A binocular range finding method, a binocular range finding device, a panoramic image mosaicking method and a system thereof

Abstract

A binocular range finding method, a binocular range finding device, a panoramic image mosaicking method and a system thereof are disclosed. The binocular range finding method includes determining a left image and a right image according to a position relationship among first and images and an overlapping region; for each distance template in a distance template group stored in advance, calculating the matching rate between a characteristic position of the left image and a characteristic position of the right image according to a present distance template; for the current distance template, calculating the average matching rate of images at characteristic positions of the left and right images based on the calculated matching rates; and when the average matching rate exceeds a preset threshold, adopting the current distance template as a target distance template, and adopting the distance from a lens of the target distance template to a scenery sample as a distance from lenses in the first and second images to the scenery. The method accurately determines the distance from the lenses in the first and second images to the scenery.

Description

technical field [0001] The invention relates to the technical field of panoramic images, in particular to a binocular ranging method and device for a panoramic camera, a panoramic image splicing method and a system thereof. Background technique [0002] Due to the powerful visual effects brought by panoramic photos, the application of panoramic cameras has gradually become widespread. The panoramic camera contains multiple lenses. In the process of shooting the scene, the panoramic camera performs a panoramic shooting mode according to the user's operation, and takes multiple pictures for the user through multiple lenses in the camera, and stitches the multiple pictures taken For panoramic photos, provide users with stitched panoramic photos. However, when a single photo is stitched into a panoramic photo, the distance from the camera to the scene is unknown, which leads to the problem of poor stitching effect. To solve this problem, it is necessary to measure the distance ...

AI Technical Summary

Problems solved by technology

[0004] However, in the traditional binocular distance measurement method, since the assembly accuracy directly affects the measurement accuracy, the binocular distance measurement method has high requirements on the assembly process, and as the measurement focus is farther from the camera, the measured error is greater. That is, the binocular distance measurement method has the problem that the farther the distance is, the worse the accuracy is, and because the traditional binocular distance measurement requires the cameras to be on the same vertical plane, the above binocular distance measurement method is not suitable for application to panoramic cameras.

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