FPGA-based real-time panoramic image mosaic method

A panorama image and image technology, applied in image enhancement, image data processing, instruments, etc., can solve the problems such as the need to improve the accuracy and the operation speed limit, and achieve the effect of fast operation speed, guaranteed accuracy, and improved system speed.

CN105761233AInactive Publication Date: 2016-07-13NANJING UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-07-13
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides an FPGA-based real-time panoramic image mosaic method. The method is characterized by, to begin with, carrying out gray conversion on collected video data; then, extracting feature points of each frame image in a video stream through a Harris corner detection method; after obtaining corner coordinates of the front-back two frame images, carrying out calculation on regions with corners as centers respectively through an NCC-SSDA fusion algorithm to find out the correspondence relation between the feature points of the two frame images; removing unmatched point pairs through an RANSAC algorithm, estimating affine transform model parameters, finding an optimum model and taking all of local inner points according with the model as the final matching result; and finally, carrying out fusion on image edges through a weighted smoothing algorithm, and seamlessly displaying images after mosaic. The method can quickly finish single-camera 360-degree panoramic mosaic, and has the advantages of high registration accuracy, high real-time performance and good stability.
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Description

technical field

[0001] The invention belongs to the field of real-time panoramic image stitching, and in particular relates to an FPGA-based real-time panoramic image stitching method. Background technique

[0002] Image mosaic is an increasingly popular research field, which refers to the spatial matching and alignment of multiple images of the same scene with overlapping parts, and after resampling and fusion, a wide-view image containing the information of each image sequence is formed. A complete, high-definition panorama of the scene. Image stitching is widely used in the fields of computer vision, image processing, computer, graphics, medical image analysis and virtual reality.

[0003] The key to image stitching is image matching. Image matching techniques include: matching based on image grayscale, matching based on features and matching based on transform domain. Among them, the feature-based matching uses some points, lines or edges with a small number and stabl...

Examples

Embodiment Construction

[0021] Such as figure 1 As shown, the present invention realizes to obtain real-time video panorama mosaic image by rotating 360 ° of single camera, specifically comprises the following steps:

[0022] Step 1: Collect video images in BT656 format through a single camera rotation, and convert the video to grayscale.

[0023] Each line of data in BT656 format includes horizontal control signals and YCbCr video data signals, video data is transmitted at a rate of 27Mbit / s, and the order is Cb, Y, Cr, Y, Cb, Y, Cr... Among them, Cb, Y, Cr Refers to the luminance and color-difference signal samples at the same address, and the following Y corresponds to the next luminance sample. Therefore, it is grayscaled, that is, the brightness information Y of each pixel is extracted.

[0024] Step 2: After obtaining the grayscale video data stream, first use the Harris corner detection method to extract the feature points of the image. The Harris corner detection algorithm only involves the...