Panoramagram generation method

A panorama and image technology, which is applied in the field of image processing, can solve problems such as difficulty in satisfying real-time performance and complex calculations, and achieve the effects of small distortion, guaranteed matching accuracy, and improved accuracy

Active Publication Date: 2015-03-25
BEIJING INST OF CONTROL ENG
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Problems solved by technology

The disadvantage of these methods is that the calculation is complicated and it is difficult to meet the real-time requirements; secondly, the method only considers the splicing when the camera angle is horizontal. The lens is tilted, etc., and the spliced ​​image is a spherical image. It is necessary to convert the spherical image to a cylindrical image for a more objective display.

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Embodiment Construction

[0026] Such as figure 1 Shown, be the flowchart of the inventive method, each step is described in detail below:

[0027] (1) Fix the camera on the mast and rotate it, and acquire two images successively at different angles, one of which is the reference image and the other is the image to be registered, and there are parts in the reference image and the image to be registered Overlapping images, called common areas;

[0028] (2) Use a robust feature extraction algorithm to extract the features in the image. Traverse all the pixels in the two images, compare and calculate the gray value of each pixel value with the surrounding adjacent N pixels (calculate the gray value difference), for each image, compare each pixel point with the surrounding pixels The calculation results of point grayscale comparison are sorted by size. N usually takes a positive integer not less than 5, and takes 8 in this scheme.

[0029] (3) Set the feature value threshold M, select the first M pixel...

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Abstract

The invention provides a panoramagram generation method which includes the steps that (1) for the same region, a benchmark image and an image to be registered are obtained; (2) pixel characteristic value sequences are generated for the two images respectively; (3) front M pixel points in the two sequences are selected to serve as characteristic points; (4) feature matching is conducted on the two sets of characteristic points, and a matching point pair sequence is obtained; (5) an affine mapping relation is built according to the matching point pair sequence, and a transformed image to be registered is obtained; (6) the shared regions on the two images are fused, and a spherical panoramagram for the same region is obtained; (7) the spherical panoramagram is converted to be an unfolded planar coordinate system from a spherical coordinate system, and a panoramagram is generated. The method is simple in overall procedure, high in speed and capable of generating the panoramagram with high accuracy and small deformation under the conditions that the lens pitch angle is unknown and the rotating angle is unknown and converting the spherical surface of the panoramagram to a plane, and watching is facilitated for users.

Description

technical field [0001] The invention relates to an image processing method. Background technique [0002] Using a single lens to take pictures of the surrounding environment is limited by the size of the field of view, making it difficult to reflect the surrounding panorama. In view of this situation, several images of the surrounding scenes need to be spliced ​​to form a surrounding panoramic image, so that the user can perceive the overview of the surrounding topography or scene. For users such as cars, the multi-camera recorder based on this technology can seamlessly monitor the 360-degree panoramic view around the car. For the lunar rover, the surrounding panorama has become particularly important, which can guide the walking of the lunar rover and avoid driving into the lunar crater and hitting rocks. For ordinary home users, multi-cameras can be used together to realize seamless 360-degree panoramic monitoring of the home. Since the generated image is a panoramic im...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/00
CPCG06T3/0062G06T3/0068G06T3/4038
Inventor 刘达王立梁潇周建涛刘鲁吴奋陟李春艳张洪华陈建新
Owner BEIJING INST OF CONTROL ENG
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