360-degree stitched-type panoramic camera with wide view field in vertical direction

Abstract

The invention belongs to the field of panoramic stitching and provides a 360-degree stitched-type panoramic camera with a wide view field in a vertical direction. The 360-degree stitched-type panoramic camera comprises a plurality of identical image sensors which are vertically arranged, wherein the models, the number and the relative positions of the sensors are determined according to the demands for the size of a view field in panoramic stitching application. The invention additionally provides a calibrating method and a stitching method based on the panoramic camera. Through calibration, images in all loops are projected on the same plane; then the stitching of panoramic images is completed by adopting a dynamic planning method and a gradient domain fusion method. Since a wider vertical view angle can be obtained under the situation of the arrangement of a single row of sensors and an image stitching algorithm is only required to be operated horizontally, the design of the stitching algorithm can be simplified and the algorithm complexity is reduced. Since the stitching operations of adjacent images in a group are mutually independent, multiple processors can be adopted for execution, the real-time stitching of loops of videos can be realized on an FPGA (Field Programmable Gate Array) and the market prospect is wide.

Description

Technical field: [0001] The invention belongs to the field of panoramic image splicing, in particular to a 360-degree splicing panoramic camera with a wide vertical field of view. Background technique: [0002] The spliced ​​panoramic camera constructed by panoramic splicing can overcome the limitation of single image sensor camera hardware conditions, and realize large field of view and high-resolution shooting of the scene at the same time. Compared with fisheye panorama and catadioptric panorama, mosaic panorama has the advantages of less image distortion, high resolution and uniform resolution at each position. [0003] The spliced ​​panoramic camera has broad application prospects in both civilian and military fields. [0004] In the civil field, because of its large field of view and high resolution, stitched panoramas have received more and more attention and favor. The splicing panoramic camera has been widely used in the engineering practice of security monitoring...

AI Technical Summary

Problems solved by technology

The seamless stitching of multiple rows of images needs to consider both horizontal and vertical directions at the same time. Based on the essentially one-dimensional storage method of images in the memory, the two-way stitching algorithm requires more random reads, which will inevitably increase the time complexity of the algorithm. sex

[0007] In applications such as security monitoring, street view shooting, and military tank fire control and aiming, the focus is on large-scale scenes in the horizontal direction, and a large vertical viewing angle is required. Horizontal single-row splicing panoramic cameras are difficult to meet the demand

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