基于改进Canny边缘检测算子的电子稳像算法研究
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摘要
电子稳像是一种新型的视频图像序列稳定技术,它利用计算机数字图像处理和电子技术相结合的方法来实现图像序列的稳定。由于具有稳像精度高、体积小、功耗低、成本低以及易于操作等优点,电子稳像技术已被广泛用于摄像机抖动的检测和消除,视频压缩,运动目标的检测和跟踪,以及图像拼接等领域。本课题在苏州大学现代光学技术研究所“天巡一号小卫星CCD相机研制”的项目资助下,对电子稳像技术进行了较为深入研究,有效地实现了视频图像的实时稳定。
论文阐述了电子稳像的基本原理、基本方法和处理过程,并讨论了其实现的关键技术。介绍了电子稳像中几种常见的典型算法,并通过对典型算法的仿真分析,总结出了各算法的优缺点,并针对本课题的要求,分析了实时电子稳像的特点,明确实时稳像算法的要求,最终确定采用基于改进Canny边缘检测算子的电子稳像算法。
针对传统特征点匹配电子稳像算法中提取的特征点容易受到噪声干扰的问题,论文在研究传统的特征点匹配电子稳像算法的基础上,提出了一种将改进的Canny边缘检测算子应用于电子稳像中的方法。此方法利用改进的Canny算子对图像进行边缘检测,并通过对边缘检测的图像进行合理分区,在子区域内进行图像的特征点提取,然后根据特征点集内具有相对稳定位置的结构特征,采用距离不变准则,对特征点的有效性进行验证,保证各点的局部运动具有良好的全局一致性。同时建立二维运动模型进行全局运动估计,以此确定仿射模型的运动参数。最后利用卡尔曼滤波的方法来进行运动补偿从而达到输出稳定视频图像的目的。在进行特征点提取的过程中,课题研究了几种典型的特征点提取算法,并在PC机上进行算法仿真和分析。
此外,论文介绍了电子稳像算法的评价方法。同时还建立电子稳像的软件仿真平台,对基于改进Canny边缘检测的电子稳像算法进行了稳像处理研究,并利用评价方法对稳像效果进行分析。最后对本课题的研究进行了总结与展望。
Electronic image stabilization is a new technology to stabilize image sequence, which is combined of computer digital image processing and electronic technology to achieve the stability in the image sequence. It has a lot of advantages, such as high image stabilizing precision, compact size, low power consumption, reasonable price and easy to operate. Therefore it has been widely used in the detection and elimination of video’s dithering, video compression, the moving target detection and tracking, image mosaic, etc. This thesis, supported by the item of the design of CCD camera on the 1st Tianxun Moonlet, has carried out an intensive study of the electronic image stabilization technique, and achieved the effective stabilization of the video image sequence.
This thesis expatiates the basic principles, methods and process of the electronic image stabilization, and discusses the key technique of realization. Through the simulation of several typical algorithm, the advantages and disadvantages of each algorithm is summarized. Basing on the study of several typical algorithms for video stabilization and real-time electronic image stabilization algorithm’s requirements, the improved method of Canny edge-detection algorithm is applied to electronic image stabilization.
In order to solve the problem that the feature points are easily influenced by the noise, based on the research of the traditional features tracking algorithm, the improved method of Canny edge-detection algorithm for electronic image stabilization is proposed. The image edge is detected with improved Canny operator, through dividing edge detected image into many blocks in reason, the suitable feature points can be selected, which has a stable structure and the relative positions of all points are stable. So the thesis proposes the distance invariant criterion to check the feature matching, which can keep global coherence of all local motions and produce the global motion vector by establishing two-dimensional model of movement. Then the parameters of the affine model are calculated based on these points, finally, Kalman filter is applied to motion compensation to achieve the stability of the video sequences. The thesis also presents several typical feature point extraction algorithms, and has laboratory simulation and analysis in PC.
In addition, the thesis introduces the evaluation methods of image stabilization. And a software simulated platform has been created to analyze and testify the performance of the improved method of Canny edge-detection algorithm for electronic image stabilization, evaluation methods is then used to analyze the effects of the stabilization. Finally, research of this thesis is summarized and given the direction of further study and improving.
论文阐述了电子稳像的基本原理、基本方法和处理过程,并讨论了其实现的关键技术。介绍了电子稳像中几种常见的典型算法,并通过对典型算法的仿真分析,总结出了各算法的优缺点,并针对本课题的要求,分析了实时电子稳像的特点,明确实时稳像算法的要求,最终确定采用基于改进Canny边缘检测算子的电子稳像算法。
针对传统特征点匹配电子稳像算法中提取的特征点容易受到噪声干扰的问题,论文在研究传统的特征点匹配电子稳像算法的基础上,提出了一种将改进的Canny边缘检测算子应用于电子稳像中的方法。此方法利用改进的Canny算子对图像进行边缘检测,并通过对边缘检测的图像进行合理分区,在子区域内进行图像的特征点提取,然后根据特征点集内具有相对稳定位置的结构特征,采用距离不变准则,对特征点的有效性进行验证,保证各点的局部运动具有良好的全局一致性。同时建立二维运动模型进行全局运动估计,以此确定仿射模型的运动参数。最后利用卡尔曼滤波的方法来进行运动补偿从而达到输出稳定视频图像的目的。在进行特征点提取的过程中,课题研究了几种典型的特征点提取算法,并在PC机上进行算法仿真和分析。
此外,论文介绍了电子稳像算法的评价方法。同时还建立电子稳像的软件仿真平台,对基于改进Canny边缘检测的电子稳像算法进行了稳像处理研究,并利用评价方法对稳像效果进行分析。最后对本课题的研究进行了总结与展望。
Electronic image stabilization is a new technology to stabilize image sequence, which is combined of computer digital image processing and electronic technology to achieve the stability in the image sequence. It has a lot of advantages, such as high image stabilizing precision, compact size, low power consumption, reasonable price and easy to operate. Therefore it has been widely used in the detection and elimination of video’s dithering, video compression, the moving target detection and tracking, image mosaic, etc. This thesis, supported by the item of the design of CCD camera on the 1st Tianxun Moonlet, has carried out an intensive study of the electronic image stabilization technique, and achieved the effective stabilization of the video image sequence.
