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Geometric matching method

A geometry and matching model technology, applied in the field of geometry matching, can solve the problems of impossible to obtain accurate contour position, difficult pose, etc., to achieve the effect of improving search efficiency and accuracy

Active Publication Date: 2018-05-08
上海觉感视觉科技有限公司 +1
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Problems solved by technology

Due to the limitation of the pixels of the collected image, it is impossible to obtain the precise contour position, so it is difficult to obtain the precise pose through the contour information

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Embodiment Construction

[0038] Such as figure 1 Shown, the method for geometric matching of the present invention comprises the following steps:

[0039] Step 1, set up matching model, described matching model building method is: input template graph, set up the image pyramid of template graph, every layer of image pyramid is traversed, extracts a plurality of probes Probe(x i ,y i , ρ i , θ i ), that is, to obtain the matching model of each layer, the extraction method of the probe is: by first obtaining all the contour points in the image of each layer in the image pyramid of the template map as the position of the probe, and then, according to each probe position to obtain their respective gradient information; the contour image can be obtained by Canny filtering, and the gradient image can be obtained by Sobel filtering;

[0040] Step 2. Establish the image pyramid of the acquisition image, perform top-level search from the topmost image of the image pyramid of the acquisition image according...

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Abstract

The invention provides a geometric matching method comprising steps of: training a matching model according to a template drawing image pyramid; searching a matching pose from the topmost image of theimage pyramid of an acquisition image, transferring the matching post to the next-layer image layer by layer and obtaining a high-precision matching pose, determining that the matching is successfulif the matching score of the matching pose in the bottommost image of the image pyramid is greater than a set threshold, otherwise determining that the matching fails. When the template drawing is trained, a certain number of probes are extracted from the image in the image pyramid of the template drawing. During the acquisition image searching or matching, the matching score is calculated by using the gradient information of the probes and the gradient information of the probes at the corresponding positions on the acquisition image. During the top searching of the image pyramid of the acquisition image, a formula of calculating the matching score is modified and a method of calculating the matching score is improved so as to improve search efficiency. During non-top matching, the translation, the scaling and the rotation in the pose are iterated and adjusted by many times to obtain the high-precision matching pose.

Description

technical field [0001] The invention relates to a method of geometric matching. Background technique [0002] Determining the pose of an object is one of the most common applications. One of the currently commonly used methods is to use the normalized cross-correlation coefficient (NCC for short) to judge the matching degree, so as to determine the pose of the object. Its shortcomings are very obvious, first of all, it is a large amount of calculation, and secondly, it is insufficient in stability. The huge amount of calculation is because this method needs to calculate the convolution of the template map and the collected image when calculating NCC. For the specific analysis and improvement of time complexity, please refer to J.P.Lewis's paper "Fast Template Matching". In practice, image pyramids can be used to reduce time complexity, but it is still difficult to meet practical requirements. The lack of stability is due to the fact that NCC uses 2D images themselves (usi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T2207/20016G06T7/75
Inventor 林宇陈君钤杨和黄旭东
Owner 上海觉感视觉科技有限公司
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