Top view transformation of fisheye image, top view image acquisition and mapping table construction method
A fisheye image and mapping table technology, applied in the field of top-down transformation, can solve the problems of large difference in left and right size, left and right declination, etc., and achieve the effect of reducing the poor horizontal and vertical degree and reducing the difference in left and right size of the image.
Active Publication Date: 2019-04-30
昆山昆博智能感知产业技术研究院有限公司
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[0005] The purpose of the present invention is to provide a top-view transformation of fisheye images, a method for obtaining top-view images, and a mapping table construction method, so as to solve the problem of left-right deviation objectively existing when the camera is installed in the existing top-view transformation methods, so that there are left and right angles in the region of interest in the image. Problems with large size differences and poor horizontality and verticality
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[0038] In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described The embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.
[0039] The gist of the present invention is to obtain the top-view transformation image of the fish-eye image based on two transformations: first set the left, right, and middle standard grids, and use the middle grid to do the initial top-view transformation. This transformation can generate a preliminary top-view image...
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The invention discloses an overlook conversion method, an overlook image acquisition method and a mapping table construction method of a fisheye image. The overlook conversion method comprises the steps of: determining an inverse perspective transformation matrix between an intermediate calibration plate in front of a fisheye camera and a standard top view of the fisheye image by utilizing a perspective correction image of the fisheye image; performing first overlook conversion on the perspective correction image by utilizing the inverse perspective transformation matrix, so as to obtain a first overlook image; determining a homography matrix between the standard top view of the fisheye image and left and right calibration plates in front of the fisheye camera by utilizing the first overlook image; and acquiring a final overlook image according to the inverse perspective transformation matrix and the homography matrix. The overlook conversion method, the overlook image acquisition method and the mapping table construction method of the fisheye image solve the problem that an existing overlook conversion method suffers from a problem of left and right deflection angles which objectively exists in the installation of the camera and further causes a large difference between left and right sizes of a region of interest in the image as well as poor levelness and verticality.
Description
technical field [0001] The invention relates to the bird's eye image transformation, in particular to a fisheye image bird's eye transformation based on two transformations, a bird's eye image acquisition method and a mapping table construction method. Background technique [0002] With the rapid development of the automotive electronics industry, the guarantee of driving safety is gradually developing from traditional reversing images to 360-degree panoramic views. [0003] As a part of the advanced driver assistance system (ADAS), the car surround view panoramic system can effectively alleviate the problem of the driver's sight being blocked, and present the objects within a 360-degree range around the car to the driver intuitively, which improves the safety in situations such as meeting and reversing. Driving safety. At present, the car panoramic systems used in the market are almost all 2D flat panoramic systems, that is, panoramic systems composed of top-down images. ...
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IPC IPC(8): G06T3/00
CPCG06T3/0018
Inventor 陈立国王挺
Owner 昆山昆博智能感知产业技术研究院有限公司