Multi-scene calibrating method and system of panorama camera

Abstract

The invention discloses a multi-scene calibrating method and system of a panorama camera. The multi-scene calibrating method and system of a panorama camera includes the following steps: respectively calibrating internal parameters and external parameters of the panorama camera; according to the internal parameters and the external parameters, projecting the pixel points of the panorama camera to a spherical surface which takes the origin of a spatial three dimensional coordinate system as the center of circle O and has a diameter D, and generating a reprojection equation of single panorama camera; according to the reprojection equation, maintaining other parameters to be unchanged, and continuously changing the value of an angle of visual field so as to change the mapping relation from all the pixel points to the spherical surface; and according to the mapping relation, calibrating the accurate coordinates, on the spherical surface, of different distance pixel points in multi scenes. The multi-scene calibrating method and system of a panorama camera can implement the method of generating multiple dimensioned scene calibration parameters through small scene calibration parameters by changing the parameter of the angle of visual field of the panorama camera, and can solve the problem that the panorama camera calibrates all the scenes for one time, thus minimizing calibration equipment and improving the batch production efficiency.

Description

technical field [0001] The invention relates to the field of panoramic cameras, in particular to a multi-scene calibration method and system for a panoramic camera. Background technique [0002] With the increasing popularity of panoramic photography, the mass production of panoramic photography equipment has received more and more attention and research. According to actual shooting needs, the calibration environment of existing panoramic shooting equipment needs to be consistent with the size of the actual shooting scene, usually a large indoor space or an open outdoor space. If the small scene calibration parameters are used in the real shooting of the large scene, there will be image ghosting in the overlapping area; on the contrary, if the large scene calibration parameters are used in the real shooting of the small scene, the phenomenon of image compression in the overlapping area will appear . So far there is no way to make the calibration results applicable to a va...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a multi-scene calibration method and system for a panoramic camera. By changing the global or local field of view parameter FOV of each camera module in the panoramic shooting device, the multi-scale scene calibration can be generated from the small scene calibration parameters. The parameter method solves the problem that one-time calibration of panoramic cameras is applicable to all scenes, miniaturizes the calibration equipment, and improves mass production efficiency

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