鱼眼变形立体图像恢复稠密深度图的方法

使用普通镜头立体视觉无法实现近距离或大视场的立体感知,鱼眼镜头立体视觉可以解决这一问题,因为鱼眼镜头的视场角可以达到180^0。鱼眼镜头获取大视场的同时也引入了严重的图像变形。文中讨论了一种使用三个鱼眼镜头摄像机构成的多基线立体视沉系统恢重近距离大视场稠密深度图的方法。为了高精度恢复稠密深度图,作者采用图像局部规范化方法、鱼眼变形图像校正方法、基于仿射变换区域匹配的相似性极小化准则,来实现鱼眼变形立体图像对应性求解。文中最后给出了用真实物体和场景的大变形图像来恢复稠密深度图的实验结果。     

基于自适应支持加权准则的建筑物图像匹配扩散研究

室外建筑物图像由于建筑本身纹理单一且重复、图像间的基线较宽等特点,应用传统的匹配算法在进行图像匹配时会出现正确的匹配特征点少,匹配扩散后得到的准稠密和稠密匹配特征点的匹配多义性问题,同时,误匹配也影响了建筑物的三维重建效果。针对上述问题,研究并改进了适用于建筑物图像的匹配扩散算法。应用自适应支持加权匹配度量准则减少误匹配,同时扩散过程中应用仿射传递来获取新匹配的最佳邻域窗口。实验表明,改进的算法对于建筑物图像能获得数量较多、较正确的准稠密匹配扩散结果。     

基于尺度不变Harris特征的准稠密匹配算法

准稠密匹配是多视图三维重建的重要技术,其性能对重建结果至关重要。针对常用的Sift算法提取的种子点进行准稠密匹配正确率较低、重建效果不佳的问题,提出了一种基于尺度不变Harris角点特征的准稠密匹配算法。该算法首先在图像多尺度空间构造尺度不变Harris特征,并采用余弦距离测度对不同视图进行双向匹配;然后根据稀疏匹配获取种子点,采用最优最先匹配扩散策略进行准稠密扩散;最后采用局部非极大值抑制策略对匹配结果进行重采样。实验表明,本文算法提取的种子点既能够体现场景结构信息,又具有尺度不变特性,用于准稠密匹配能够提高匹配的效果和精度,是一种有效的用于三维重建的准稠密匹配算法。     

基于准稠密匹配的结构化场景三维重建

传统的准稠密对应点匹配算法大都是针对一般场景开发的,未考虑场景的结构特点.为此,针对结构化场景提出一种基于平面单应约束的准稠密匹配方法.首先采用基于仿射不变量的方法检测和匹配稀疏平面种子区域,然后根据平面间的几何约束和对应点相似性约束,利用区域增长的方法实现准稠密扩散匹配.最优种子区域优先扩散策略的应用大大减小了初始错误种子区域对扩散过程的影响,而对不可靠扩散点的后处理也有效地提高了最终三维重建的精度.实验结果表明,相比传统的准稠密匹配方法,对于结构化场景,采用文中方法更加精确和稳定.     

建筑物场景宽基线图像的准稠密匹配

室外建筑物纹理通常重复而且单一,在进行宽基线图像匹配时,得到的初始种子点匹配数量通常比较少,而且在匹配和扩散时存在匹配多义性问题,使得应用传统的宽基线准稠密匹配算法不能得到满意的结果。针对这一问题,提出了一种针对室外建筑物的宽基线图像准稠密匹配算法。算法从高斯差分空间提取最大稳定极值区域,以获取数量更多的初始种子点匹配;在仿射传递过程中,采用自适应支持加权计算匹配分数,去除匹配多义性问题。实验表明,提出的算法能获得比较满意的准稠密匹配结果。     

基于空间关系一致性的图像自动配准方法

提出了一种基于空间关系一致性的图像自动配准方法,处理具有全局仿射变换的图像配准问题.首先利用Mcan-shift算法和区域标记算法从参考图像和待配准图像中提取区域特征作为配准基元;然后采用高斯函数平滑后的区域特征重心点坐标之间的欧式距离描述匹配特征的空间关系一致性,从而定义一个以匹配矩阵为自变量的空间关系一致性度量函数,使它在两幅图像的最佳配准位置达到最大值,将图像配准问题转化为一个最优化问题;最后利用一个局部选代优化算法求解.高斯函数的方差是度量函数中惟一的预设参数,但它对优化求解的结果基本没有影响,在实际中容易设定,保证了方法的自动性、稳健性和适应性.实际图像的实验结果表明本文方法能有效解决具有全局仿射变换的图像配准问题.     

