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Panoramic splicing method based on multi-camera calibration, panoramic splicing system

A multi-camera and camera technology, applied in the field of panorama stitching, can solve problems such as slow algorithm processing speed, large calculation time consumption, and unrobust algorithm

Pending Publication Date: 2018-12-21
XIDIAN UNIV
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Problems solved by technology

[0005] To sum up, the problems existing in the existing technology are: the processing speed of the existing algorithm is slow, and the calculation is time-consuming; for scenes with few feature points or low overlapping areas, the existing algorithm based on feature point extraction and matching is not rude. Great

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  • Panoramic splicing method based on multi-camera calibration, panoramic splicing system

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[0057] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0058] The present invention is different from the stitching method based on feature point matching. It directly calibrates the extrinsic parameter R between two cameras, and makes a stitching template. For a camera array with fixed camera positions, it can still achieve better results when there are very few feature points. Stitching effect; for a camera group with a large safety distance, a third auxiliary camera is placed between the two cameras offline to solve the positional relationship between the two cameras, and then use its external parameter R and internal parameter matrix to make a stitching template to solve the...

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Abstract

The invention belongs to the technical field of panoramic splicing, and discloses a panoramic splicing method based on multi-camera calibration, a panoramic splicing system, which respectively performs internal reference calibration and distortion parameter estimation on each camera. Several pairs of checkerboard pictures with different positions and postures are simultaneously collected from twoadjacent cameras respectively. Corner detection and matching are carried out after distortion correction of the pair of checkerboard pictures. The initial homography matrix between two cameras is selected and estimated from the interior points. The initial homography matrix between the two cameras and the calibration matrix are used to calculate the initial rotation matrix between the two cameras.The initial rotation matrices of all camera pairs are optimized globally according to the minimum re-projection error. M algorithm updates the parameters to get the final optimization results. The invention utilizes a multi-camera calibration method to make a splicing template, avoids the process of feature point extraction and matching required for each splicing, and still obtains a better splicing effect under the condition of fewer feature points or low overlap rate.

Description

technical field [0001] The invention belongs to the technical field of panoramic stitching, and in particular relates to a multi-camera calibration-based panoramic stitching method and a panoramic stitching system. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: with the continuous development of virtual reality (VR), panoramic stitching has also become a research hotspot in the field of computer vision. Panorama technology, as the most intuitive and lowest-cost realization of virtual reality, has been widely used in many fields. For the image stitching algorithm, the stitching algorithm based on feature point detection and matching is still the mainstream algorithm. Through the feature point extraction and matching of image pairs, the image transformation model can be obtained according to the matching of feature points. The commonly used image transformation models include affine Transformation model, persp...

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Application Information

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IPC IPC(8): G06T3/40G06T7/80
CPCG06T3/4038G06T7/80
Inventor 贾媛任海蕾陈金皖宋锐李云松王养利
Owner XIDIAN UNIV
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