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Panoramic video stitching method and device for keeping pedestrian integrity

A panoramic video and integrity technology, applied in the field of panoramic video stitching, can solve problems such as ghosting, image splitting, and photometric differences, and achieve the effects of high method efficiency, integrity assurance, and high photometric alignment accuracy

Pending Publication Date: 2022-02-08
TONGJI UNIV
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  • Claims
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Problems solved by technology

[0006] The purpose of the present invention is to provide a panoramic video stitching method and device that maintains the integrity of pedestrians in order to overcome the defects of luminosity difference, image splitting, and ghosting in the prior art

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  • Panoramic video stitching method and device for keeping pedestrian integrity

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Embodiment 1

[0078] This embodiment provides a panoramic video stitching method that maintains the integrity of pedestrians. In order to solve the problems of luminosity difference, image segmentation, ghosting, etc. in the traditional panoramic video stitching system, and provide high-quality, high-visual consistency panoramic stitching video, The method includes the following steps:

[0079] S1: Use multiple cameras to build a structured surround-view panoramic camera array to collect multiple channels of video;

[0080] S2: Place a calibration plate in the common-view area of ​​adjacent cameras to form a matching pair of feature points, construct the relative pose of adjacent cameras, and loop back the pose of the forward-looking camera, so as to optimize the pose by using the beam adjustment method;

[0081] S3: Based on the results of pose optimization, geometrically align the video images collected by different cameras, and map the pixel coordinates to a unified cylindrical standard ...

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Abstract

The invention relates to a panoramic video stitching method and device capable of keeping pedestrian integrity. The method comprises the following steps: collecting multiple paths of videos by adopting a structured panoramic camera array; carrying out joint calibration on the camera pose based on a beam adjustment method; performing geometric alignment on video images acquired by different cameras, and mapping the video images to a unified cylindrical standard curved surface; performing luminosity alignment on images shot by different cameras by using a two-step least square method to eliminate brightness difference; positioning a pedestrian target in the image based on semantic segmentation to obtain a semantic mask; and on the basis of the semantic mask, constructing a suture line cost function of the video image, solving an optimal suture line by using dynamic programming, and fusing overlapped parts of the aligned images. Compared with the prior art, the panoramic stitching result obtained by the method has better visual consistency, the practicability of the system in the monitoring field is greatly enhanced by considering semantic information, and meanwhile, the method has good calculation efficiency and can realize real-time processing of video images.

Description

technical field [0001] The present invention relates to the technical field of video splicing, in particular to a panoramic video splicing method and device for maintaining the integrity of pedestrians. Background technique [0002] Panoramic stitching system is an indispensable module in surveillance or space exploration. Using a structured camera array and panoramic stitching system, a horizontal view covering all angles of view can be obtained, allowing viewers to immediately understand the surrounding environment. With the rise of video conferencing, distance education, robot navigation and other fields, a single camera cannot record all the targets in a large scene due to its small field of view, and the information expressed in the scene area is limited. Popularity, the emergence of panoramic stitching technology meets the needs of large fields of view in various fields, and has important practical value. At present, panoramic image stitching technology is widely used...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70G06T3/40G06F17/16
CPCG06T7/70G06T7/80G06T3/4038G06F17/16G06T2200/32
Inventor 张林郭超政朱安琪沈莹赵生捷
Owner TONGJI UNIV
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