Fisheye lens panorama image stitching method
A fisheye lens and panoramic image technology, which is applied in the field of fisheye lens panoramic image stitching, can solve the problems of edge area deformation, blurred image area blank, ghosting and dislocation of the overlapping area of panoramic stitched images, etc., so as to reduce stitching errors and eliminate coupling. Influence, small image error effect
Active Publication Date: 2018-03-09
段梦凡
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[0006] The purpose of the present invention is to provide a fisheye lens panoramic image stitching method to improve the stitching error in the overlapping area of the fisheye panoramic image stitching, and then solve the problem of ghosting and dislocation in the overlapping area of the panoramic stitching image, and the edge area is seriously deformed and blurred And image area blank and other issues
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[0051] In order to completely avoid no-blank areas in panoramic images, the distribution of lens elements must meet certain conditions. For a lens group with a viewing angle of 180 degrees, three lenses (A1, A2, A3) are selected; the three lenses should be distributed as evenly as possible on the spherical surface where they are located, that is, any diameter passing through the center of the sphere is used as the polar axis, and each The angles between the planes defined by the meridian of the point and the center of the sphere are both 120 degrees; if the coordinates of any point on the sphere are marked as (Theta2, Arerfa), then one of the special distributions: A1(90 degrees, 0 degrees), A2 (210 degrees, 60 degrees), A3 (330 degrees, -60 degrees), such as figure 2 shown. In fact, for the sake of aesthetics and production convenience, as long as the angle between the warp lines of each point is 120 degrees in the usual sense, one of the latitude lines is 0 degrees, one is...
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The invention discloses a splicing method for panoramic images of fish-eye lenses. The method comprises: unit images shot by a plurality of fish-eye lenses are mapped to a three-dimensional spherical surface respectively to determine a polynomial fitting model; a matching feature point in an overlapped area of each image in a plurality of to-be-registered unit images is mapped to the three-dimensional spherical surface by the polynomial fitting model, the multiple unit images are calculated on the three-dimensional spherical surface to obtain registered model matrixes of all unit images, and according to the registered model matrixes, the multiple unit images are registered on the three-dimensional spherical surface to form a spherical panoramic image; the spherical panoramic image is unfolded to form a cylindrical panoramic image; the cylindrical panoramic image is processed, and a parameter mapping table of a correspondence position relation between each pixel point in the cylindrical panoramic image and each pixel point in the multiple unit images is established; and the parameter mapping table is invoked and fish-eye images shot by the multiple fish-eye lenses are fused to obtain a panoramic image. According to the invention, a splicing error in a spliced overlapped area of the fish-eye panoramic image can be eliminated.
Description
technical field [0001] The invention relates to the technical field of image stitching, in particular to a fisheye lens panoramic image stitching method. Background technique [0002] The current real-time stitching technology of fisheye images is very few and single. Generally, the real-time stitching of panoramic images of fisheye images is divided into two steps. First, the parameter mapping table between the panoramic image and each lens unit image is obtained, and then the parameter mapping table is called online. Panoramic image stitching is performed on the lens unit image frame by frame in real time. The most critical step is the first step. There are currently two main solutions: [0003] The first is to integrate the radial distortion correction parameters of the fisheye image and the pose parameters of the image element (ie, the unit lens), and use optimization techniques to estimate the parameters as a whole. The most commonly used technology for lens distortio...
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IPC IPC(8): G06T5/50G06T3/40
CPCG06T3/4038G06T5/50G06T2207/10004
Inventor 段梦凡
Owner 段梦凡