Image acquisition device and panoramic image acquisition method

Abstract

The present invention provides an image acquisition device and a method for acquiring a panoramic image. The image acquisition device comprises: an image acquisition module; a reflective portion, wherein the reflective surface of the reflective portion is configured to allow reflected light to be incident on a lens of the image acquisition module; and a rotating portion, wherein the reflective plate is configured to drive the reflective portion to rotate the reflective surface with the center line of the lens as an axis. In the present invention, the image acquisition device drives the reflective surface to rotate with the center line of the lens as an axis, so that the reflective surface reflects ambient light to the lens during the rotation process, thereby enabling the image acquisition device to acquire a 360° panoramic image. That is, the rotating portion only needs to rotate the reflective portion without rotating the image acquisition device as a whole, so that the rotating portion does not need to adopt a complex mechanical structure, thereby reducing the cost of acquiring a panoramic image.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition technology, and in particular to an image acquisition device and a panoramic image acquisition method. Background Art

[0002] A panoramic image refers to an image in a 360° scene. The image acquisition device acquires 360° environmental images and then stitches the environmental images together to obtain a panoramic image.

[0003] Panoramic images can be applied to industrial monitoring scenarios so that workers can monitor the operation of equipment in the workshop in real time based on panoramic images.

[0004] In the exemplary technology, the device provided with the image acquisition device is rotated so that the image acquisition device can acquire 360° environmental images to obtain a panoramic image. However, the device rotates the image acquisition device as a whole, and the image acquisition device in the industrial scene is relatively large in size, and a relatively complex mechanical structure is required to realize the overall rotation of the image acquisition device, and the cost of obtaining the panoramic image is relatively high. Summary of the invention

[0005] The present invention provides an image acquisition device and a panoramic image acquisition method, which are used to solve the problem of high acquisition cost of panoramic images.

[0006] In one aspect, the present invention provides an image acquisition device, comprising:

[0007] Image acquisition module;

[0008] A reflective portion, wherein a reflective surface of the reflective portion is configured to allow reflected light to be incident on a lens of the image acquisition module;

[0009] The rotating part is provided with the reflecting plate and is used to drive the reflecting part to make the reflecting surface rotate with the center line of the lens as the axis.

[0010] In one embodiment, a plurality of marking areas forming a geometric shape are provided on the reflective surface, and the marking areas do not reflect light.

[0011] In one embodiment, the marking area is a hollow area of ​​the reflective surface or the material of the marking area is a light-absorbing material.

[0012] In one embodiment, the rotating part includes a rotating member and a stabilizing member, the rotating member is movably connected to the periphery of the stabilizing member, and the rotating member can rotate relative to the stabilizing member, the reflecting part is arranged on the rotating member, the image acquisition module is arranged on the stabilizing member, and the lens is arranged relative to the reflecting surface.

[0013] In one embodiment, the reflection part includes a reflection plate and a connecting plate, the connecting plate connects the rotating member and the reflection plate, and the connecting plate is connected to the reflection plate at an angle so that the reflection surface of the reflection plate is arranged obliquely relative to the lens.

[0014] In one embodiment, the image acquisition device further includes a base and a mounting portion, the stabilizing member is mounted on the base via the mounting portion, the base is provided with a motor, and the motor is provided with a first gear which meshes with the second gear of the rotating member.

[0015] In one embodiment, a control circuit is provided inside the base, and the control circuit is connected to the motor and the image acquisition module.

[0016] In another aspect, the present invention further provides a panoramic image acquisition method, which is applied to the image acquisition device as described above, and the method comprises:

[0017] Control the rotating part to drive the reflecting part to rotate one circle, and collect each image formed by the reflecting surface of the reflecting part during the rotation process through the image acquisition module;

[0018] Acquire a first sub-region in each image, where a boundary of the first sub-region is a side edge of the reflective surface;

[0019] The first sub-areas are stitched together to obtain a panoramic image.

[0020] In one embodiment, the step of stitching the first sub-areas to obtain a panoramic image includes:

[0021] determining a reference sub-region in each of the first sub-regions;

[0022] determining a rotation angle between the reference sub-region and each second sub-region, where the second sub-region is a first sub-region that is not determined as a reference sub-region;

[0023] Rotate each of the second sub-regions by a rotation angle corresponding to the second sub-region;

[0024] According to the time point of each image acquisition, the rotated second sub-regions and the reference sub-region are spliced ​​to obtain a panoramic image.

[0025] In one embodiment, the step of determining the rotation angle between the reference sub-region and each second sub-region comprises:

[0026] A rotation angle between the reference sub-region and each second sub-region is determined according to a geometric shape in the reference sub-region and a geometric shape in each second sub-region.

