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Parallax image splicing method based on multiple pairs of binocular cameras

A binocular camera, parallax image technology, applied in the field of image processing and computer vision, can solve problems such as time-consuming

Active Publication Date: 2020-04-17
DALIAN UNIV OF TECH
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  • Application Information

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Problems solved by technology

The image coordinate system transformation process requires pre-registration, and it takes a lot of time to match the feature points and calculate the external parameters and homography matrix between cameras

Method used

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  • Parallax image splicing method based on multiple pairs of binocular cameras
  • Parallax image splicing method based on multiple pairs of binocular cameras
  • Parallax image splicing method based on multiple pairs of binocular cameras

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Embodiment Construction

[0058] The present invention proposes a parallax image stitching method based on multiple pairs of binocular cameras, which is described in detail in conjunction with the accompanying drawings and embodiments as follows:

[0059] The present invention uses multiple pairs of binocular cameras placed horizontally as the imaging system to collect multi-viewpoint images, wherein K 1 is the internal parameters of the first binocular camera, K 2 is the internal parameter of the second binocular camera. The resolution of each binocular camera is 1024*768, and the frame rate of the video is greater than 20 frames per second. The system reference structure is as follows figure 2 . On this basis, calculate the spatial transformation relationship R and T between each pair of binocular cameras, and calculate the homography matrix H between the images through the distance d between R and T and the imaging plane, and calculate the image based on the intermediate image The amount of tran...

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Abstract

The invention discloses a parallax image splicing method based on multiple pairs of binocular cameras, and belongs to the field of image processing and computer vision. The method comprises the following steps: firstly, solving a position relationship between binocular cameras by using a calibration algorithm, and solving a homography matrix between images by using prior information; transforminga camera coordinate system of the depth images by using the internal parameters and the external object parameters of a camera; calculating an overlapping region ROI of the images by using a homography matrix between the images, establishing an energy model, and solving by using a graph cut algorithm; the graph cut algorithm is high in time complexity and depends on the number of nodes of a graph,the image is layered, solved layer by layer and iterated, and a local optimal solution approximate to a global optimal solution is solved; and finally, performing image coordinate system transformation on the depth images by utilizing the homography matrix, and synthesizing splicing seams to realize seamless panoramic depth image splicing. Requirements on memory and hardware are low; the invention is simple in procedure and easy to implement, and reduces the image registration time.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, and specifically relates to a method of calculating the homography matrix between images through the external parameters rotation vector R and translation vector T between cameras, and using graph cuts to find the best splicing between images Seam, and then use R and T, homography matrix and the best transition area to stitch the parallax image. Background technique [0002] At this stage, unmanned driving technology is developing rapidly, and unmanned driving technology needs to ensure safety, but simply using visible light images cannot locate obstacles well, obtain obstacle distances, and accurately locate its own vehicle. With the improvement of parallax image technology based on binocular cameras, parallax images are also used as basic data in the field of unmanned driving. However, limited by the accuracy of the parallax image, the field of view of the binocular camera i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/40G06T7/80
CPCG06T3/4038G06T7/85G06T2207/10012G06T2207/20228G06T2207/20221G06T2207/30244G06T2207/20021
Inventor 樊鑫刘日升李卓宵仲维罗钟铉
Owner DALIAN UNIV OF TECH
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