Calibration system and calibration method for parameters of panoramic photographing equipment

Abstract

The invention discloses a calibration system and a calibration method for a parameters of panoramic photographing equipment. The calibration system comprises the components of an image acquisition module, a parameter estimating module which is connected with the image acquisition module, and a data analyzing module which is connected with the parameter estimating module. The image acquisition module is used for transmitting an instruction for making N cameras of the panoramic photographing equipment synchronously and continuously acquire M sets of images and performs storage. The parameter estimating module is used for successively reading the M sets of image from the image acquisition module and processing, thereby obtaining M corresponding equipment parameter and storing. The data analyzing module is used for performing data analysis on M corresponding equipment parameters, thereby obtaining optimal solutions of a calibration parameter and performing storage. The calibration system and the calibration method have advantages of realizing full-automatic calibration to the parameters of the panoramic photographing equipment, greatly simplifying a parameter calibration operation process, reducing dependence to calibration equipment, and realizing high meaning in improving flexibility and robustness of equipment and improving panoramic splicing accuracy.

Description

technical field [0001] The invention belongs to the technical field of panoramic photography, and in particular relates to a system and method for calibrating parameters of panoramic photography equipment. Background technique [0002] At present, the more commonly used panoramic imaging method is to use a combination of multiple cameras to shoot and then splicing the image sequence of each camera at the same moment to obtain a panoramic image. The existing panoramic image stitching techniques are mainly divided into two categories: the first type, according to the corresponding point pairs of adjacent images in the image sequence, the projection transformation relationship of the adjacent images is calculated, so that the image sequence is transformed and superimposed to obtain a panoramic image. The second type is to solve the coordinate mapping relationship between each pixel in the image sequence and each pixel of the panoramic image according to the pre-calibrated devic...

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Problems solved by technology

The advantage of the first type of method above is that it does not need to calibrate the device parameters in advance, and the image transformation relationship can be automatically calculated according to the feature point pairs in the image to obtain a panoramic image; the disadvantage is that its accuracy depends on the extraction accuracy of the feature point pairs, and it requires Large amount of calculation, unable to achieve real-time splicing

The advantage of the second type of method is: the mapping relationship of pixel coordinates can be quickly calculated according to the pre-calibrated equipment parameters, and the panoramic image can be directly obtained without complicated calculations; Second, fixed equipment parameters cannot adapt to complex scene changes, which will lead to errors such as splicing seams; finally, if the equipment is in actual use, the relative changes in the positions of the cameras due to external factors will lead to pre-calibration The parameter fails

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