Transformer-based stereo image super-resolution reconstruction(Stereo SR)methods have significantly improved image quality.However,existing methods have deficiencies in paying attention to detailed features and do not...Transformer-based stereo image super-resolution reconstruction(Stereo SR)methods have significantly improved image quality.However,existing methods have deficiencies in paying attention to detailed features and do not consider the offset of pixels along the epipolar lines in complementary views when integrating stereo information.To address these challenges,this paper introduces a novel epipolar line window attention stereo image super-resolution network(EWASSR).For detail feature restoration,we design a feature extractor based on Transformer and convolutional neural network(CNN),which consists of(shifted)window-based self-attention((S)W-MSA)and feature distillation and enhancement blocks(FDEB).This combination effectively solves the problem of global image perception and local feature attention and captures more discriminative high-frequency features of the image.Furthermore,to address the problem of offset of complementary pixels in stereo images,we propose an epipolar line window attention(EWA)mechanism,which divides windows along the epipolar direction to promote efficient matching of shifted pixels,even in pixel smooth areas.More accurate pixel matching can be achieved using adjacent pixels in the window as a reference.Extensive experiments demonstrate that our EWASSR can reconstruct more realistic detailed features.Comparative quantitative results show that in the experimental results of our EWASSR on the Middlebury and Flickr1024 data sets for 2×SR,compared with the recent network,the Peak signal-to-noise ratio(PSNR)increased by 0.37 dB and 0.34 dB,respectively.展开更多
High speed photography technique is potentially the most effective way to measure the motion parameter of warhead fragment benefiting from its advantages of high accuracy,high resolution and high efficiency.However,it...High speed photography technique is potentially the most effective way to measure the motion parameter of warhead fragment benefiting from its advantages of high accuracy,high resolution and high efficiency.However,it faces challenge in dense objects tracking and 3D trajectories reconstruction due to the characteristics of small size and dense distribution of fragment swarm.To address these challenges,this work presents a warhead fragments motion trajectories tracking and spatio-temporal distribution reconstruction method based on high-speed stereo photography.Firstly,background difference algorithm is utilized to extract the center and area of each fragment in the image sequence.Subsequently,a multi-object tracking(MOT)algorithm using Kalman filtering and Hungarian optimal assignment is developed to realize real-time and robust trajectories tracking of fragment swarm.To reconstruct 3D motion trajectories,a global stereo trajectories matching strategy is presented,which takes advantages of epipolar constraint and continuity constraint to correctly retrieve stereo correspondence followed by 3D trajectories refinement using polynomial fitting.Finally,the simulation and experimental results demonstrate that the proposed method can accurately track the motion trajectories and reconstruct the spatio-temporal distribution of 1.0×10^(3)fragments in a field of view(FOV)of 3.2 m×2.5 m,and the accuracy of the velocity estimation can achieve 98.6%.展开更多
The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo m...The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.展开更多
As the location of the wheel center is the key to accurately measuring the wheelbase, the wheelbase difference and the wheel static radius, a high-precision wheel center detection method based on stereo vision is prop...As the location of the wheel center is the key to accurately measuring the wheelbase, the wheelbase difference and the wheel static radius, a high-precision wheel center detection method based on stereo vision is proposed. First, according to the prior information, the contour of the wheel hub is extracted and fitted as an ellipse curve, and the ellipse fitting equation can be obtained. Then, a new un-tangent constraint is adopted to improve the ellipse matching precision. Finally, the 3D coordinates of the wheel center can be reconstructed by the spatial circle projection algorithm with low time complexity and high measurement accuracy. Simulation experiments verify that compared with the ellipse center reconstruction algorithm and the planar constraint optimization algorithm, the proposed method can acquire the 3D coordinates of the spatial circle more exactly. Furthermore, the measurements of the wheelbase, the wheelbase difference and the wheel static radius for three types of vehicles demonstrate the effectiveness of the proposed method for wheel center detection.展开更多
