Panorama camera based on image stitching parameter extraction and real-time parameter optimization method thereof
An image mosaic and parameter extraction technology, which is applied to the details of image mosaic, image data processing, image enhancement, etc., can solve the problems of limited still image information and lack of real-time performance, so as to reduce time and avoid insufficient computing power , the effect of improving stability
Inactive Publication Date: 2021-09-03
TIANJIN UNIVERSITY OF TECHNOLOGY
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Problems solved by technology
[0003] There are many existing panoramic image stitching methods, such as installing a camera on a platform that rotates at a constant speed, and taking a group of images at fixed time intervals to stitch the whole picture, so that the stitching effect of photos taken by the same camera is Okay, but the images are not taken at the same time and stitching requires a lot of calculations. This method is not real-time. The application of panoramic images in the future will eventually tend to be video display, and the information provided by still images is limited.
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[0054] Embodiment: a kind of panoramic camera based on image mosaic parameter extraction, such as Figure 1-a and Figure 1-b As shown, it is characterized in that it is composed of four fisheye lenses 2 fixed on the pedestal 1; wherein, two triangular protective shells 3 are installed outside the camera lens 2; four columns are installed under the pedestal 1 4. It is used to support the pedestal 1 together with four camera lenses 2 and two triangular protective shells 3 on the chassis 8; the pedestal 1 has an opening 6 for passing through the data line 5; the data line 5 is used to connect the camera The lens 2 and the computer 7 complete the transmission of video data; the display of the computer 7 is used as a display terminal.
[0055] The four fisheye lenses are fixed and installed on the pedestal 1 with superglue according to the difference of 90°, and the image resolution is 640×480; the four fisheye lenses are divided into two groups and placed in the triangular prote...
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A panoramic camera based on image stitching parameter extraction is composed of four fisheye camera lenses fixed on a pedestal. During working, the camera is started, and a first group of fisheye images are shot for distortion removal to obtain a group of corrected images. Feature points of the corrected images are searched by using OpenCV, and matching point pairs between two adjacent corrected images are found; an image whose retention confidence value is higher than a preset threshold value is calculated; parameters such as a homography matrix of the corrected image are calculatd; and finally, the corrected images are aligned on the same horizontal line, the corrected images are projected to a cylindrical surface coordinate system, the corrected images are multiplied by a homography matrix, the corrected images are rotationally spliced, and an overlapped area is optimized to obtain a final image; and the homography matrix is stored. According to the method, a complete splicing process can be carried out on the first group of fisheye images, and the homography matrix of the group of images is directly applied to splicing of subsequent frames after being calculated, so that repeated work is reduced, and real-time performance is enhanced.
Description
【Technical field】: [0001] The invention belongs to the technical field of image processing, in particular to a panoramic camera based on image splicing parameter extraction and a real-time parameter optimization method thereof. 【Background technique】: [0002] In order to continuously obtain more environmental information, panoramic cameras are used more and more widely, and can be installed in public places such as transportation, communities, airports, etc., and with the development of robot technology, it is also possible to integrate panoramic cameras on robots. Due to the limitations of still images in monitoring, people's requirements for real-time performance are increasing day by day. It is necessary to complete the splicing of each frame of images more quickly and display them in real time in the form of video without additional hardware costs to meet daily needs. production work. [0003] There are many existing panoramic image stitching methods, such as installin...
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IPC IPC(8): G06T3/40G06T5/00H04N5/232
CPCG06T3/4038G06T2200/32G06T2207/10016H04N23/698G06T5/80
Inventor 孙磊史可董恩增佟吉刚金帅羽
Owner TIANJIN UNIVERSITY OF TECHNOLOGY