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
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[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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