Method and apparatus for obtaining three-dimensional top-view panoramic image in device moving process

Abstract

Embodiments of the invention disclose a method and an apparatus for obtaining a three-dimensional top-view panoramic image in a device moving process. The method comprises the steps of obtaining a target image collected at a current moment by a currently used image collector, and converting the target image into a target three-dimensional environment top-view image; comparing the target three-dimensional environment top-view image with a stored previous three-dimensional top-view panoramic image, and determining a matching relationship between the target three-dimensional environment top-view image with the stored previous three-dimensional top-view panoramic image; according to the matching relationship, performing image splicing on the target three-dimensional environment top-view image with the previous three-dimensional top-view image to obtain an initial image of the current three-dimensional top-view panoramic image; determining a displacement of a current position of a target device relative to the position of the target device in the previous three-dimensional top-view panoramic image; and according to the displacement, moving the three-dimensional top-view image of the target device to the corresponding position, obtaining a final current three-dimensional top-view panoramic image and performing storage. Only one image collector is required to collect the target image, so that the calibration work is simple and the installation cost is greatly reduced.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a method and a device for obtaining a three-dimensional top view panorama during equipment movement. Background technique [0002] A panorama is a 360-degree panoramic image, used for virtual reality browsing, simulating a two-dimensional plan into a real three-dimensional space, showing the surrounding environment as much as possible through a wide-angle expression, and presenting it to the viewer. In recent years, panoramas have been used more and more widely, especially during the driving of equipment (such as vehicles, robots, etc.), by obtaining the panorama around the equipment, the observation blind spots during equipment driving can be eliminated to ensure driving safety. [0003] In order to obtain a panoramic view while the device is driving, in the prior art, it is generally necessary to install 4-6 cameras on the device, and adjust the installation angle of each camera...

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