Real-time panorama monitoring method and device based on multi-camera rotation scanning

Abstract

The invention provides a real-time full-view monitoring method and device based on multi-camera rotating scanning. 360-degree panorama environment full-view presenting is achieved, and ceaseless-renewal panoramic pictures are achieved. The method comprises the steps that first, initialization is carried out; second, each camera device collects one frame of picture, pixel intensity compensation is carried out, the sampling result of each device is stored in the corresponding sampling picture sequence of the device, and meanwhile information of the angle where a rotating cloud table is placed during current sampling is recorded; an initial picture of each picture sequence is displayed, according to the relative mounting positions of cameras, the position on a 360-degree panoramic picture of the initial frames in each group is determined; third, a picture sequence is selected, a previous frame A and a current frame B are extracted, feature points in an ROI zone are detected and described, feature points extracted in the frame A and the frame B are matched, a non-maximum value in feature detecting is adjusted according to the matching result to restrain a threshold value; fourth, a homography matrix is computed according to the matching result.

Description

technical field [0001] The invention belongs to the field of image processing and the technical field of video monitoring, and in particular relates to a multi-camera rotary scanning panorama monitoring system. Background technique [0002] Existing panoramic imaging equipment is mainly divided into three categories, one is to rely on special imaging equipment such as fisheye lens to obtain images with a large viewing angle; Scene images; the third category is to rely on a constantly rotating camera to capture image sequences of the surrounding environment for splicing and fusion to complete panoramic imaging. However, the image taken by special imaging equipment such as fisheye lens has serious distortion (CN102222337A); the second type of multi-camera scene fusion method needs a lot of imaging equipment to cover the 360-degree range, the cost is high, and the system is complicated (CN102117008A; CN101866482B); The rotating equipment of last class single camera is subjecte...

AI Technical Summary

Problems solved by technology

However, the image taken by special imaging equipment such as fisheye lens has serious distortion (CN102222337A); the second type of multi-camera scene fusion method needs a lot of imaging equipment to cover the 360-degree range, the cost is high, and the system is complicated (CN102117008A; CN101866482B); The rotating equipment of the last type of single camera is limited by the rotation speed and the splicing method and has poor real-time performance, and it takes a long time to update the 360-degree scene once (CN101221351B)

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