Panoramic splicing method, vehicle panoramic splicing method and panoramic system thereof

Abstract

The invention discloses a panoramic stitching method, a vehicle panoramic stitching method and a panoramic system thereof. The panoramic stitching method comprises the following steps: S1, enabling wide-angle cameras arranged at different positions to acquire shot images; s2, carrying out distortion correction and straightening processing on the shot image; s3, setting a calibration reference object in the acquisition range of the wide-angle camera, performing point tracing calibration by using the calibration reference object, and tracing special image coordinates on the calibration referenceobject to obtain a change matrix; s4, performing perspective transformation processing on the transformation matrix to obtain a multi-angle spliced image; s5, performing color equalization and fusionon the spliced image to obtain a spliced image with consistent color and illumination, and respectively calculating the relative displacement of each spliced image in the panoramic spliced area to obtain a panoramic spliced image. The vehicle panoramic stitching method and a panoramic system thereof are used for assisting the advancing process of an automobile and have a better stitching effect compared with the prior art.

Description

technical field [0001] The present invention relates to the related fields of panorama stitching, specifically a panorama stitching method, a car panorama stitching method and a panorama system thereof. Background technique [0002] With the rapid development of social economy and technology, cars are playing an increasingly important role in people's lives and are becoming more and more popular. Obstacle avoidance, reversing blind spots and other problems can effectively reduce the occurrence of scratches and accidents caused by blind spots such as crushing people. The existing social resources cannot meet the needs, especially for people with insufficient driving experience. How can it be easier? Parking the car in a parking space more safely is a headache for many drivers. For this reason, the vehicle-mounted 360-degree panoramic parking system came into being. [0003] The panoramic parking system that is necessary for calibration in the prior art must use a ruler to me...

AI Technical Summary

Problems solved by technology

[0002] With the rapid development of social economy and technology, cars are playing an increasingly important role in people's lives and are becoming more and more popular. Obstacle avoidance, reversing blind spots and other problems can effectively reduce the occurrence of scratches and accidents caused by blind spots such as crushing people. The existing social resources cannot meet the needs, especially for people with insufficient driving experience. How can it be easier? Parking the car in a parking space more safely is a headache for many drivers. For this reason, the car 360-degree panoramic parking system came into being.

[0003] The panoramic parking system that is necessary for calibration in the prior art must use a ruler to measure parameters such as vehicle body length and vehicle width to perform calibration. Stretching, zooming, rotation or displacement, the cumbersome installation process and the splicing effect cannot be manually adjusted. Once the splicing effect is not good, the lens angle must be moved and re-calibrated. This is not only a waste of time and economic benefits, but also inconvenient for later maintenance. After the owner drives for a period of time , due to the slight deviation of the lens angle due to the vibration of the car, at this time, the panoramic image stitched by the four cameras will have errors and distortions that will affect the use of parking functions

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