参考文献:T.Igarashi,Y.Igarashi.Implementing as-rigid-as-possible shape manipulation and surface flattening[J].Journal ofGraphics Gpu&Game Tools,2009.【5】For details of similar transformation, please refer to: T.Igarashi, Y.Igarashi. Implementing as-rigid-as-possible shape manipulation and surface flattening[J].Journal ofGraphics Gpu&Game Tools,2009.
【6】Line Segment Detevtor的缩写,一种线特征检测算法,具体可参考:R.G.V.Gioi,J.Jakubowicz,J.M.Morel,er al.LSD:a line segment detector[J].ImageProcessing On Line,2012,2:35-55。【6】Abbreviation of Line Segment Detector, a line feature detection algorithm, for details, please refer to: R.G.V.Gioi, J.Jakubowicz, J.M.Morel, er al.LSD: a line segment detector[J].ImageProcessing On Line,2012,2 :35-55.
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