System And Method For Integrated Pair-Wise Registration Of Images Using Image Based Information And Sensor Coordinate And Error Information
First Claim
1. A method for registering two image frames captured by a scanning device, the scanning device comprising an image capturing unit and a plurality of position sensors that supply position data indicating the relative position of the image capturing device when the image capturing device captures each of the two image frames, comprising:
- reading position data from each of the plurality of position sensors when a first image frame i is captured and when a second image frame i+1 is captured;
estimating transformation parameters from the sensor position data that relate an image center of image frame i+1 to image frame i;
extracting an overlapping area between image frame i+1 and image frame i using the estimated transformation parameters from the sensor position data; and
refining the transformation parameters by minimizing a cost function integrating a registration error ES from sensor position data and a registration error EI from image data of the overlapping area to register image frame i+1 with image frame i.
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Accused Products
Abstract
Two images are stitched together through minimization of a cost function that consists of registration errors from image data of the two images, as well as the estimated errors from a set of sensors. The weight function in the cost function is derived from the confidence value of sensor estimation that considers the sensor errors including lift and off page as well as a measure of accuracy of the sensor readings. Weights are used to adjust image registration accuracy against sensor accuracy to produce a set of registration parameters that would best stitch the two images together. In order to handle large errors for initial registration parameters and to avoid local minima in the minimization process, the image pair may be registered in a lower resolution and then refined in a higher resolution.
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Citations
18 Claims
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1. A method for registering two image frames captured by a scanning device, the scanning device comprising an image capturing unit and a plurality of position sensors that supply position data indicating the relative position of the image capturing device when the image capturing device captures each of the two image frames, comprising:
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reading position data from each of the plurality of position sensors when a first image frame i is captured and when a second image frame i+1 is captured; estimating transformation parameters from the sensor position data that relate an image center of image frame i+1 to image frame i; extracting an overlapping area between image frame i+1 and image frame i using the estimated transformation parameters from the sensor position data; and refining the transformation parameters by minimizing a cost function integrating a registration error ES from sensor position data and a registration error EI from image data of the overlapping area to register image frame i+1 with image frame i. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A scanning device comprising:
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an image capturing unit; a plurality of position sensors that supply position data indicating the relative position of the image capturing device when the image capturing device captures one of a plurality of image frames; and a processor that; reads position data from each of the plurality of position sensors when a first image frame i is captured and when a second image frame i+1 is captured; estimates transformation parameters from the sensor position data that relate an image center of image frame i+1 to image frame i; and extracts an overlapping area between image frame i+1 and image frame i using the estimated transformation parameters from the sensor position data; and refines the transformation parameters by minimizing a cost function integrating a registration error ES from sensor position data and a registration error EI from image data of the overlapping area to register image frame i+1 with image frame i. - View Dependent Claims (8, 9, 10, 11, 12)
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13. One or more tangible, non-transitory computer-readable media having computer-readable instructions thereon, which, when executed by a processor, register a plurality of image frames captured by a scanning device, the scanning device comprising an image capturing unit and a plurality of position sensors that supply position data indicating the relative position of the image capturing device when the image capturing device captures one of the plurality of image frames, wherein the processor:
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reads position data from each of the plurality of position sensors when a first image frame i is captured and when a second image frame i+1 is captured; estimates transformation parameters from the sensor position data that relate an image center of image frame i+1 to image frame i; and extracts an overlapping area between image frame i+1 and image frame i using the estimated transformation parameters from the sensor position data; and refines the transformation parameters by minimizing a cost function integrating a registration error ES from sensor position data and a registration error EI from image data of the overlapping area to register image frame i+1 with image frame i. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification