Bidirectional mapping precise interpolation-based cylindrical panoramic expansion method for refractive-reflective all-directional picture

A cylindrical panoramic and two-way mapping technology, applied in the field of catadioptric omnidirectional vision, to avoid adverse effects, improve image quality and unfolding speed

Inactive Publication Date: 2010-07-14
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

[0008] The technical problem to be solved by the present invention is: for the specific problem of expanding the catadioptric omnidirectional image into a cylindrical panoramic image, in order to eliminate the nonlinear distortion of omnidirectional imaging, the calculation of the weight of the neighborhood reference point in the process of interpolation and expansion of the omnidirectional image Adverse effects

Method used

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  • Bidirectional mapping precise interpolation-based cylindrical panoramic expansion method for refractive-reflective all-directional picture
  • Bidirectional mapping precise interpolation-based cylindrical panoramic expansion method for refractive-reflective all-directional picture
  • Bidirectional mapping precise interpolation-based cylindrical panoramic expansion method for refractive-reflective all-directional picture

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Embodiment 1

[0036] Embodiment 1: Taking the catadioptric omnidirectional imaging of a conical surface as an example, the present invention will be further described in detail in conjunction with the accompanying drawings.

[0037] The basic principle of the conical catadioptric omnidirectional imaging system is: use the conical mirror to reflect the incident light from the 360-degree range around the imaging system, and then enter the traditional optical imaging system (imaging lens + image sensor) to generate A circular omnidirectional map containing 360-degree omni-directional scene information in space.

[0038] The forward projection of omnidirectional imaging refers to mapping any point in three-dimensional space to a point on the image plane of omnidirectional imaging, such as figure 1 As shown in -a, an incident ray pp' emitted by any point p(x, y, z) in three-dimensional space is reflected by a point p' on the conical surface, and intersects the imaging plane XOY at the point P(X,...

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Abstract

The invention discloses a bidirectional mapping precise interpolation-based cylindrical panoramic expansion method for a refractive-reflective all-directional picture, which comprises the following steps: mapping a target pixel point in a cylindrical panoramic image into an original acquired all-directional picture according to a positive projection formula that any point in a cylindrical panoramic space is refractive-reflectively imaged to the all-directional picture to accurately and conveniently select and position a neighborhood reference point used for interpolation; and reversely mapping the neighborhood reference point into a cylindrical panoramic space to be generated according to a coordinate mapping relationship that any point in the all-directional picture is reversely mapped to the cylindrical panoramic space, and returning the neighborhood reference point to the cylindrical panoramic image without annular distortion to perform image interpolation on the current target pixel point so as to obtain high-precision cylindrical panoramic expansion picture. The method of the invention avoids the adverse effect of the nonlinear imaging distortion of the original panoramic picture on the neighborhood reference point, and effectively improves the image quality and expansion speed of the cylindrical panoramic expansion picture.

Description

Technical field: [0001] The invention relates to the field of catadioptric omnidirectional vision, in particular to a method for panorama expansion of a catadioptric omnidirectional graph cylinder based on bidirectional mapping accurate interpolation. Background technique: [0002] With the advantages of 360-degree omnidirectional viewing angle and the ability to cover a wide range of scenes, panoramic image / video has been more and more widely researched and applied in the fields of panoramic video surveillance, robot visual navigation, and virtual reality space construction. Catadioptric omnidirectional imaging is an important way to obtain panoramic images. However, due to the severe concentric circular deformation of the original collected catadioptric omnidirectional images, it is usually necessary to expand them into cylindrical panoramic images suitable for human observation. [0003] In the traditional method, the basic idea of ​​expanding the omnidirectional image in...

Claims

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Application Information

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IPC IPC(8): G06T11/00
Inventor 张茂军王炜陈立栋徐玮熊志辉
Owner NAT UNIV OF DEFENSE TECH
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