基于改进归一化互相关配准的口腔头侧序列图像全景图拼接算法

在牙科的头颅侧位成像中,使用小视野探测器经过线性扫描获得序列图像。为了得到头侧全景图,设计一种基于改进归一化互相关配准的拼接算法。该文使用高斯混合模型对图像进行分割预处理;将目标区域内的归一化互相关系数作为测度函数,采用基于小波变换的多分辨率策略与粒子群优化算法提高配准精度;对配准后的图像进行图像融合,经过多轮连续拼接得到口腔头侧全景图。实验结果表明,改进后的算法配准误差波动从[-6,8]缩小到[-1,1],配准结果达到亚像素级。主观和客观分析显示,所提算法得到的拼接全景图无拼接缝隙和重影,且质量评价指标为最优。     

基于对齐与优化的图像拼接

图像拼接技术将存在重叠区域的多幅图像经过配准和融合后得到单幅宽视场图像。由于误差的积累,多幅图像拼接后在重叠区域会有明显的拼接痕迹,所以需要对拼接后的图像进行优化。首先研究了变换矩阵及其参数,然后提出一种图像对齐方法,完成图像拼接,最后用全局优化策略消除累积误差。实验证明,该方法在存在较大光照强度变化,重叠区域小的情况下能够鲁棒地完成多幅图像的拼接。     

大场景的视频全景图拼接

为了解决大场景全景图拼接过程中的误差累积问题,提高图像拼接的一致性,提出了一个新的全景图拼接算法。把全局图像配准看作是一个统计估计问题,运用增广的卡尔曼滤波对图像的全局变换参数进行递归地增广和估计。实验结果表明,得到的变换参数是全局一致的,生成的全景图不存在拼接裂缝。拼接算法考虑了各种不确定性,适用于噪声大场景的全景图拼接。     

基于区域的图像拼接算法

为了在实时视频监控中能够有效地检测和跟踪目标,提出了一种基于区域的图像拼接算法.该算法根据空间几何知识建立摄像机旋转投影模型,对需要拼接的图像进行二维空间坐标变换,使所有的图像都转换到同一坐标系下.最后,根据已知的云台旋转参数来设定配准特征空间,进而对图像进行配准和拼接.算法中建立了一种新的摄像机旋转投影模型,可以有效地进行图像的空间坐标转换,并且通过设定配准特征空间,有效地改进了配准和拼接算法.在PC机上的实验结果表明了该算法的准确性和有效性.     

全景图配准算法在虚拟课堂场景中的应用

随着图像拼接技术的发展,图像配准技术在虚拟现实课堂场景中发挥着越来越重要的作用。文章简单归纳了虚拟现实全景图拼接步骤及其核心问题;针对虚拟现实领域全景图配准算法研究现状,提出了一种基于特征点提取和频域变换(相位相关)的柱型图像配准算法,并通过实例说明了该算法在收敛速度、精度、绘制工作量方面均有不错效果;总结了图像配准算法在虚拟课堂场景中的应用价值。     

基于拼接缝自适应消除和全景图矫直的快速图像拼接算法

针对图像拼接存在色差过渡不均匀、图像倾斜扭曲及拼接效率低的现象，提出一种基于拼接缝自适应消除和全景图矫直的快速图像拼接算法。首先，用尺度不变特征变换（SIFT）提取图像指定区域特征点并用双向K近邻（KNN）算法进行图像配准，有效提高算法效率；其次，利用动态规划思想提出自适应公式找到最优拼接缝并用图像融合算法对其自适应消除，解决拼接缝色差过渡不均匀问题；最后，针对累积拼接误差形成全景图倾斜的现象，利用边缘检测算法提出自适应拟合四边形矫直模型，把原始全景图矫直为一个全新的全景图。所提算法与分块图像拼接和二叉树图像拼接算法相比，图像质量提升了5.84%~7.83%，拼接时间仅为原来的50%~70%。实验结果表明，该算法不仅通过自适应更新机制减少不同图像背景下拼接缝色差过渡不均匀的现象，从而提高了图像质量；而且提高了拼接效率，降低了全景图倾斜扭曲程度。     

基于SR-SURF的岩石显微图像拼接

岩石显微图像拼接是对岩石分析和研究的关键环节, 由于岩石显微图像数量多(成百上千张)内容丰富并且包含大量相似易混淆区域, 导致拼接速率和配准准确率低, 并且多幅图像拼接时会产生误差累积导致拼接错位, 针对此问题提出了一种SR-SURF (similar region-SURF)的岩石显微图像拼接方法. 首先选用哈希指纹快速提取相似区域(similar region), 然后在此区域检测特征点; 之后利用改进的RANSAC (random sample consensus)算法剔除错误匹配点; 再然后选用最佳模板匹配纠正错误配准图像; 最后引入最小二乘法消除单应性矩阵相乘产生的累计误差; 实验结果显示本文的算法消除了多幅图像拼接产生的累计误差, 解决了拼接错位问题, 提高了拼接速率和配准准确率, 具有较高的实用价值, 推动了岩石薄片的数字化存储进程.     

