Panoramic image splicing method based on binocular camera
A binocular camera, panoramic image technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problems of low design flexibility, inability to perform large-scale applications, and high power consumption.
Active Publication Date: 2021-07-30
NANJING INST OF TECH
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Problems solved by technology
Due to the need for hardware circuits such as FPGA, this technology has high cost, low design flexibility and high power consumption, so it cannot be applied on a large scale
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[0076] The present invention will be further described below in conjunction with the accompanying drawings.
[0077] like figure 1 As shown, a panoramic image stitching method based on a binocular camera includes the following steps:
[0078] S1. Collect data: control the binocular camera to capture images, define the image captured by one camera of the binocular camera as image A, and the image captured by the other camera as image B. Select a spatial location, and fix the binocular camera to a movable bracket. Place the two fisheye cameras in opposite directions to take pictures of the front and rear perspectives in the space respectively. Only one shot is needed to obtain all the image information including the space environment;
[0079] S2. Select a 7*6 checkerboard image as the calibration board, collect several calibration images, and then use the Harris corner detection method to extract corner points from the image for sub-pixel precision. Finally, the "Zhang Zhe...
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The invention discloses a panoramic image splicing method based on a binocular camera, relates to the technical field of digital image processing, and can solve the problems of tedious operation in an image acquisition process, complex data in an image splicing process and low feasibility in a traditional image splicing method. The panoramic image splicing method based on the binocular camera comprises the following steps: placing the binocular camera and a bracket to enable the binocular camera and the bracket to shoot all front and back visual angles in a space; calibrating a fisheye camera, and performing distortion correction on a fisheye image based on spherical perspective projection; two images being orderly spliced into a 360-degree panorama based on SIFT feature point detection, BBF search and improved RANSAC feature matching, and brightness difference automatic correction being performed on the images before splicing, so that the brightness of the panorama is ensured to be consistent and clear.
Description
technical field [0001] The invention relates to the technical field of digital image processing, in particular to a panoramic image stitching method based on binocular cameras. Background technique [0002] When ordinary cameras take images, they cannot take into account the resolution of the camera's field of view and the resolution of individual objects in the field of view, while panoramic cameras are generally expensive and not suitable for low-cost general scenes. In order to obtain a wide viewing angle or even a 360° panoramic image using an ordinary camera, people have proposed an image stitching technology: stitching multiple adjacent images into a panoramic image. However, this method is complicated to operate, low in efficiency, and poor in applicability. In the process of image stitching, the recognition and extraction of image feature points mostly depend on computer GPU for processing, but due to the limited parallel processing capability of ordinary computer G...
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IPC IPC(8): G06T3/40G06T7/80G06K9/46
CPCG06T3/4038G06T7/85G06T2207/10004G06T2207/30244G06V10/462
Inventor 顾子善王涵立鞠天麟周雯超黄家才
Owner NANJING INST OF TECH