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Panoramic image splicing method and device, storage medium and display method and system

A panoramic image and image technology, applied in the field of vehicle panoramic image stitching, can solve the problems of poor stitching effect, lower precision, poor image stitching effect, etc., and achieve good application value and economic benefits, high accuracy, and high real-time performance Effect

Pending Publication Date: 2021-02-09
明见(厦门)技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The traditional image stitching method adopts the hardware sensor method, the stitching effect is not good, and there are many disadvantages: First, the additional hinged disc angle sensor is used, which has a complex structure and is easily damaged, which increases the cost of the vehicle; second, the hinged disc angle sensor is not accurate. , as the age of the vehicle increases, wear and tear, the accuracy gradually decreases, resulting in poor image stitching effect

Method used

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Embodiment 1

[0029] Embodiments of the present invention provide a panoramic image stitching method, such as figure 1 As shown, the method includes the following steps:

[0030] S1: Synchronously collect the external images of the vehicle through the left camera and the right camera on the tractor installed in the articulated vehicle and the left camera and the right camera on the trailer, and perform top-down transformation on the collected images and crop them according to the splicing area requirements , generate the left front mosaic image, the left rear mosaic image, the right front mosaic image and the right rear mosaic image, and extract the lane line feature information in each image; the initialization sets the rotation angle to 0.

[0031] In this embodiment, lane line feature information is set as lane line coordinate points, which are extracted by random sampling consensus (RANSAC) algorithm.

[0032] S2: Construct the vehicle coordinate system according to the extracted lane ...

Embodiment 2

[0052] An embodiment of the present invention provides a panoramic image stitching terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the computer program is implemented. Steps in the above method embodiment of Embodiment 1 of the present invention.

[0053] Further, as an executable solution, the panoramic image stitching terminal device may be a computing device such as a vehicle-mounted computer. The panoramic image stitching terminal device may include, but not limited to, a processor and a memory. Those skilled in the art can understand that the composition and structure of the above-mentioned panoramic image stitching terminal device is only an example of the panoramic image stitching terminal device, and does not constitute a limitation to the panoramic image stitching terminal device, and may include more or less components than the above, Or com...

Embodiment 3

[0057] The present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned method in Embodiment 1 of the present invention are implemented.

[0058] If the integrated modules / units of the panoramic image stitching terminal equipment are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, t...

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Abstract

The invention relates to a panoramic image splicing method and device, a storage medium and a display method and system, and the method comprises the steps: collecting left and right side pavement scene images in a vehicle driving process through left and right side cameras assembled in a panoramic look-around system, and obtaining a panoramic image through the computer vision and image processingtechnology; analyzing and extracting lane line feature information in the left and right road surface images in real time, fitting lane lines of the left and right spliced block images, rotating thespliced image according to an included angle formed by the lane lines on the same side to enable the spliced image to be fitted into a curve, correcting the spliced block images according to the rotating angle, and splicing the panoramic image. The method has the advantages of being easy to implement, high in image splicing gap accuracy, prospective, high in real-time performance, high in practicability, stable, reliable, free of additional accessories and good in application value and economic benefit.

Description

technical field [0001] The invention relates to the field of stitching panoramic images of vehicles, in particular to a stitching method, equipment, storage medium, and display method and system for panoramic images. Background technique [0002] The panoramic surround view system consists of a terminal host, a camera and a display screen. The host acquires real-time images from the cameras in all directions on the car, and uses a series of software algorithm processing technologies such as image distortion correction, image splicing, image fusion, and image perspective transformation. , synthesize a 2D / 3D panoramic image and output it to the central control display in the car. The viewing angle of the panoramic surround view image can be automatically switched according to the driving status of the car, presenting a real environment around the vehicle for the driver, and the driver can observe the line of sight more directly Blind spots, improve driving safety. [0003] Th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/40G06T3/60G06T7/11
CPCG06T3/4038G06T3/604G06T7/11G06T2207/10004G06T2207/30252
Inventor 叶德焰陈从华谢超陈海沯
Owner 明见(厦门)技术有限公司
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