Real time panorama tracing and splicing method for mobile platform

A mobile platform, real-time tracking technology, applied in image data processing, instruments, calculations, etc., to achieve the effect of quality assurance and reduction of translation errors

Inactive Publication Date: 2015-09-02
ZHEJIANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the traditional methods of processing panoramas focus on how to eliminate the geometric error between the images caused by the movement of the camera center, and no one checks from the source whether the input image satisfies the pure rotation constraint.

Method used

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  • Real time panorama tracing and splicing method for mobile platform
  • Real time panorama tracing and splicing method for mobile platform
  • Real time panorama tracing and splicing method for mobile platform

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Experimental program
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Embodiment Construction

[0024] A real-time panorama tracking and splicing method on a mobile platform comprises the following steps:

[0025] 1) Real-time tracking based on the spherical model: each frame is captured by the camera, feature tracking is performed first, and then the current rotation attitude of the camera in three-dimensional space is calculated;

[0026] 2) Fast and robust translation detection: While tracking the camera’s rotation attitude in real time, it also detects whether the center of the camera has shifted. When the shift occurs, the corresponding feedback is given to the user to help the user return to the initial camera position, reducing Small translation errors between captured images, ensuring images satisfy constraints on a sphere;

[0027] 3) Map expansion and update: add keyframes and 3D feature points, use the method of cluster adjustment to optimize, update the entire Map, and the entire Mapping process is calculated on the background thread;

[0028] 4) Offline pan...

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Abstract

The invention discloses a real time panorama tracing and splicing method for mobile platform. First, each image frame captured by a camera is used for feature tracking and is then utilized for calculating rotation posture of the camera in three-dimensional space. Second, whether the center of the camera shifts or not is also detected during the process of estimating the posture of the camera in real time. If shift occurs, a corresponding feedback is sent to a user and help is offered to the user to reset the camera position to an initial one, so that translation error between captured images can be reduced and that the images meets constraint on a sphere is guaranteed. Third, key frames and three-dimensional feature points are added and related parameters are optimized and a Map is updated completely by utilizing a bundling adjustment method. Fourth, a plurality of pictures are spliced together in real time in an offline manner on a background, and exposure compensation and multi-frequency-band fusion of images are realized, so that a panorama with geometrical consistency is generated with high quality. The result indicates that a scene expression method based on multi-view panorama has very good scene expression capability.

Description

technical field [0001] The invention relates to a panoramic scene expression method, in particular to a real-time panoramic tracking and splicing method on a mobile platform. technical background [0002] Panorama is a common scene browsing method, which can be regarded as the promotion of ordinary wide-angle lens, with a larger viewing angle and wider scene information. With its unique visual representation, panoramas can be widely used in various fields such as scene roaming, virtual reality, texture mapping, and augmented reality. [0003] Traditional panorama generation methods, including David Lowe's Scale-Invariant Feature (SIFT)-based (Lowe, David G. Distinctive Image Features from Scale-Invariant Keypoints. International Journal of Computer Vision 60.2, 2004: 91-110.) photo image Stitching method (Matthew Brown,David G.Lowe.Automatic Panoramic Image Stitching using Invariant Features.International Journal of Computer Vision,2007,74(1):59-73), Google's gyroscope-base...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T3/40
CPCG06T3/4038G06T7/80
Inventor 章国锋鲍虎军王楠刘宇林根
Owner ZHEJIANG UNIV
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