针对鱼眼图像边缘校正缺失的快速校正算法

针对鱼眼图像校正中水平方向畸变以及边缘缺失的问题,通过引入可控参数控制边缘部分的校正范围,同时融合三角计算以及参数变换,获取校正关系,使映射面与鱼眼图像达到最佳匹配结果.获取校正关系后运用双线性插值算法对校正图像进行插值运算以填充图像.实验表明,算法对视图主要区域和边缘部分畸变的校正取得较好效果,边缘部分信息流失较少,主视图区域畸变角度明显减小,校正后图像与未畸变源图像相比结构相似性高,尽可能大的保留鱼眼图像信息,算法效率提高,算法运行时间缩短近50%.该鱼眼图像校正算法在校正效率以及校正效果上都有显著提高,具有可行性和有效性.     

基于仿射迭代模型的特征点匹配算法

图像序列中的特征点匹配是计算机视觉中的一个基本问题,也是目标识别、图像检索以及3维重建等问题的基础。为了提高图像匹配的精度,提出了一种针对两幅图像的高精度特征点自动匹配算法。该算法首先分析并提出两幅图像中相应特征点的邻域窗口之间的单应映射可以用仿射变换模型来近似;然后通过快速的基于仿射变换模型的迭代优化方法,不仅估计并矫正了相应邻域窗口之间的透视畸变,同时还补偿了在特征点检测阶段对相应特征点的定位误差,从而使匹配结果达到子像素级精度;最后通过真实图像的实验以及与现有算法的比较结果表明,该算法不仅得到了更多的匹配关系,还提高了特征点匹配的精度。     

一种新的鱼眼图像匹配策略

鱼眼相机具有较大的视角,已在视觉监控等领域得到了较为广泛的应用.鱼眼图像具有严重的畸变,鱼眼相机很少用于对场景的三维重建.本文提出了一种基于已标定鱼眼相机的寻找匹配点的策略,首先在鱼眼图像上建立具有自适应大小和方向的窗口,然后对提取类SIFT描述子.大量实验表明,该策略能够提取出大量稠密的匹配点,完全可满足三维重建的需要.     

基于角点特征的自动图像配准

针对图像配准对时间和精度的需求,本文提出适用于角点特征的配准算法：提取两幅图像的角点构造三角形,计算三角形的角度,寻找两幅图像对应的相似三角形,用三角形的顶点坐标求得仿射变换系数,参考图像进行仿射变换,与待配准图像比较相似性,最大相似性对应的变换图像为配准结果。引入强角点和Harris角点对该算法进行验证。与Fourier-Mellin和基于RANSAC寻找匹配点对角点配准算法比较,实验数据表明该算法的快速准确,并具有一定的抗噪性。     

二维点模式图像的仿射变换配准

提出了一种图像特征点配准算法．该算法为二维点模式图像仿射配准建立了新的求解模型,此模型对参考图像的特征点集和浮动图像的特征点集分别进行Whitening变换,将点集间的一般仿射变换问题转换为刚性变换问题;在对刚性变换求解时,采用平滑性好、局部极值较少的新的目标函数;并引入了形变程度分量,使该算法更能符合实际应用．结合文中提出的新的仿射不变量,目标函数只需在平分法的基础上加入随机因素便能快速求解．实验结果证明,该算法在处理特征点仿射配准问题上具有速度快、精度高的特点．     

Robust Non-rigid Registration Based on Affine ICP Algorithm and Part-Based Method

The classical affine iterative closest point (ICP) algorithm is fast and accurate for affine registration between two point sets, but it is easy to fall into a local minimum. As an extension of the classical affine registration algorithm, this paper first proposes an affine ICP algorithm based on control point guided, and then applies this new method to establish a robust non-rigid registration algorithm based on local affine registration. The algorithm uses a hierarchical iterative method to complete the point set non-rigid registration from coarse to fine. In each iteration, the sub data point sets and sub model point sets are divided, meanwhile, the shape control points of each sub point set are updated. Then we use the control point guided affine ICP algorithm to solve the local affine transformation between the corresponding sub point sets. Next, the local affine transformation obtained by the previous step is used to update the sub data point sets and their shape control point sets. Experimental results demonstrate that the accuracy and convergence of our algorithm are greatly improved compared with the traditional point set non-rigid registration algorithms.     

仿射不变的自适应局部线性嵌入

目的: 为将流形学习有效应用于图像的降维与识别中,并消除图像的仿射变换对流形结构产生的影响,本文提出一种仿射不变的自适应局部线性嵌入算法。方法: 该算法在局部线性嵌入的基础上,为适应产生各种仿射变换的图像样本,引入切线距离计算各样本之间的相似程度,以此描述样本空间中的距离,并通过图像相似度函数自适应计算样本空间中每一点的邻域数量。结果: 实验结果表明,该算法能够构造出更合理的低维流形结构,并有效提升统计识别的正确率。结论: 本文算法对仿射变换不敏感,表现出更强的稳健性。     