A stereo matching algorithm based on the epipolar line constraint is designed to meet the real-time and the accuracy requirements. The algorithm is applied to photodynamic therapy binocular surveillance system for por...A stereo matching algorithm based on the epipolar line constraint is designed to meet the real-time and the accuracy requirements. The algorithm is applied to photodynamic therapy binocular surveillance system for port wine stain （PWS） when it monitors the position of the treatment region. The corner matching based on Hu moments is used to calculate the fundamental matrix of the binocular vision system. Experimental results are in agreement with the theoretical calculation.展开更多
Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The s...Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.展开更多
A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed...A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.展开更多
An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable...An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable or similar features of binocular images. In order to reduce the probability of mismatching and improve the measure precision, a four-camera measurement system which can add extra matching constraints and offer multiple measurements is applied in this work. Moreover, a series of different checkerboard patterns are projected onto the object to obtain dense feature points and remove mismatched points. Finally, the 3D model is generated by performing Delaunay triangulation and texture mapping on the point cloud obtained by four-view matching. This method was tested on the 3D reconstruction of a terracotta soldier sculpture and the Buddhas in the Mogao Grottoes. Their point clouds without mismatched points were obtained and less processing time was consumed in most cases relative to binocular matching. These good reconstructed models show the effectiveness of the method.展开更多
The borescopy inspection problem of aeroengine interior important partdamages such as firebox's burn and corruption, vane' s crack, bump, abrade and concave pit, is aimedat. A new system is developed to carry ...The borescopy inspection problem of aeroengine interior important partdamages such as firebox's burn and corruption, vane' s crack, bump, abrade and concave pit, is aimedat. A new system is developed to carry out 3D measurement and stereo reconstruction of engineinterior damage, in which the borescope of Japanese OLYMPUS Corporation is used as hardware. In thesystem, functions are implemented, such as image collection, camera calibration, imagepreprocessing, stereo matching, 3D measurement and stereo reconstruction. It can provide moredetailed inspection and more accurate estimation of engine interior damages. Finally, an example isused to verify the effectivity of the new method.展开更多
A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） ...A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） camera, equivalent stereo images with different orientations are captured synchronously by virtual cameras which are defined by two boundary lines： the optical axis and CCD camera field of view boundary. Subsequently, the geometrical relationship between the 2D stereo images and corresponding 3D scene is established by employing two fundamentals： ray sketching in which all the pertinent points, lines, and planes are expressed in the 3D camera coordinates and the rule of refraction. Landing on this relationship, the epipolar geometry is thus obtained by fitting a set of corresponding candidate points and thereafter, stereo matching of the prism based stereovision system is obtained. Moreover, the unique geometrical properties of the imaging system allow the proposed method free from the complicated camera calibration procedures and to be easily generalized from binocular and tri-oeular to multi-ocular stereovision systems. The performance of the algorithm is presented through the experiments on the binocular imaging system and the comparison with a conventional projection method demonstrates the efficient assessment of our novel contributions.展开更多
Reliable saliency detection can be used to quickly and effectively locate objects in images. In this paper, a novel algorithm for saliency detection based on superpixels clustering and stereo disparity （SDC） is prop...Reliable saliency detection can be used to quickly and effectively locate objects in images. In this paper, a novel algorithm for saliency detection based on superpixels clustering and stereo disparity （SDC） is proposed. Firstly, we use an improved superpixels clustering method to decompose the given image. Then, the disparity of each superpixel is computed by a modified stereo correspondence algorithm. Finally, a new measure which combines stereo disparity with color contrast and spatial coherence is defined to evaluate the saliency of each superpixel. From the experiments we can see that regions with high disparity can get higher saliency value, and the saliency maps have the same resolution with the source images, objects in the map have clear boundaries. Due to the use of superpixel and stereo disparity information, the proposed method is computationally efficient and outperforms some state-of-the-art color- based saliency detection methods.展开更多
基金This work was supported by Sichuan Science and Technology Program(2023YFG0262).
