Image acquisition method and system for panorama image

Abstract

The invention discloses an image acquisition method and system for a panorama image. The image acquisition method comprises an image acquisition step in a camera pitching and / or horizontal direction,wherein the image acquisition step in the camera pitching direction comprises the following steps: S11, shooting a first pitching image by taking a camera pitching angle as beta1, and shooting a second pitching image by taking a camera pitching angle as beta2 and in the same camera horizontal angle when the first pitching image is shot; S12, calculating a first overlapping degree of the second pitching image on the first pitching image; and S13, judging whether the first overlapping degree is higher than or equal to an overlapping degree threshold value, if yes, taking a target camera pitchingangle (described in the specification) as beta2, shooting an image by a camera in the target camera pitching angle (described in the specification), if not, assigning a value of (beta2-beta0) to beta2, wherein beta0 is a first decrease angle, and returning to the step S11. The image acquisition method disclosed by the invention improves splicing success rate and image acquisition efficiency and can be applied to the field of shooting of panorama images of unmanned aerial vehicles.

Description

technical field

[0001] The present invention relates to the field of panoramic image shooting, in particular to an image acquisition method and system for panoramic images. Background technique

[0002] Panoramic images generally include images of all scenes in a horizontal 360-degree angle and a vertical 180-degree angle around the camera's viewpoint. Panoramic images are widely used in monitoring, security, and virtual reality browsing due to their large amount of information, real and immersive browsing experience, etc. field. With the widespread application of UAVs, and compared with ground-based panoramic images, the panoramic images acquired by UAVs in the air have the characteristics of large viewing angle, no occlusion, and good browsing effects, and have been widely concerned and applied in various industries.

[0003] At present, the commonly used image acquisition method of the panoramic image is the rotation method of the pan-tilt camera. The rotation method of...

Examples

Embodiment 1

[0129] Such as figure 1 As shown, Embodiment 1 provides an image acquisition method for a panoramic image, the image acquisition method includes an image acquisition step in the camera pitch direction, and the image acquisition step in the camera pitch direction includes the following steps:

[0130] Step 101, take the camera pitch angle as β 1 Take the first pitch image, take the camera pitch angle as β 2 And the second elevation image is captured at the same horizontal angle of the camera as when the first elevation image is captured.

[0131] In this step, β 2 ≥β 1 +VFOV, VFOV is the vertical field of view angle of the camera used to shoot the panoramic image, and VFOV is determined by the relevant parameters of the camera itself.

[0132] Step 102. Calculate a first overlapping degree of the second elevation image on the first elevation image.

[0133] In this step, when the change value of the camera pitch angle is greater than or equal to VFOV, it can be considered ...

Embodiment 2

[0145] Such as figure 2 As shown, embodiment 2 provides an image acquisition method of a panoramic image, the image acquisition method includes an image acquisition step in the horizontal direction of the camera, and the image acquisition step in the horizontal direction of the camera includes the following steps:

[0146] Step 201, take the horizontal angle of the camera as α 1 Take the first horizontal image, take the camera horizontal angle as α 2 And the second horizontal image is captured at the same camera pitch angle as when the first horizontal image is captured.

[0147] In this step, α 2 ≥α 1 +HFOV, HFOV is the horizontal field of view angle of the camera used to shoot the panoramic image, HFOV is determined by the relevant parameters of the camera itself.

[0148] Step 202. Calculate a second overlapping degree of the second horizontal image on the first horizontal image.

[0149] In this step, when the change value of the camera horizontal angle is greater th...

Embodiment 3

[0161] Embodiment 3 provides an image acquisition method for a panoramic image. The image acquisition method includes an image acquisition step in the pitch direction of the camera, an image acquisition step in the horizontal direction of the camera, and a step of determining an overlap threshold. In this embodiment, the image The acquisition method is applied to the panoramic image shooting of drones, especially to the drones that shoot panoramic images by rotating a single camera at the same place, but it is not limited to this application scenario, and can also be applied to mobile terminals or The panoramic image shooting of the SLR camera, etc., can be selected according to user needs.

[0162] Specifically, such as image 3 As shown, the image acquisition step in the pitch direction of the camera includes the following steps:

[0163] Step 101, take the camera pitch angle as β 1 Take the first pitch image, take the camera pitch angle as β 2 And the second elevation im...

technical field

[0001] The present invention relates to the field of panoramic image shooting, in particular to an image acquisition method and system for panoramic images. Background technique

[0002] Panoramic images generally include images of all scenes in a horizontal 360-degree angle and a vertical 180-degree angle around the camera's viewpoint. Panoramic images are widely used in monitoring, security, and virtual reality browsing due to their large amount of information, real and immersive browsing experience, etc. field. With the widespread application of UAVs, and compared with ground-based panoramic images, the panoramic images acquired by UAVs in the air have the characteristics of large viewing angle, no occlusion, and good browsing effects, and have been widely concerned and applied in various industries.

[0003] At present, the commonly used image acquisition method of the panoramic image is the rotation method of the pan-tilt camera. The rotation method of...

Examples

Embodiment 1

[0129] Such as figure 1 As shown, Embodiment 1 provides an image acquisition method for a panoramic image, the image acquisition method includes an image acquisition step in the camera pitch direction, and the image acquisition step in the camera pitch direction includes the following steps:

[0130] Step 101, take the camera pitch angle as β 1 Take the first pitch image, take the camera pitch angle as β 2 And the second elevation image is captured at the same horizontal angle of the camera as when the first elevation image is captured.

[0131] In this step, β 2 ≥β 1 +VFOV, VFOV is the vertical field of view angle of the camera used to shoot the panoramic image, and VFOV is determined by the relevant parameters of the camera itself.

[0132] Step 102. Calculate a first overlapping degree of the second elevation image on the first elevation image.

[0133] In this step, when the change value of the camera pitch angle is greater than or equal to VFOV, it can be considered ...

Embodiment 2

[0145] Such as figure 2 As shown, embodiment 2 provides an image acquisition method of a panoramic image, the image acquisition method includes an image acquisition step in the horizontal direction of the camera, and the image acquisition step in the horizontal direction of the camera includes the following steps:

[0146] Step 201, take the horizontal angle of the camera as α 1 Take the first horizontal image, take the camera horizontal angle as α 2 And the second horizontal image is captured at the same camera pitch angle as when the first horizontal image is captured.

[0147] In this step, α 2 ≥α 1 +HFOV, HFOV is the horizontal field of view angle of the camera used to shoot the panoramic image, HFOV is determined by the relevant parameters of the camera itself.

[0148] Step 202. Calculate a second overlapping degree of the second horizontal image on the first horizontal image.

[0149] In this step, when the change value of the camera horizontal angle is greater th...

Embodiment 3

[0161] Embodiment 3 provides an image acquisition method for a panoramic image. The image acquisition method includes an image acquisition step in the pitch direction of the camera, an image acquisition step in the horizontal direction of the camera, and a step of determining an overlap threshold. In this embodiment, the image The acquisition method is applied to the panoramic image shooting of drones, especially to the drones that shoot panoramic images by rotating a single camera at the same place, but it is not limited to this application scenario, and can also be applied to mobile terminals or The panoramic image shooting of the SLR camera, etc., can be selected according to user needs.

[0162] Specifically, such as image 3 As shown, the image acquisition step in the pitch direction of the camera includes the following steps:

[0163] Step 101, take the camera pitch angle as β 1 Take the first pitch image, take the camera pitch angle as β 2 And the second elevation im...

Images