[0027] The present invention provides an image acquisition device and a method for acquiring a panoramic image. The image acquisition device includes an image acquisition module, a reflection part, and a rotation part. The reflection surface of the reflection part is configured to allow reflected light to be incident on a lens of the image acquisition module. The rotation part is provided with the reflection part, and the rotation part drives the reflection part to rotate with the lens as the center line as the axis. In the present invention, the image acquisition device drives the reflection surface to rotate with the lens as the center line as the axis, so that the reflection surface reflects ambient light to the lens during the rotation process, thereby enabling the image acquisition device to acquire a 360° panoramic image, that is, the rotation part only needs to rotate the reflection part without rotating the image acquisition device as a whole, so that the rotation part does not need to adopt a complex mechanical structure, thereby reducing the cost of acquiring a panoramic image. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0029] Figure 1 It is a structural schematic diagram of an embodiment of an image acquisition device of the present invention;

[0030] Figure 2 is a schematic structural diagram of the reflective surface of the present invention;

[0031] Figure 3 is a schematic diagram of the rotation of the reflection surface of the present invention;

[0032] Figure 4 A top view of another embodiment of the image acquisition device of the present invention;

[0033] Figure 5 A side view of another embodiment of the image acquisition device of the present invention;

[0034] Figure 6 It is a front view of another embodiment of the image acquisition device of the present invention;

[0035] Figure 7 A schematic diagram of a flow chart of an embodiment of a method for collecting panoramic images of the present invention;

[0036] Figure 8 The figure is a flow chart of another embodiment of the panoramic image acquisition method of the present invention.

[0037] Description of reference numerals:

[0038] 10-image acquisition module, 11-lens;

[0039] 20-reflecting part, 21-reflecting surface, 211-marking area, 22-reflecting plate, 23-connecting plate;

[0040] 30-rotating part, 31-rotating member, 311-second gear, 32-stabilizing member;

[0041] 40-installation part;

[0042] 50-base, 51-motor, 511-first gear.

[0043] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The embodiments of the present invention are described in detail below in conjunction with the drawings.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] The terms "first", "second", "third" (if any) in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example.

[0048] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or display comprising a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or display.

[0049] The invention provides an image acquisition device.

[0050] Reference Figure 1 The image acquisition device includes an image acquisition module 10, a reflection unit 20 and a rotation unit 30. The image acquisition module 10 can be a thermal imaging device, which is a device that performs image formation by sensing the thermal radiation information on the surface of an object. Thermal imaging devices are widely used, but they are expensive and large in size. In the exemplary technology, the thermal imaging device needs to continue to rotate as a whole to obtain a panoramic image of the environment.

[0051] In this embodiment, the reflective surface 21 of the reflective portion 20 is configured to allow the reflected light to be incident on the lens 11 of the image acquisition module 10 , that is, the image acquisition module 11 acquires the environment image through the reflective surface 21 .

[0052] The rotating part 30 is provided with the reflecting part 20, and the rotating part 30 can drive the reflecting part 20 to rotate. During the rotation of the reflecting part 20, the reflecting surface 21 rotates with the center line of the lens 11 as the axis, so that during the rotation of the reflecting surface 21, the reflected light representing the environment can be incident on the image acquisition module 10, that is, the image acquisition module 10 can capture a panoramic image of the environment.

[0053] In actual use, the image acquisition module 10 can be placed on the ground, and the rotating part 30 can rotate around the image acquisition module 10, so that the reflective surface 21 of the reflective part 20 rotates around the center line of the lens as the axis.

[0054] In one example, the rotating part 30 includes a slide rail (not marked) and a slide groove (not marked) at the bottom. The slide groove is arranged around the image acquisition module 10 and is detachably arranged on the ground. The rotating part 30 can make the reflective surface 21 of the reflective part 20 rotate around the center line of the lens 11 as the axis through the movement of the slide rail in the slide groove.

[0055] In this embodiment, the image acquisition device includes an image acquisition module, a reflection part and a rotating part. The reflection surface of the reflection part is configured to make the reflected light incident on the lens of the image acquisition module. The rotating part is provided with the reflection part, and the rotating part drives the reflection part to rotate with the lens as the center line as the axis. In the present invention, the image acquisition device drives the reflection surface to rotate with the lens as the center line as the axis, so that the reflection surface reflects the ambient light to the lens during the rotation process, so that the image acquisition device acquires a 360° panoramic image, that is, the rotating part only needs to rotate the reflection part without rotating the image acquisition device as a whole, so that the rotating part does not need to adopt a complex mechanical structure, thereby reducing the cost of acquiring a panoramic image.