文摘Transformer-based stereo image super-resolution reconstruction(Stereo SR)methods have significantly improved image quality.However,existing methods have deficiencies in paying attention to detailed features and do not consider the offset of pixels along the epipolar lines in complementary views when integrating stereo information.To address these challenges,this paper introduces a novel epipolar line window attention stereo image super-resolution network(EWASSR).For detail feature restoration,we design a feature extractor based on Transformer and convolutional neural network(CNN),which consists of(shifted)window-based self-attention((S)W-MSA)and feature distillation and enhancement blocks(FDEB).This combination effectively solves the problem of global image perception and local feature attention and captures more discriminative high-frequency features of the image.Furthermore,to address the problem of offset of complementary pixels in stereo images,we propose an epipolar line window attention(EWA)mechanism,which divides windows along the epipolar direction to promote efficient matching of shifted pixels,even in pixel smooth areas.More accurate pixel matching can be achieved using adjacent pixels in the window as a reference.Extensive experiments demonstrate that our EWASSR can reconstruct more realistic detailed features.Comparative quantitative results show that in the experimental results of our EWASSR on the Middlebury and Flickr1024 data sets for 2×SR,compared with the recent network,the Peak signal-to-noise ratio(PSNR)increased by 0.37 dB and 0.34 dB,respectively.
基金Key Basic Research Project of Strengthening the Foundations Plan of China (Grant No.2019-JCJQ-ZD-360-12)National Defense Basic Scientific Research Program of China (Grant No.JCKY2021208B011)to provide fund for conducting experiments。
文摘High speed photography technique is potentially the most effective way to measure the motion parameter of warhead fragment benefiting from its advantages of high accuracy,high resolution and high efficiency.However,it faces challenge in dense objects tracking and 3D trajectories reconstruction due to the characteristics of small size and dense distribution of fragment swarm.To address these challenges,this work presents a warhead fragments motion trajectories tracking and spatio-temporal distribution reconstruction method based on high-speed stereo photography.Firstly,background difference algorithm is utilized to extract the center and area of each fragment in the image sequence.Subsequently,a multi-object tracking(MOT)algorithm using Kalman filtering and Hungarian optimal assignment is developed to realize real-time and robust trajectories tracking of fragment swarm.To reconstruct 3D motion trajectories,a global stereo trajectories matching strategy is presented,which takes advantages of epipolar constraint and continuity constraint to correctly retrieve stereo correspondence followed by 3D trajectories refinement using polynomial fitting.Finally,the simulation and experimental results demonstrate that the proposed method can accurately track the motion trajectories and reconstruct the spatio-temporal distribution of 1.0×10^(3)fragments in a field of view(FOV)of 3.2 m×2.5 m,and the accuracy of the velocity estimation can achieve 98.6%.
基金Supported by the National Natural Science Foundation of China(42221002,42171432)Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities.
文摘The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.
基金The National Natural Science Foundation of China(No.61272223)the National Key Scientific Apparatus Development of Special Item(No.2012YQ170003-5)
文摘As the location of the wheel center is the key to accurately measuring the wheelbase, the wheelbase difference and the wheel static radius, a high-precision wheel center detection method based on stereo vision is proposed. First, according to the prior information, the contour of the wheel hub is extracted and fitted as an ellipse curve, and the ellipse fitting equation can be obtained. Then, a new un-tangent constraint is adopted to improve the ellipse matching precision. Finally, the 3D coordinates of the wheel center can be reconstructed by the spatial circle projection algorithm with low time complexity and high measurement accuracy. Simulation experiments verify that compared with the ellipse center reconstruction algorithm and the planar constraint optimization algorithm, the proposed method can acquire the 3D coordinates of the spatial circle more exactly. Furthermore, the measurements of the wheelbase, the wheelbase difference and the wheel static radius for three types of vehicles demonstrate the effectiveness of the proposed method for wheel center detection.
基金Supported by the National High Technology Research and Development Program of China("863"Program)(2007AA04Z231)~~
文摘A stereo matching algorithm based on the epipolar line constraint is designed to meet the real-time and the accuracy requirements. The algorithm is applied to photodynamic therapy binocular surveillance system for port wine stain （PWS） when it monitors the position of the treatment region. The corner matching based on Hu moments is used to calculate the fundamental matrix of the binocular vision system. Experimental results are in agreement with the theoretical calculation.