基于MSCR与CS-LBP的鱼眼图像特征区域匹配方法

相比普通镜头,鱼眼镜头拥有更大的视场角,甚至可以直接获取半球域的图像信息,在立体视觉领域,应用鱼眼镜头来采集全景图像可减少镜头及图像采集模块数目,简化系统、提高运算速度、降低成本。但同时鱼眼镜头图像也存在一定程度的畸变,越靠近边缘畸变越严重。因此,在光轴正交或是角度更大的立体视觉系统中,进行相关图像的特征点匹配存在困难,直接影响立体视觉系统的应用效果。然而采用一种具有仿射不变性的图像匹配算法即可解决这个问题,首先提取原始图像的MSCR特征区域,其次引进CS-LBP算子对各个MSCR区域进行特征描述,应用特征权重的卡方距离比较法进行唯一匹配,最后进行椭圆拟合及连线标记使得匹配结果可视化。且通过实验验证了此方法的稳定一致性,可应用于大旋转角度的鱼眼图像的特征匹配。     

A model-based approach to junction detection using radial energy

A novel junction detector is presented that fits the neighborhood around a point to a junction model. The junction model segments the neighborhood into wedges by determining a set of radial edges. The radial edges are invariant to affine transforms, creating an affine invariant junction detector.The radial edges are evaluated based upon the pixels along the edge. The angle between the pixel gradient and the vector to the potential junction point forms the initial basis for the measurement. An initial set of radial edges is selected based upon identifying local maximums within a given arc distance. An energy function is applied to the resulting radial segmentation, and a greedy optimization routine is used to construct the minimal set of radial edges.To identify the final junctions, a second energy function is used that combines the components of the first energy function with the resulting change in standard deviation by separation into radial segments. The junctions with the most energy in their local neighborhoods are selected as potential junctions. The neighborhoods about the potential junctions are analyzed to determine if they represent a single line or multiple non-parallel lines. If the neighborhood represents multiple non-parallel lines, the point is classified as a junction point.The junction detector is tested on several images including both synthetic and real images. Highlights of radially segmented junction points are displayed for the real images.     

基于逆向投影的全景泊车系统设计与实现

全景泊车系统利用安装在车身前后左右的4个广角摄像头实时采集周围的图像,并传送给图像处理设备进行校正、俯视变换和图像合成,最后在显示屏上形成一幅360°的全景俯视图。系统以处理器HI3520D和视频解码器NVP1918C为硬件核心,以鱼眼校正、投影变换和逆向投影算法为软件核心,最终实现实时显示无缝和清晰画面的360°全景泊车影像系统。     

An automatic image registration and overlay system

In this paper we present an automatic algorithm for registering and overlaying imagery. The algorithm basically attempts to find by successive approximations the best affine transformation or second order polynomial relating to the two images. The method requires the specification of only a matching pair of control points, then new control points are found approximately by extrapolating the old affine transformation to larger areas and then using correlation to find the best match. Thus an obvious advantage of this algorithm lies in its automatic features in locating and matching more potential ground control points. This paper also discusses the effect of the distribution of control points on the affine transformation. Finally, the method is tested on Landsat data and the results are discussed.     

An edge-based scale- and affine-invariant algorithm for remote sensing image registration

For remote sensing image registration, we find that affine transformation is suitable to describe the mapping between images. Based on the scale-invariant feature transform (SIFT), affine-SIFT (ASIFT) is capable of detecting and matching scale- and affine-invariant features. Unlike the blob feature detected in SIFT and ASIFT, a scale-invariant edge-based matching operator is employed in our new method. To find the local features, we first extract edges with a multi-scale edge detector, then the distinctive features (we call these ‘feature from edge’ or FFE) with computed scale are detected, and finally a new matching scheme is introduced for image registration. The algorithm incorporates principal component analysis (PCA) to ease the computational burden, and its affine invariance is embedded by discrete sampling as ASIFT. We present our analysis based on multi-sensor, multi-temporal, and different viewpoint images. The operator shows the potential to become a robust alternative for point-feature-based registration of remote-sensing images as subpixel registration consistency is achieved. We also show that using the proposed edge-based scale- and affine-invariant algorithm (EBSA) results in a significant speedup and fewer false matching pairs compared to the original ASIFT operator.     

A Frequency Domain Technique Based on Energy Radial Projections for Robust Estimation of Global 2D Affine Transformations

The contribution of this paper is twofold: (1) it provides a thorough analysis of the frequency domain relationships relating two affine-warped images and (2) based on a fundamental equation between energy radial projections, it presents an original algorithm for estimating the global 2D affine transformation between the two images. It is well known that operating in the frequency domain allows one to separate the estimate of the affine matrix, related to the magnitudes of the Fourier transforms of the two images, from the estimate of the translation vector, related to their phases. Exploiting this property, our algorithm consists of two main steps: (1) the affine matrix is first estimated by solving, with a coarse-to-fine strategy, a suitable minimization problem formulated upon the radial projections of the image energies, and (2) after compensation for the contribution of the affine matrix, the translation vector is then recovered by means of phase correlation. The proposed method is very robust against perspective distortion and, with moderate translational displacements, it may also work when the two images differ along their peripheral areas. Experimental evidence of these characteristics is reported and discussed. The algorithm can be efficiently implemented via FFT and well suits applications requiring unsupervised and/or quasi-real-time estimation of global motion that can be described with 2D affine transformations.