Indoor space panoramic image generation method based on multi-sensor fusion

Abstract

The invention provides an indoor space panoramic image generation method based on multi-sensor fusion. The indoor space panoramic image generation method based on multi-sensor fusion can generate a panoramic image with depth information and clear image resolution. The method comprises the following steps: moving a measuring vehicle based on a predetermined moving rule so as to acquire image or point cloud data of each station; fusing the image collected by each image collector with the point cloud data to generate a corresponding high-quality depth map; constructing a virtual image center, andperforming spherical projection by taking the depth value of each depth map as a projection distance to obtain a corresponding registration image; performing bottom hole filling on the image of the current station according to the image of the previous station and the image of the next station; splicing and fusion processing are carried out on the overlapping area of the registration image, finally, a panoramic image with depth information and clear image resolution is output, and the panoramic image achieves the functions of measurement, three-dimensional reconstruction, visual positioning and the like.

Description

technical field [0001] The invention belongs to the technical field of image surveying and mapping processing, and in particular relates to a multi-sensor fusion-based indoor space panoramic image generation method capable of generating a panoramic image with depth information and clear image resolution. Background technique [0002] Digital twin is a simulation process that makes full use of physical models, sensor updates, operation history, etc., integrates multi-disciplinary, multi-physical quantities, multi-scale, and multi-probability simulation processes, and completes the mapping in the virtual space to reflect the entire life cycle of the corresponding physical equipment. process. The panorama is the key digital data of the indoor digital twin system; the panorama has rich color information, and has the ability to enable the viewer to experience a strong sense of immersion. It can monitor large public places such as airports or railway stations, and digitize cities....

AI Technical Summary

Problems solved by technology

[0003] However, most of the panoramas currently on the market can only be browsed without depth information, that is, scale information, and operations such as measurement and 3D reconstruction cannot be performed through panoramic images; moreover, due to the large indoor parallax, when multi-camera platforms perform panorama stitching, if Without accurate depth information, mis-layers and ghosting are prone to occur at the stitching, resulting in low quality panoramic images

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