360-degree spliced ​​panoramic camera with wide vertical field of view

Abstract

The invention belongs to the field of panoramic splicing, and provides a 360-degree splicing panoramic camera with a wide field of view in the vertical direction, including several identical vertically arranged image sensors, and the models, quantities and relative positions of the sensors are aligned according to the panoramic splicing application. Field size requirements are determined. The present invention also provides a calibration method and a mosaic method based on the panoramic camera, through calibration, each image is projected on the same plane; then the dynamic programming method and the gradient domain fusion method are used to complete the mosaic of the panoramic images. Since the present invention can obtain a larger vertical viewing angle in the case of a single row of sensors, it only needs to run the image stitching algorithm in the horizontal direction, which can simplify the design of the stitching algorithm and reduce the complexity of the algorithm. The splicing operations between each group of adjacent images in the present invention are independent of each other, can be executed in parallel by multi-processors, can realize real-time splicing of multi-channel videos on the FPGA, and have broad market prospects.

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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