基金National Major Scientific Equipment Development Projects of China(No.2013YQ240803)Natural Science Foundation for Young Scientists of Shanxi Province(No.2012021011-1)Scientific and Technological Project in Shanxi Province(No.20140321010-02)
文摘Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.
基金National Natural Science Foundation of China (No.50275040)
文摘A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.
基金Project(2012CB725301)supported by the National Basic Research Program of ChinaProject(201412015)supported by the National Special Fund for Surveying and Mapping Geographic Information Scientific Research in the Public Welfare of ChinaProject(212000168)supported by the Basic Survey-Mapping Program of National Administration of Surveying,Mapping and Geoinformation of China
文摘An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable or similar features of binocular images. In order to reduce the probability of mismatching and improve the measure precision, a four-camera measurement system which can add extra matching constraints and offer multiple measurements is applied in this work. Moreover, a series of different checkerboard patterns are projected onto the object to obtain dense feature points and remove mismatched points. Finally, the 3D model is generated by performing Delaunay triangulation and texture mapping on the point cloud obtained by four-view matching. This method was tested on the 3D reconstruction of a terracotta soldier sculpture and the Buddhas in the Mogao Grottoes. Their point clouds without mismatched points were obtained and less processing time was consumed in most cases relative to binocular matching. These good reconstructed models show the effectiveness of the method.
文摘The borescopy inspection problem of aeroengine interior important partdamages such as firebox's burn and corruption, vane' s crack, bump, abrade and concave pit, is aimedat. A new system is developed to carry out 3D measurement and stereo reconstruction of engineinterior damage, in which the borescope of Japanese OLYMPUS Corporation is used as hardware. In thesystem, functions are implemented, such as image collection, camera calibration, imagepreprocessing, stereo matching, 3D measurement and stereo reconstruction. It can provide moredetailed inspection and more accurate estimation of engine interior damages. Finally, an example isused to verify the effectivity of the new method.
基金supported by the Ministry of Education of Singapore under Grant No.R265-000-277-112
文摘A geometrical analysis based algorithm is proposed to achieve the stereo matching of a single-lens prism based stereovision system. By setting the multi- face prism in frontal position of the static CCD （CM-140MCL） camera, equivalent stereo images with different orientations are captured synchronously by virtual cameras which are defined by two boundary lines： the optical axis and CCD camera field of view boundary. Subsequently, the geometrical relationship between the 2D stereo images and corresponding 3D scene is established by employing two fundamentals： ray sketching in which all the pertinent points, lines, and planes are expressed in the 3D camera coordinates and the rule of refraction. Landing on this relationship, the epipolar geometry is thus obtained by fitting a set of corresponding candidate points and thereafter, stereo matching of the prism based stereovision system is obtained. Moreover, the unique geometrical properties of the imaging system allow the proposed method free from the complicated camera calibration procedures and to be easily generalized from binocular and tri-oeular to multi-ocular stereovision systems. The performance of the algorithm is presented through the experiments on the binocular imaging system and the comparison with a conventional projection method demonstrates the efficient assessment of our novel contributions.
基金supported by NSFC Joint Fund with Guangdong under Key Project(U1201258)National Natural Science foundation of China(61402261+3 种基金6130308861572286)the scientific research foundation of Shandong Province of Outstanding Young Scientist Award(BS2013DX048)Shandong Ji’nan Science and Technology Development Project(201202015)
文摘Reliable saliency detection can be used to quickly and effectively locate objects in images. In this paper, a novel algorithm for saliency detection based on superpixels clustering and stereo disparity （SDC） is proposed. Firstly, we use an improved superpixels clustering method to decompose the given image. Then, the disparity of each superpixel is computed by a modified stereo correspondence algorithm. Finally, a new measure which combines stereo disparity with color contrast and spatial coherence is defined to evaluate the saliency of each superpixel. From the experiments we can see that regions with high disparity can get higher saliency value, and the saliency maps have the same resolution with the source images, objects in the map have clear boundaries. Due to the use of superpixel and stereo disparity information, the proposed method is computationally efficient and outperforms some state-of-the-art color- based saliency detection methods.
