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Rapid and high-precision matching method of depth image and color image

A color image and depth image technology, applied in the field of image processing, can solve problems such as few matching methods can be found, and achieve the effects of improving robustness and accuracy, speeding up speed, and wide application prospects

Inactive Publication Date: 2012-08-08
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

On the issue of matching two completely different types of images, the depth image and the optical image, it is rare to find a matching method with good comparison.

Method used

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  • Rapid and high-precision matching method of depth image and color image
  • Rapid and high-precision matching method of depth image and color image
  • Rapid and high-precision matching method of depth image and color image

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Embodiment

[0047] Such as figure 1 As shown, the fast and high-precision matching method of the depth image and the color image of the present invention comprises the following steps:

[0048] (1) Perform inter-frame smoothing and histogram equalization between eleven consecutive frames on the depth image captured by the depth camera; perform 7×7 median filtering on the color image;

[0049] (2) Perform multi-scale Harris-Laplace corner detection on the depth image and the color image respectively to obtain the feature points:

[0050] (2-1) Define the spatial scale: define a fixed scale σ 1 , σ 2 ...σ n , where σ n =k n σ 0 ;Define the integration scale σ I , representing the variable of the current scale of the Harris corner; define the differential scale σ D, represents the variable of the differential value change near the Harris corner point; where σ D =sσ I , k=1.5; s=0.7;

[0051] (2-2) Convolving the depth image with the Gaussian kernel of each scale to obtain the scal...

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Abstract

The invention discloses a rapid and high-precision matching method of a depth image and a color image. The method comprises the following steps: (1) Carrying out interframe smoothing and histogram equalization on the depth image shot by a depth camera; carrying out median filtering on the color image; (2) Carrying out multi-scale spatial Harris-Laplace corner detection on the depth image and the color image so as to obtain characteristic points; (3) Describing the detected characteristic points; (4) Using a KNN algorithm to match the characteristic points of the depth image and the color image so as to obtain candidate characteristic point matching pairs; (5) Using a RANSAC algorithm to eliminate the mismatched candidate characteristic point matching pairs so as to obtain the characteristic point matching pairs. The prior art is difficult to be used in the matching field of the depth image and an optical image. By using the method of the invention, the above problem can be solved. And robustness and accuracy can be increased.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a fast and high-precision matching method for a depth image and a color image. Background technique [0002] With the continuous emergence of new sensors, people's ability to obtain images is rapidly improving, and the images produced by sensors with different characteristics are also increasing. Due to the limitations and certain defects of image data obtained without sensors, it is often impossible to understand comprehensively and deeply through only one image or a type of image data, and such data is difficult to meet the needs of experiments and applications. To this end, it is necessary to combine the images obtained by different sensors through image matching and fusion technology, and even form a three-dimensional model, so that we can have a clearer understanding and grasp of the target. [0003] As one of the key and basic technologies of image processing tech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/64
Inventor 徐向民苗捷赵思敏崔东顺
Owner SOUTH CHINA UNIV OF TECH
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