360-degree panorama image generation method based on single pick-up head

Abstract

The invention discloses a 360-degree panorama image generation method based on a single pick-up head, mainly for solving the problem that four pick-up heads are needed for a conventional method for realizing a vehicle-mounted 360-degree panorama image. The method provided by the technical scheme comprises the following steps: 1, through calibration of a camera, solving a homography conversion matrix M for converting an image into a top view; 2, converting each frame of the image into the top view, and performing feature point detection and matching on the top view after conversion of each frame; 3, solving a rotation matrix and a translation vector between two adjacent frames, and realizing splitting of the top view; and 4, determining whether shooting stops, if the shooting does not stop, returning to the second step, if the shooting stops, stopping circulation, and after a vehicles runs a distance greater than one vehicle body, obtaining a 360-degree dynamic panorama image around the vehicle. The method provided by the invention has the advantages of low cost and simple installation, realizes the function of obtaining the 360-degree panorama image by use of the single pick-up head, is high in robustness, and can be applied to observation of circumstances around the vehicle during driving or parking.

Description

technical field [0001] The invention belongs to the technical field of image processing, and relates to a method for realizing a 360-degree panoramic image, which can be used for observing the surrounding conditions of a vehicle when driving or parking. Background technique [0002] With the development of society, the number of automobiles is increasing rapidly with tens of thousands of vehicles per day, and accordingly, the number of drivers is also increasing day by day. Congested roads and narrow parking spaces have brought various difficulties to many novice drivers, and drivers' driving safety has attracted more and more attention. The problem of driving safety is not only related to the protection of vehicles, accidents in driving can easily lead to a series of urban management problems, and even threaten the lives of drivers and others. [0003] At present, for driving safety, various technological means have been proposed on the market, and measuring instruments ar...

AI Technical Summary

Problems solved by technology

[0004] 1) Due to the use of multiple cameras, the overall system cost is high;

[0005] 2) Because it is necessary to fix the camera to the front, rear, left, and right sides of the vehicle, it is necessary to disassemble part of the car's shell for wiring, so the installation is difficult, especially when installing the left and right cameras, part of the body needs to be destroyed;

[0006] 3) After using the parameters of multiple cameras for a period of time, due to the inconsistent degree of hardware aging or individual displacement, there will be picture distortion and problems such as inability to align at the splicing

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