Method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic

Abstract

The invention relates to a method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic. Fisheye images can severely distort radially, and a mosaic effect is affected. The method includes enabling the four vehicular fisheye lenses to respectively acquire near-distance scenes in four directions of a vehicle body; unifying images of the four fisheye lenses on a ground coordinate system by means of mapping images and estimating pitching angles; geometrically correcting the images to form third-angle vertical overlook images with consistent visual perception. By the method, the four fisheye lenses are divided into two groups according to adjacent relations, the pitching angles and mosaic angles of each two adjacent images in each group are respectively solved, the pitching angles and mosaic angles of two groups of images are solved according to adjacent relations between the two groups of images of the lenses, and finally results are converted into respective independent pitching angles of the four images. The method has the advantages that fisheye image mosaic can be effectively implemented, and a seamless high-definition image can be finally formed.

Description

technical field [0001] The invention belongs to the technical field of image data processing, and relates to an image splicing method, in particular to a fisheye lens vertical mapping image geometric correction method applied to fisheye image splicing in which multiple cameras on a vehicle shoot close-range shots of surrounding scenes. Background technique [0002] With the wide application of photography technology, panoramic visual perception technology has become a popular research direction in industries that rely on visual information to make decisions in civil, military and aerospace fields. At present, panoramic visual perception technology mainly uses two methods: mirror and fisheye lens. A fisheye lens is a lens with an extremely short focal length and a viewing angle close to or equal to 180°. It is an extreme wide-angle lens, commonly known as "fisheye lens". In order to achieve the maximum photographic viewing angle of the lens, the diameter of the front lens o...

AI Technical Summary

Problems solved by technology

Perspective mapping cannot map hemispherical regions into a finite image plane

Therefore, the fisheye image will produce serious radial distortion, and the edge of the image will be severely stretched, resulting in exaggerated deformation and affecting the stitching effect

Based on the inherent projection principle of fisheye lens, the image pinhole model commonly used for wide-angle image correction is not ideal for fisheye lens correction

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