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Multispectral stereo camera dynamic registration algorithm based on Fourier transform registration

A technology of Fourier transform and stereo camera, which is applied in the field of image processing and computer vision, and can solve problems such as changes in the positional relationship between infrared cameras and visible light cameras

Active Publication Date: 2020-04-10
DALIAN UNIV OF TECH
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Problems solved by technology

[0006] The present invention aims to solve the change of the positional relationship between the infrared camera and the visible light camera due to factors such as temperature, humidity, vibration, etc.

Method used

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  • Multispectral stereo camera dynamic registration algorithm based on Fourier transform registration
  • Multispectral stereo camera dynamic registration algorithm based on Fourier transform registration
  • Multispectral stereo camera dynamic registration algorithm based on Fourier transform registration

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Embodiment Construction

[0129] In conjunction with accompanying drawing and embodiment, describe in detail as follows:

[0130] The first step, the original image correction:

[0131] 1-1) Calculate each original image point P i Corresponding coordinates in the normal coordinate system.

[0132] For each original image point P i , its normal coordinate system is:

[0133] x i = K i u i

[0134] Among them, u i is P i The pixel coordinates of X i is P i The normal coordinates of K i is P i Corresponding to the internal parameter matrix of the camera, if P i is the point on the infrared image, K i is the internal reference matrix of the infrared camera, if P i is the point on the visible light image, K i It is the internal reference matrix of the visible light camera.

[0135] 1-2) Remove image distortion: Calculate the normal coordinates of the original image point after dedistortion.

[0136] with (x d ,y d ) as the initial value of (x, y), iteratively calculate several times to g...

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Abstract

The invention belongs to the field of image processing and computer vision, and relates to a multispectral stereo camera dynamic registration algorithm based on Fourier transform registration. The method comprises the following steps: 1, performing distortion removal and binocular correction on an original image according to respective internal parameters and original external parameters of an infrared camera and a visible light camera; 2, performing Fourier transform registration; 3, respectively extracting feature points from the registered infrared image and visible light image; 4, matchingthe feature points extracted in the previous step; 5, calculating the feature points of the registered infrared image feature points corresponding to the infrared original image according to the results of the step 2 and the step 3; 6, judging a feature point coverage area; 7, correcting a calibration result. According to the invention, matching is carried out according to the result after registration, the position relationship between the visible light image and the infrared image can be effectively utilized, so combined self-calibration is carried out on the infrared camera and the visiblelight camera more effectively, the operation is simple and convenient, and the result is accurate.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and relates to a multispectral stereo camera dynamic registration algorithm based on Fourier transform registration. Background technique [0002] Infrared (Infrared) is an electromagnetic wave with a wavelength between microwaves and visible light, and the wavelength is longer than red light. Substances above absolute zero (-273.15°C) can produce infrared rays. Because of its ability to observe through fog and rain, infrared images are widely used in different fields such as military defense, resource exploration, weather forecast, environmental monitoring, medical diagnosis and treatment, and marine research. Infrared rays can be used to shoot scenes through mist and smoke, and infrared photography can also be performed at night. The advantage of infrared camera imaging is that it can also image in extreme scenes (low light, rain and snow, dense fog, etc.), but the disadvan...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T7/80
CPCG06T7/33G06T7/80G06T2207/10004G06T2207/10048G06T2207/10024G06T2207/20016G06T2207/20056
Inventor 仲维李豪杰柳博谦王智慧刘日升罗钟铉樊鑫
Owner DALIAN UNIV OF TECH
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