一种多路快速视频拼接系统设计与实现

针对当前高分辨率的多路视频拼接系统速度慢、实时性能低的问题,提出一种基于CPU和GPU并行架构的多路高清视频拼接算法。该算法在传统基于方向的快速特征点检测和旋转不变的特征描述算法上进行改进,删除针对尺度不变性应用的图像金字塔模块,并使用基于重叠区的局部配准方法,将配准后的图像数据在GPU设备端进行并行融合。在GPU与CPU异步执行的原则上,实现CPU端当前帧图像的配准,与其前帧图像融合,且以并行方式执行。通过显卡端图像数据计算与图像渲染之间的共享缓冲区,完成帧图像的快速渲染。实验结果表明,在4路200万像素的网络相机环境下,该算法实现的全景拼接系统的视频帧率达到17 f/s,可满足大场景的实时性需求。     

优化的多幅眼底图像拼接方法

针对多幅眼底图像拼接的问题,提出一种优化的多幅眼底图像拼接方法。该方法在基于特征的层次鲁棒估计方法完成两两图像初始配准的基础上,提出一种基于重叠区域的配准修正,得到两幅图像之间的良好配准;然后建立图像之间配准关系的无向图,并将配准图像中匹配特征的几何误差和相似度作为图中边的权值,通过计算关系图的最短路径,确定基准图像;再构造基于基准图像的直接约束和基于非基准图像的间接约束的多幅图像配准整体模型,用来生成多幅拼接图像。最后在图像融合部分,提出基于距离变换的多频带融合方法,消除拼接图像中的接缝,达到平滑融合效果。实验结果表明,该方法可有效消除多幅配准的累积误差,实现多幅眼底图像输入顺序无关性的精确配准和无缝拼接。     

实时全自动视频拼接方法

在视频拼接中,配准的误差和运动物体都会给拼接结果带来鬼影,简单的融合方法会带来图像高频内容的丢失,复杂的融合算法则难以满足实时性。针对上述问题,使用一种改进的快速检测Harris算子以及改进的RANSAC算法来减少图像配准误差,结合捆绑调整进行全局调整,并提出新的融合方法。通过对重叠区域边界的求取和形态学腐蚀运算,确定需要融合的像素,结合三角函数作为权值来进行融合。大量的实验结果表明,该方法具有良好的实时拼接效果。     

PTZ自主跟踪中的全景视频生成

提出了一种在单PTZ摄像机自主跟踪过程中生成全景视频的方法。该方法在自主跟踪目标的同时,生成目标在大场景上运动的全景视频,可应用于PTZ摄像机监控场所。该方 法将全景视频看作全景背景图像和当前目标图像的叠加：首先利用Mean Shift跟踪方法逐帧获取目标区域图像并保存;然后利用相邻两帧视频图像的竖直方向投影匹配和Harris角 点匹配结果合成全景背景,与传统的配准方法相比,大大降低了匹配运算的复杂度,使全景背景的生成能够实时进行,并记录每帧图像到背景图像的变换参数;最后逐帧将目标区 域图像变换到背景图像上得到全景视频。本文方法与传统的全景视频生成方法相比,无需人工控制摄像机的转动,也无需手工对齐视频帧,整个过程全部自动完成。     

Trajectory reconstruction with uncertainty estimation using mosaic registration

This paper addresses the problem of estimating the 3D trajectory and associated uncertainty of an underwater autonomous vehicle from a set of images of the seabed taken by an onboard camera. The presented algorithms resort to the use of video mosaics and build upon previous work on image registration and visual pose estimation. The pose estimation is accomplished in two steps. Firstly, a video mosaic is created automatically, covering a region of interest of the seabed. Then, after associating a 3D referential for the mosaic, the estimation of the camera position from a new view of the scene becomes possible.

The main contribution of this paper lies on the assessment of the performance of the 3D pose algorithms. In order to do this, an image sequence with available ground-truth is used for precise error measuring. A first-order error propagation analysis is presented, relating the uncertainty in the location of the match points with the uncertainty in the pose parameters. The importance of predicting the estimate uncertainty is emphasized by the fact that it can be used for comparing algorithms and for the on-line monitoring of the vehicle trajectory reconstruction quality.

Several iterative and non-iterative pose estimation methods are discussed, differing both on the criteria being minimized and on the required information about the camera intrinsic parameters. This information ranges from the full knowledge of the parameters, to the case where they are estimated using self-calibration from an image sequence under pure rotation. The implemented pose algorithms are compared for the accuracy and estimate covariance.     

