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Method, device and storage medium for tof fusion and stitching of line array image of tunnel lining surface

A technology that combines splicing and tunneling, applied in the field of image processing, can solve problems such as low alignment accuracy and slow splicing speed, and achieve the effects of high accuracy, fast selection speed, and reduced error

Active Publication Date: 2020-12-18
北京新桥技术发展有限公司
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Problems solved by technology

[0005] Aiming at the problems existing in the above-mentioned prior art, the present invention discloses a TOF fusion and splicing method of line array image of tunnel lining surface. This method uses image combined with laser TOF ranging technology to compare the TOF information of the vehicle-mounted camera with respect to the tunnel lining surface and the camera Image combination, using the TOF information fusion method to solve the problems of low image stitching alignment accuracy and slow stitching speed, effectively improving the stitching accuracy and speed

Method used

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  • Method, device and storage medium for tof fusion and stitching of line array image of tunnel lining surface
  • Method, device and storage medium for tof fusion and stitching of line array image of tunnel lining surface
  • Method, device and storage medium for tof fusion and stitching of line array image of tunnel lining surface

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Embodiment

[0048] combine figure 1 Shown, a kind of TOF fusion mosaic method of line array image of tunnel lining surface, it is characterized in that, comprises the following steps:

[0049] S01. Install and start the measuring equipment;

[0050] S02. Multiple cameras c at different positions in the measuring equipment take photos synchronously, and at the same time, the TOF laser ranging unit scans to obtain the tunnel lining outline;

[0051] S03. The TOF laser ranging unit is used as the reference coordinate system oxy, wherein the center of the TOF laser ranging unit coincides with the origin of the reference coordinate system oxy;

[0052] S03. Select cameras in different positions c 1 (x 1 ,y 1 ), c 2 (x 2 ,y 2 ) and c 3 (x 3 ,y 3 ), where the viewing angles of all cameras are fixed values The total number of pixels in the field of view is also a fixed value n c , the measurement profile data obtained by the TOF laser ranging unit is the ranging length r α And the c...

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Abstract

The invention relates to the field of image processing, in particular to a tunnel lining surface linear array image TOF fusion splicing method and device and a storage medium. According to the method,an image is combined with a laser TOF ranging technology to combine TOF information of a vehicle-mounted camera relative to a tunnel lining surface and a camera image; the method comprises the following steps: firstly, calculating characteristic parameters of an image overlapping region by utilizing a TOF information fusion mode; calculating the pixel number of the image overlapping area according to the feature parameters; performing comparison, cutting and splicing the images according to the comparison result. The problems of low image splicing alignment precision and low splicing speed are solved, and the splicing precision and speed are effectively improved.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method, device and storage medium for TOF fusion and splicing of line array images of tunnel lining surfaces. Background technique [0002] Image mosaic technology is the technology of stitching several overlapping images into a large, complete, seamless high-resolution image, which has always been the research interest of graphics and machine vision. When splicing two pictures with overlapping viewing angle areas, the existing technology generally realizes the determination of the splicing boundary through the identification in the overlapping area or the statistical compensation of the image information in the overlapping area. It is determined that such a processing method depends on the pixel change in the overlapping area of ​​the stitched image. When the pixel changes slowly, the processing speed and stitching accuracy are not high. [0003] Chinese patent document CN1102...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T3/40G06T5/50
CPCG06T3/4038G06T5/50G06T2207/10004G06T2207/20221
Inventor 马少飞朱建明王树军王巍毕硕松张阳赵美玲刘渊申强乔国栋张磊陈宗然丁铭徐光鹏吴秀松
Owner 北京新桥技术发展有限公司
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