This thesis expatiates the basic principles, methods and process of the electronic image stabilization, and discusses the key technique of realization. Through the simulation of several typical algorithm, the advantages and disadvantages of each algorithm is summarized. Basing on the study of several typical algorithms for video stabilization and real-time electronic image stabilization algorithm’s requirements, the improved method of Canny edge-detection algorithm is applied to electronic image stabilization.
In order to solve the problem that the feature points are easily influenced by the noise, based on the research of the traditional features tracking algorithm, the improved method of Canny edge-detection algorithm for electronic image stabilization is proposed. The image edge is detected with improved Canny operator, through dividing edge detected image into many blocks in reason, the suitable feature points can be selected, which has a stable structure and the relative positions of all points are stable. So the thesis proposes the distance invariant criterion to check the feature matching, which can keep global coherence of all local motions and produce the global motion vector by establishing two-dimensional model of movement. Then the parameters of the affine model are calculated based on these points, finally, Kalman filter is applied to motion compensation to achieve the stability of the video sequences. The thesis also presents several typical feature point extraction algorithms, and has laboratory simulation and analysis in PC.
In addition, the thesis introduces the evaluation methods of image stabilization. And a software simulated platform has been created to analyze and testify the performance of the improved method of Canny edge-detection algorithm for electronic image stabilization, evaluation methods is then used to analyze the effects of the stabilization. Finally, research of this thesis is summarized and given the direction of further study and improving.
引文
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[6]徐之海,李奇,冯华君.摄像、照相系统中的稳像技术[J].照相机,2002,6:4-5。
[7]程锋,任戈.惯性稳定平台建模及振动传递率分析[J].光电工程,2006,33(4):19-22。
[8] D.N.Eskov,Yu.A.Stepin,VA.Toropin. Optical image stabilization methods and means[J]. Sov.J.Opt.Technol,Jan.1982,49(1).
[9]朱强华,李胜勇,姜涛.稳像技术[J].舰船电子对抗,2006,29(5):77-80.
[10] Y.Netser. Image Stabilization[J]. Opt.End,1982,11(9).
[11]韩绍坤,赵跃进,刘明奇.电子稳像技术及发展[J].光学技术,2001,27(1):71-73。
[12] N.A.Tsoligkas,D.Xu, I.French, Y.Luo. A Motion Model Based Video Stabilization Algorithm,2006 World Automation Congress.
[13] Hung-Chang Chang,Shang-Hong Lai,and Kuang-Rong Lu. A Robust and Efficient Video Stabilization Algorithm,2004 IEEE International Conference on Multimedia and Expo(ICME).
[14] Sridhar Srinivasan Rama Chellappa,Image Stabilization and Mosaicking Using the Overlapped Basis Optical Flow Field. 1997.Proceedings. International Conferenceon Image Processing.
[15] H.D.Seok, H.K.Kwak,J.Lyou. A Rotational Motion Estimation Method for Digital Image Stabilization. TENCON 2005 IEEE Region 10.
[16] MENG Long,LIN Xinggang,XU Lidong,FU Fangwen,Video Stabilizing System for Digital Camera. ICSP’04 Proceedings. vol.2. 2004.
[17] Sung-jen ko,Sung-Hee Lee,Seung-Won Jeon,Eui-Sung Kang. Fast Digital Image Stabilizer Based on Gray-Coded Bit-Plane Matching. IEEE Transactions on Consumer Electronics. Vol.45.No.3, August 1999.
[18] Alp Erturk,Sarp Erturk. Two-Bit Transform for Binary Block Motion Estimation. IEEE Transactions on Circuits and Systems Video Technology. Vol 15.
[19] SUN.H,ZH. Y. X,XIONG J. W,et al. The application of high resolution gray projection algorithm in electronic image stabilization technology[J]. 2006,32(3):378-380.(in Chinese).
[20] S. Erturk. Digital image stabilization with sub-image phase correlation based global motion estimation[J]. IEEE Transactions on Consumer Electronics,2003,49(4):1320-1325.
[21] COX G S,JAGER G De. A survey of point matching techniques and a new approach to point pattern recognition [A]. Proceedings of 1992 South African Symposium on Communications and Signal Processing[C]. Cape Town, South African:IEEE,1992,243-248.
[22]朱娟娟,郭宝龙,冯宗哲.一种基于灰度投影算法的电子稳像算法[J].光子学报,2005,33(8):1266-1269.
[23]朱娟娟,郭宝龙.一种运动载体摄像的自适应稳像算法[J].光电子激光,2007,18(1):108-112.
[24]朱娟娟,郭宝龙.电子稳像的特征点跟踪算法[J].光学学报,2006,26(4): 516-521.
[25] Auberger S,Miro C,Digital Video Stabilization Architecture for Low Cost Devices[C].Proceedings of the 4th International Symposium on Image and Signal Processing and Analysis,2005.
[26] Ohyun Kwon,Jeongho Shin,Joonki Paik.Edge Based Adaptive Kalman Filtering for Real-time Video Stabilization[C]. IEEE International Conference on Consumer Electronics,2006.
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