High-precision joining method of uneven surface object picture

A surface uneven, high-precision technology, applied in image data processing, instruments, calculations, etc., can solve problems such as stitching errors, achieve the effect of eliminating stitching errors and improving stitching accuracy

Inactive Publication Date: 2010-11-10
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

[0011] from figure 1 It can be seen that since the camera imaging complies with perspective projection (because there is no lens with infinite focal length), the degree of unevenness of the object surface Δh will bring stitching errors

Method used

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  • High-precision joining method of uneven surface object picture
  • High-precision joining method of uneven surface object picture
  • High-precision joining method of uneven surface object picture

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Embodiment Construction

[0064] A specific embodiment of the present invention will be described in detail below in conjunction with examples.

[0065] (1) According to the overlapping area in the first image and the second image to be stitched, use a structured light three-dimensional scanner to obtain the quintuple (x w ,y w ,z w , u r , v r );

[0066] Here, the first image and the second image are obtained by photographing a surface concave-convex object, and there is a partial overlapping area. During three-dimensional scanning, at least the part corresponding to the overlapping area on the surface concave-convex object is required to facilitate error correction.

[0067] In the quintuple, (x w ,y w ,z w ) is the coordinates of the sampling point in the three-dimensional space (world coordinate system), (u r , v r ) is the coordinates of the sampling point in the first image;

[0068] (2) Fitting of the best reprojection plane based on the least squares method

[0069] Assuming the opt...

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Abstract

The invention discloses a high-precision joining method of an uneven surface object picture. A coordinate in a world coordinate system of a plurality of sampling points on an uneven surface object is obtained by utilizing three-dimensional scanning according to an overlapped area of a first image and a second image to be joined, the coordinate is fitted in a least square method to obtain a best re-projection plane, and a best re-projection coordinate system is established; the coordinate of each sampling point in the world coordinate system is converted to a coordinate in the best re-projection coordinate system, and an error between an ideal image coordinate and a real image coordinate of the sampling point is calculated according to the internal and the external parameters of a camera; the error between the ideal image coordinate and the real image coordinate of all pixels in the overlapped area is obtained through interpolation; the first and the second images are corrected so as to obtain and to join the first image and the second image with no error. Pin-hole model simulates imaging of infinite focal-length lens, which is followed by the imaging of the camera, so the generated picture eliminates the joining error caused by the uneven surface perspective projection.

Description

technical field [0001] The present invention relates to the field of computer digital image processing, in particular to a high-precision mosaic method for photos of concave-convex objects on the surface, which eliminates the affine of the concave-convex surface caused by the perspective projection of ordinary camera photos by using the depth information obtained by three-dimensional scanning Corresponding error. Background technique [0002] The current image registration algorithms are all based on the assumption that (u, v) and (U, V) are respectively the image points (corresponding points) of the same object point in different images, and it is generally considered to satisfy the following implicit function relation [0003] F(u, v, U, V) = 0 (1) [0004] Note: The function F in the above formula is a vector function, that is, it can be written in the following component form: [0005] f ( ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/50
Inventor 石洗凡刁常宇鲁东明
Owner ZHEJIANG UNIV
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