Omnidirectional camera N surface perspective panorama expanding method based on Taylor series model

A Taylor series, panorama technology, applied in image analysis, image data processing, 2D image generation, etc., can solve the problems of very sensitive parameter changes, failure, difficult to obtain accurate model parameters of omnidirectional systems, etc. wide effect

Inactive Publication Date: 2009-01-28
ZHEJIANG UNIV
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Problems solved by technology

This analytical unfolding method is strongly dependent on the camera model, making it very sensitive to parameter changes. When there is a relatively large alignment error between the mirror and the camera, the method will fail
Furthermore, in many cases, the exact model parameters of the omnidirectional system are difficult to obtain

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  • Omnidirectional camera N surface perspective panorama expanding method based on Taylor series model
  • Omnidirectional camera N surface perspective panorama expanding method based on Taylor series model
  • Omnidirectional camera N surface perspective panorama expanding method based on Taylor series model

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Embodiment Construction

[0026] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0027] figure 1 A flow chart of the method for expanding the N-side perspective panoramic image of an omnidirectional camera based on the Taylor series model according to the present invention is given.

[0028] Such as figure 1 As shown, in step 101, the omnidirectional vision sensor used is calibrated, and the Taylor series omnidirectional imaging model used is available figure 2 Said. Suppose the point P in the 3D world w =[X w , Y w ,Z w ] Projected on the virtual mirror as P m =[X m , Y m ,Z m ], the points corresponding to the sensor and the image plane are p s =[u s , V s ] And p i =[u i , V i ], all points are in the mirror coordinate system O m Means in, the complete imaging process is:

[0029] λ · O m P m ...

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Abstract

The invention discloses a method for expanding N-surface perspective panoramic images of an omni-directional camera, which is based on Taylor series models. The method comprises the following steps that: the omni-directional camera is calibrated by use of a Taylor series model, so as to obtain internal parameters of the camera; the size of an N-surface perspective panoramic image is estimated; and re-projection and interpolation are carried out so as to obtain the N-surface perspective panoramic image. The method is applicable to various omni-directional vision sensors, has the characteristic of wide application range, and can obtain parameters through calibration under the condition that the parameters of the omni-directional vision sensors are unknown and carry out effective panoramic image expansion. Every surface in the generated N-surface perspective panoramic image is equivalent to an image generated by a common perspective camera, thereby ensuring that the application of the prior algorithm applied to the prior perspective camera can be continued.

Description

Technical field [0001] The invention relates to a method for expanding an N-side perspective panoramic image of a ring image obtained by an omnidirectional camera, in particular to a method for expanding an N-side perspective panoramic image of an omnidirectional camera based on a Taylor series model. Background technique [0002] In recent years, thanks to the wide viewing angle characteristics of omnidirectional cameras, it has been applied to more and more fields, such as robot navigation and video surveillance. Early panoramic images were mainly obtained through multi-camera stitching or single-camera rotation. However, the above methods all require correction and registration between ordinary fluoroscopic images, and are not suitable for real-time imaging applications. In contrast, omnidirectional cameras can obtain 360° environmental information at one time and are ideal sensors for vision applications. An omnidirectional camera can generally be composed of an ordinary came...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T11/00G06T7/00
Inventor 杜歆陈建娟雷杰朱云芳刘济林刘加海
Owner ZHEJIANG UNIV
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