Image processing method, apparatus and unit

• US 8,594,458 B2
• Filed: 08/09/2010
• Issued: 11/26/2013
• Est. Priority Date: 02/28/2008
• Status: Active Grant

• Current Assignee: Inpho GmbH (Trimble Inc.)
• Original Assignee: Inpho GmbH (Trimble Inc.)
• Inventors: Wiesenfarth, Rainer
• Primary Examiner(s): Patel, Nirav G
• Application Number:
  US12/852,851
• Publication Number:
  US 20110188778A1
• Time in Patent Office: 1,205 Days
• Field of Search: None
• US Class Current: 382/284
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images

Abstract

The invention relates to a method for selecting a seam between two overlapping images of an area of interest. It includes generating a difference value associated with each portion of the overlapping region, wherein the difference value associated with a portion is derived from the difference between at least one property of the portion in the two images It also includes selecting, through the overlapping region, a path between two points located at the edge of the overlapping region based on the sum of the difference values of the portions along the path. The path is set as the seam. The seam may be used for combining the overlapping images into one image. The invention also relates to a unit, an apparatus, a computer program and an image.

Claims

1. A method for selecting a seam between two overlapping images of an area of interest and for combining the two overlapping images into one resulting image, an overlapping portion of the two overlapping images defining an overlapping region, the method comprising:

performing a generating procedure for generating a difference value associated with each portion of the overlapping region, wherein the difference value associated with each portion is derived from a difference between at least one property in corresponding portions of the two overlapping images;

performing a selecting procedure for selecting, through the overlapping region, a path between two points located at edges of the overlapping region based on a sum of those difference values associated with portions along the path, wherein the path is the seam and each of the two points are located at an intersection between edges of the overlapping images;

performing a combining procedure for combining the two overlapping images along the seam; and

performing a blending procedure for blending portions of the overlapping region based on the difference value associated with each portion and a distance of each portion from the seam, wherein a portion of the overlapping region is said to be blended if a property of the portion in the resulting image results from a mix of the property in each of the corresponding portions of the two overlapping images.

2. The method of claim 1 wherein the difference value associated with each portion is at least one of:

a difference between radiometric values in corresponding portions of the two overlapping images;

a difference between a gradient of the radiometric values in corresponding portions of the two overlapping images;

or

a combination of the two preceding differences.

3. The method of claim 1 wherein the selecting procedure includes selecting the path along which the sum of the difference values is the smallest or the smallest known.

4. The method of claim 1 wherein, in the selecting procedure, selecting the path between the two points is further based on at least one of:

a position in the overlapping region of the portions along the path;

values associated with at least some of the portions along the path, wherein the values are provided by an external source;

or

a combination of the two preceding properties.

5. A method for combining a set of overlapping images, the method including:

a mosaicing procedure applied on the set including;

determining whether the set comprises exactly two images, and, if so, combining the two images into one image using the method of claim 1; and

determining whether the set comprises more than two images, and, if so;

(i) splitting the set into two subsets;

(ii) applying on each one of the two subsets the mosaicing procedure to obtain two images; and

(iii) combining the two obtained images into one image in accordance with the method of claim 1.

6. The method of claim 5 wherein the mosaicing procedure applied on the set further includes:

determining whether the set comprises one image, and, if so, completing the mosaicing procedure applied on the set.

7. An image processing unit configured to select a seam between two overlapping images of an area of interest and for combining the two overlapping images into one resulting image, an overlapping portion of the two overlapping images defining an overlapping region, the unit comprising:

a generating unit configured to generate a difference value associated with each portion of the overlapping region, the generating unit being configured so that the difference value associated with each portion is derived from a difference between at least one property in corresponding portions of the two overlapping images;

a selecting unit configured to select, through the overlapping region, a path between two points located at edges of the overlapping region based on a sum of those difference values associated with portions along the path, wherein each of the two points are located at an intersection between edges of the two overlapping images and the image processing unit is configured to set the path as the seam;

a combining unit configured to combine the two overlapping images along the seam; and

a blending unit configured to blend portions of the overlapping region based on the difference value associated with each portion and a distance of each portion from the seam, wherein a portion of the overlapping region is said to be blended if a property of the portion in the resulting image results from a mix of the property in each of the corresponding portions of the two overlapping images.

8. The image processing unit of claim 7 further configured so that the difference value associated with each portion is any one of:

a difference between radiometric values in corresponding portions of the two overlapping images;

a difference between a gradient of the radiometric values in corresponding portions of the two overlapping images;

or

a combination of the two preceding differences.

9. The image processing unit of claim 7 wherein the selecting unit is further configured to include selecting the path along which the sum of the difference values is the smallest or the smallest known.

10. The image processing unit of claim 7 wherein the selecting unit is further configured to select the path between the two points based on any one of:

a position in the overlapping region of the portions along the path;

values associated with at least some of the portions along the path, wherein the values are provided by an external source;

or

a combination of the two preceding properties.

11. An image processing apparatus configured to combine a set of overlapping images, the apparatus including:

a mosaicing unit configured to carry out a mosaicing procedure by;

taking as input the set;

determining whether the set comprises exactly two images, and, if so, combining the two images into one image using the image processing unit of claim 8; and

determining whether the set comprises more than two images, and, if so;

(i) splitting the set into two subsets;

(ii) applying on each one of the two subsets the mosaicing procedure to obtain two images; and

(iii) combining the two obtained images into one image using the image processing unit of claim 7.

12. The image processing apparatus of claim 11 wherein the mosaicing unit is further configured to determine whether the set comprises one image, and, if so, completing the mosaicing procedure applied on the set.