摘要
由于间接飞行时间(indirect time-of-flight,iTOF)相机存在空间非均匀性照明的问题,在进行深度图平移配准时,会导致像平面外围区域的测量深度误差较大,影响后续深度配准的准确性.为解决该问题导致的错配情况,提出一种加掩码的频域归一化互相关(normalization cross-correlation,NCC)深度配准方法.对和待配准深度图同一帧的灰度图进行加掩码处理,将非均匀区域掩蔽,然后使用频域的NCC方法进行配准,最后用配准得到的平移向量对两幅对应帧的深度图进行叠加,完成深度配准.该方法在4%的尺度缩放范围内,可以实现正确配准,水平方向的像素相对误差可以达到1.97%,垂直方向像素相对误差可以达到1.74%,且误差符合正态分布.该配准方法具有稳定性和可靠性,可以解决由非均匀性照明引起的深度错配问题.
When using depth data for translation registration,the iTOF(inderct time-of-flight)cameras have a problem of spatially non-uniform illumination,which can lead to a relatively large measurement depth error in the peripheral area of the plane,thereby affecting the accuracy of subsequent depth registration.In order to solve the mismatch caused by this problem,a masked frequency domain NCC(normalized cross-correlation)depth registration method is proposed.Firstly,the gray image of the same frame as the depth map to be registered is masked in the non-uniform areas.Then,the frequency domain NCC method is used for the gray image registration.Finally,the translation vector obtained from registration is overlaid on the corresponding depth images to complete depth registration.This method can effectively solve the mismatch problem caused by spatially non-uniform illumination within a scaling range of 4%.The relative error of pixels in the horizontal direction can reach 1.97%,and the relative error of pixels in the vertical direction can reach 1.74%.The error follows a normal distribution,proving that this registration method has stability and reliability.
作者
刘佳鑫
关新
田启航
李林
LIU Jiaxin;GUAN Xin;TIAN Qihang;LI Lin(Space Optoelectronic Measurement and Perception Lab,Beijing Institute of Control Engineering,Beijing 100094,China;National Key Laboratory of Space Intelligent Control,Beijing 100094,China)
出处
《空间控制技术与应用》
CSCD
北大核心
2024年第2期30-37,共8页
Aerospace Control and Application
基金
国家自然科学基金资助项目(52275083)
北京市科技新星计划资助
关键词
间接飞行时间原理
非均匀性照明
互相关
深度配准
indirect time-of-flight principle
non-uniform illumination
normalized cross-correlation
deep registration
