Two-dimensional panoramic image acquisition method and device, equipment and storage medium

Abstract

The invention relates to a two-dimensional panoramic image acquisition method and device, equipment and a storage medium, and the method comprises the steps: collecting to-be-spliced images accordingto a preset row and column collection mode, and enabling the proportion of the overlapped area of every two adjacent to-be-spliced images to be greater than a first preset proportion threshold value;for every two adjacent to-be-spliced images, selecting an overlapped area with a second preset proportion threshold value as an interest area, extracting feature points in the interest area, and determining the main direction of the feature points; describing the feature points to obtain a description operator, and performing feature point matching according to the Hamming distance by applying thedescription operator to obtain a feature point pair so as to obtain a target to-be-spliced image after feature point matching; aiming at the target to-be-spliced image of each row, carrying out registration and fusion to obtain a row target image splicing result image; and aiming at each line of target image splicing result image, carrying out registration and fusion to obtain a two-dimensional panoramic image. The precision of the panoramic image in the industrial application is improved, and the flexibility of obtaining the panoramic image is improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a method, device, equipment and storage medium for acquiring a two-dimensional panoramic image. Background technique [0002] In industrial production, the application of manipulating the workpiece on the working platform is more and more common, such as cutting, and cutting is usually realized by robots. In the process of robot two-dimensional vision guidance, the first step to realize vision guidance is the image Therefore, the acquisition of panoramic images of the working platform is particularly critical. [0003] However, the precision requirements of industrial panoramic images are generally high, and the size of the working platform is often large. It is difficult for a single shot of an ordinary camera to obtain a panoramic image of the working platform that meets the millimeter-level precision requirements. In related technologies, two solutions are us...

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Problems solved by technology

[0004] In view of this, a method, device, device and storage medium for obtaining a two-dimensional panoramic image are provided to solve the problem of low precision of panoramic images or poor flexibility in the process of obtaining panoramic images in industrial applications in the prior art

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