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360-degree driving recording system and method based on bidirectional fisheye camera

A fisheye camera, driving record technology, applied in the registration/indication of vehicle operation, image enhancement, image analysis, etc., can solve problems such as inability to meet visual consistency, and achieve the effect of improving processing speed

Pending Publication Date: 2018-02-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the image sequences are obtained in different coordinate systems, the visual consistency cannot be satisfied by directly stitching the images. Therefore, it is necessary to project the image sequences to be stitched into a standard coordinate system, and then perform image stitching.

Method used

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  • 360-degree driving recording system and method based on bidirectional fisheye camera
  • 360-degree driving recording system and method based on bidirectional fisheye camera
  • 360-degree driving recording system and method based on bidirectional fisheye camera

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] see figure 1 , the vehicle recording system based on a two-way fisheye camera to form a 360° panorama, comprising a fisheye camera (1), a calibration board (2), a single-chip microcomputer (3), and a rearview mirror (4). It is characterized in that: the single-chip microcomputer (3) is connected to the fisheye camera (1) and the rearview mirror (4), and the power supply provides working power to the singlechip (3), the fisheye camera (1) and the rearview mirror (4), The calibration board (2) is placed at a position where the fisheye camera (1) can shoot; the fisheye camera (1) is connected to the single-chip microcomputer (3) in a back-to-back manner, and the captured video stream image is processed by the single-chip microcomputer (3) and then output to the The rearview mirror (4) displays; the fisheye camera (1) is used to obtain the video stream image of the driving surrounding environment, the adopted fisheye camera (1) is a two-way fisheye camera, and the captured ...

Embodiment 2

[0033] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0034] The distortion parameters in each direction of the fisheye camera (1) are obtained by photographing the calibration plate (2) with the fisheye camera (1), and the position information of the black and white grid intersections is extracted by using a checkerboard corner point extraction algorithm. Obtained in calibration;

[0035] The fisheye camera (1) and the single-chip microcomputer (3) carry out serial port communication through dual-channel image acquisition and serial output mode, and obtain 360 ° video stream images about the driving surrounding environment by multi-threading at 25 frames / time. The second rate is output to single-chip microcomputer (3), and single-chip microcomputer (3) transfers internal reference and external reference of fisheye camera (1) to process the video stream image;

[0036] The mosaic 360 ° panorama of the surrounding environment ...

Embodiment 3

[0038] see figure 2 , the driving recording method based on the two-way fisheye camera to form a 360 ° panorama, using the above-mentioned system to operate, is characterized in that the specific operation steps are as follows:

[0039] 1) Use the fisheye camera (1) to take images of multiple poses of the calibration board (2), calibrate the intersection points of the black and white grids on the calibration board image, and project the 3D actual points onto the pixels of the image plane to form the image forming function g Through Taylor series expansion, using the geometric relationship of the calibration plate to establish a system of equations, the expansion coefficient constituting the camera calibration parameters is estimated by solving the two-step least squares problem, and the internal and external parameters of the fisheye camera are obtained through the corresponding relationship of projection transformation , to obtain the projection distortion parameters of the fi...

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Abstract

The invention relates to a driving recording system based on a bidirectional fisheye camera to form a 360-degree panorama. The driving recording system comprises the fisheye camera, a calibration board, a single-chip microcomputer and a rearview mirror. The single-chip microcomputer is connected with the fisheye camera and the rearview mirror, a power supply supplies power to the single-chip microcomputer, the fisheye camera and the rearview mirror, and the calibration board is arranged at a position that can be shot by the fisheye camera (1). The fisheye camera is connected to the single-chipmicrocomputer in a back-to-back manner. Shot video stream images are processed by a single-chip microcomputer and then output to a rearview mirror to be displayed, and the fisheye camera is used foracquiring video stream images of the ambient environment of a driving vehicle. The adopted fisheye camera is a bidirectional fisheye camera. The shot images are subjected to calibration, column surface projection and image splicing by the single-chip microcomputer to form a 360-degree spliced panoramic picture of the surrounding environment of the driving vehicle. The panoramic picture of the surrounding environment of a driving vehicle can be processed and displayed to guarantee life and property safety.

Description

technical field [0001] The invention relates to a system and method based on two-way fisheye image calibration, cylindrical projection and image splicing, and specifically designs a system and method based on a two-way fisheye camera to form a 360° driving record. Background technique [0002] As a special ultra-wide-angle lens, the fisheye lens is widely used in daily life thanks to its field of view exceeding 180°, especially in shooting panoramic images, but the ultra-large viewing angle also brings image distortion. Accurate calibration of vision systems is critical for tasks that require extracting environmental information from images. For the calibration and calibration of fisheye images, it is necessary to obtain the internal and external parameters of the fisheye lens, and then obtain the distortion parameters in each direction for image reprojection. The external parameters of the fisheye camera refer to the rotation matrix R and translation matrix t of the camera...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T3/40G06T5/50G07C5/08
CPCG06T3/4038G06T5/50G06T2207/10016G07C5/08G06T7/80
Inventor 曾丹汤甲温鑫
Owner SHANGHAI UNIV
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