基于计算机视觉的虚实场景合成方法研究

开发了一种虚拟场景与实时视频之间的合成技术,提出了一种新的基于非定标技术的虚实配准方法,有效地解决了基于标识的三雏注册系统要求摄像机内参在系统运行过程中不能发生改变的限制.详细介绍了系统所采用的基于计算机视觉的标识识别和实时自动摄像机位置、姿态跟踪算法,并给出了系统运行结果,成功地将该技术应用于虚拟规划系统中.     

基于SURF特征的高动态范围图像配准算法

同一场景的多曝光图像序列被广泛的应用于高动态范围图像（HighDynamicRangeImage）的合成中。但是,在多曝光图像序列的采集过程中,相机抖动、场景运动等因素会对合成图像的质量产生较大的影响。此外,离镜头较近的大目标往往由于显著的三维形状,在序列图中产生较大的视差效应,也会对合成图像产生消极影响。该文提出一种基于SURF特征点的三维图像配准算法,实验证明该算法在近距离大目标情形下较之传统配准算法MTB（MeanThresholdBitmap,均值二值化）可以获得更好效果。     

Registration and occlusion handling based on the FAST ICP-ORB method for augmented reality systems

Spatial position consistency and occlusion consistency are two important problems in augmented reality systems. In this paper, we proposed a novel method that can address the registration problem and occlusion problem simultaneously by using an RGB-D camera. First, to solve the image alignment errors caused by the imaging mode of the RGB-D camera, we developed a depth map inpainting method that combines the FMM and RGB-D information. Second, we established an automatic method to judge the close-range mode based on the depth histogram to solve the registration failure problem caused by hardware limitations. In the close-range mode, the registration method combining the fast ICP and ORB was adopted to calculate the camera pose. Third, we developed an occlusion handling method based on the geometric analysis of the scene. Several experiments were performed to validate the performance of the proposed method. The experimental results indicate that our method can obtain stable and accurate registration and occlusion handling results in both the close-range and non-close-range modes. Moreover, the mutual occlusion problem can be handled effectively, and the proposed method can satisfy the real-time requirements of augmented reality systems.

     

Cooperative 3D tunnel measurement based on 2D–3D registration of omnidirectional laser light

In this study, we proposed a high-density three-dimensional (3D) tunnel measurement method, which estimates the pose changes of cameras based on a point set registration algorithm regarding 2D and 3D point clouds. To detect small deformations and defects, high-density 3D measurements are necessary for tunnel construction sites. The line-structured light method uses an omnidirectional laser to measure a high-density cross-section point cloud from camera images. To estimate the pose changes of cameras in tunnels, which have few textures and distinctive shapes, cooperative robots are useful because they estimate the pose by aggregating relative poses from the other robots. However, previous studies mounted several sensors for both the 3D measurement and pose estimation, increasing the size of the measurement system. Furthermore, the lack of 3D features makes it difficult to match point clouds obtained from different robots. The proposed measurement system consists of a cross-section measurement unit and a pose estimation unit; one camera was mounted for each unit. To estimate the relative poses of the two cameras, we designed a 2D–3D registration algorithm for the omnidirectional laser light, and implemented hand-truck and unmanned aerial vehicle systems. In the measurement of a tunnel with a width of 8.8 m and a height of 6.4 m, the error of the point cloud measured by the proposed method was 162.8 and 575.3 mm along 27 m, respectively. In a hallway measurement, the proposed method generated less errors in straight line shapes with few distinctive shapes compared with that of the 3D point set registration algorithm with Light Detection and Ranging.     

Alignment of continuous video onto 3D point clouds

We propose a general framework for aligning continuous (oblique) video onto 3D sensor data. We align a point cloud computed from the video onto the point cloud directly obtained from a 3D sensor. This is in contrast to existing techniques where the 2D images are aligned to a 3D model derived from the 3D sensor data. Using point clouds enables the alignment for scenes full of objects that are difficult to model; for example, trees. To compute 3D point clouds from video, motion stereo is used along with a state-of-the-art algorithm for camera pose estimation. Our experiments with real data demonstrate the advantages of the proposed registration algorithm for texturing models in large-scale semi-urban environments. The capability to align video before a 3D model is built from the 3D sensor data offers new practical opportunities for 3D modeling. We introduce a novel modeling-through-registration approach that fuses 3D information from both the 3D sensor and the video. Initial experiments with real data illustrate the potential of the proposed approach.     

摄像机平行于场景运动且晃动下的视频修复

针对摄像机平行于场景运动,且存在晃动的情况,提出将摄像机运动情况下的视频修复转化为摄像机静止情况下的视频修复。该算法采用基于SURF特征点提取的视频拼接技术,将输入视频转化为新的背景静止的视频序列,在新视频中分别进行前景修复和背景修复,把修复好的新视频映射到原视频。在前景修复中,将目标块定义为能够覆盖整个运动物体的长方形块。在背景修复中,算法对待修复区域进行统一的标记和修复。实验结果表明,该算法提高了修复的准确度和速度,有利于保持视频的连续性。