Panorama image stitching method based on three-dimensional laser point cloud

Abstract

The invention provides a panorama image stitching method based on three-dimensional laser point cloud, and the method comprises the following steps during calculating pixel coordinates of a raw image corresponding to a target panorama image: 1) constructing a ray according to pixel coordinates of the target panorama image, and converting a ray in a point cloud coordinate system through employing the posture of a camera in the point cloud coordinate system; 2) obtaining three-dimensional coordinates in the ray direction through neighbor point cloud interpolation; 3) calculating pixel coordinates corresponding to the raw image through employing the position and posture of the camera in the point cloud coordinate system and the internal and external parameters of the camera according to the three-dimensional coordinates. The method provided by the invention irons out the defects of a conventional panorama image stitching method, can improve the stitching accuracy, reduces the manual operation, shortens the data production cycle, and has very high economic and social values.

Description

technical field [0001] The invention relates to a panoramic image splicing method based on a three-dimensional laser point cloud, belonging to the field of surveying and mapping geographic information. Background technique [0002] Street view service is the hotspot of Internet map at present. Street view data is generally collected by a vehicle-mounted panoramic camera, and the panoramic image is obtained after post-processing, and then released to the Internet. Street view maps require that panoramic images have no traces of visual splicing, so the internal and external parameters of the camera need to be accurately calibrated during stitching, and a strict projection model is used to project the original image onto a spherical surface to generate a panoramic image. [0003] Existing projection methods are generally as follows: [0004] First, construct a panoramic sphere with a radius R, the center of which is the center of the panoramic camera, and each point on the pa...

AI Technical Summary

Problems solved by technology

[0014] The present invention provides a method for stitching panoramic images based on three-dimensional laser point clouds. When calculating the corresponding relationship between the target image pixels and the original image pixels, the actual object coordinates provided by the point cloud data are used to solve the problems in the existing panoramic stitching methods. Insufficient, can improve the splicing accuracy

Images