Generating method of spherical panorama based on overlapping method

Abstract

The invention discloses a spherical panorama generating method based on an overlapping way, comprising the following steps: (1) establishing a target spherical spatial model on the basis of two half-spherical spaces formed by two fisheye images; (2) calculating the mapping relation between the points in the target spherical space and the points in the half-spherical spaces; (3) calculating pixel values corresponding to the points on a spherical surface O according to a fisheye lens projection model and the mapping relation between the points in the spherical space and the points in the half-spherical spaces; and (4) mapping the points in the spherical space to a spherical panorama according to the principle of spherical panorama generation. According to the invention, panoramic stitching is realized with less input data, stitching is carried out with only two fisheye images, the data source is simple, and the cost is low. In the processing process, the location relationship of overlapping areas is introduced effectively, and the relative positions of pixels are quantitatively calculated according to the relationship, which simplifies the calculation process and speeds up stitching. Finally, image fusion is performed by a gray maximum fusion way, and the quality of panoramic stitching is improved.

Description

technical field [0001] The invention belongs to the field of computer graphics, and specifically relates to a method for generating a spherical panorama based on an overlapping method, that is, collecting two fisheye images based on the overlapping method, and generating a spherical panorama by utilizing the mapping relationship between the imaging space of the fisheye image and the spherical space . Background technique [0002] In the fields of smart tourism, video surveillance, augmented reality, robot navigation, etc., it is often necessary to obtain images with a wider range of angles. Even the use of wide-angle and fisheye lenses sometimes cannot meet the needs, and panoramas can achieve full viewing angles. It can meet the needs of the above fields, so it has been widely used. The surrounding scene is projected onto the spherical model with the viewpoint as the center of the sphere, and the virtual space formed with the center of the sphere as the viewpoint, where yo...

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Problems solved by technology

[0012] The present invention aims to solve the problem that the existing spherical panorama generation method is affected by the image acquisition method and the image splicing method, which has the problems of slow generation speed and high cost, and is difficult to be practically applied in the fields of video surveillance and smart tourism. A method for generating spherical panoramas based on overlapping

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