[0056] Reference Figure 2 , Figure 2 Schematic diagram of the structure of the reflective surface 21 of the reflective part 20 in the image acquisition device of the present invention. A plurality of marking areas 211 are provided on the reflective surface 21, and each marking area 211 forms a geometric shape. The geometric shape is, for example, a triangle, a quadrilateral, etc. Each marking area 211 does not reflect light, and the image of the marking area 211 acquired by the image acquisition module 10 is black. Therefore, the image acquisition module 10 can determine the rotation angle between the environment image acquired in the previous frame and the environment image acquired in the next frame through the geometric shape formed by each marking area 211 that does not reflect light.

[0057] Reference Figure 3 , Figure 3 A is the environment image acquired in the previous frame, and B is the environment image acquired in the next frame. By comparing the geometric shapes in A and B, it can be seen that B is rotated 90° relative to A.

[0058] By determining the rotation angle of each environmental image, the rotation angle of each environmental image relative to the initial position of the reflective part can be determined, and then each environmental image is reversed to the corresponding rotation angle, and then the reversed environmental images are spliced ​​to obtain the environmental image.

[0059] For example, the image acquisition module 10 obtains four environmental images A, B, C, and D in sequence, and the rotation angle corresponding to the A environmental image is 0, the B environmental image is rotated 90° relative to the A environmental image, the C environmental image is rotated 90° relative to the B environmental image, and the D environmental image is rotated 90° relative to the C environmental image. It can be determined that the B environmental image is rotated 90° relative to the A environmental image, the C environmental image is rotated 180° relative to the A environmental image, and the D environmental image is rotated 270° relative to the A environmental image. The B environmental image is reversely rotated 90°, the C environmental image is reversely rotated 180°, and the D environmental image is reversely rotated 270°. The reversely rotated environmental images are spliced ​​with the A environmental image acquisition time points to obtain a panoramic image.

[0060] It should be noted that the geometric shape formed by each marking area 211 is not a standard geometric shape. A standard geometric shape refers to an equilateral polygon, which prevents the image acquisition module 10 from being unable to determine the rotation angle between the two environmental images. For example, each marking area 211 forms a regular polygon. If the previous frame of the environmental image is rotated 90° relative to the next frame of the image, the positional relationship between the two regular polygons cannot be recognized in the two environmental images.

[0061] The marking area 211 does not reflect light, so the marking area 211 can be set as a hollow area of ​​the reflective surface 21, or the material of the marking area 211 is a light-absorbing material.

[0062] In this embodiment, a plurality of marking areas forming geometric shapes are arranged on the reflective surface, so that the image acquisition device can determine the rotation angle between adjacent frame images based on the geometric shapes, thereby more accurately stitching the acquired environmental images to obtain a panoramic image.

[0063] Further, see Figure 4 The rotating part 30 includes a rotating member 31 and a stabilizing member 32. The rotating member 31 is movably connected to the periphery of the stabilizing member 32, and the stabilizing member 33 is circular in shape. The rotating member 31 can rotate relative to the stabilizing member 32, and the reflecting part 20 is disposed on the rotating member 31, and the image acquisition module 10 is disposed on the stabilizing member 32.

[0064] In one example, the rotating member 31 is an annular structure with a certain width, and a slide rail (not marked) is arranged on the inner side of the rotating member 31; the stabilizing member 33 can be a cylindrical structure, and a slide groove (not marked) is arranged on the circular surface of the stabilizing member 33, the slide rail of the rotating member 31 is arranged in the slide groove of the stabilizing member 32, the image acquisition module 10 is arranged at the center of the upper surface of the stabilizing member 32, and the reflecting part 20 is arranged on the upper surface of the rotating member 31, so that when the rotating member 31 rotates relative to the stabilizing member 32, the reflecting surface 21 of the reflecting part 20 rotates with the center line of the lens 11 as the axis.

[0065] In this embodiment, the rotating member of the rotating part rotates relative to the stabilizing member of the rotating part, so that the reflecting surface 21 of the reflecting part 20 rotates around the center line of the lens 11 as the axis. The structure of the rotating part is simple, which reduces the cost of obtaining panoramic images.

[0066] Further, see Figure 5, the reflecting part 20 also includes a reflecting plate 22 and a connecting plate 23. The connecting plate 23 is connected to the rotating member 31, and the connecting plate 23 is arranged on the surface of the rotating member 31, and the vertical direction of the connecting plate 23 is perpendicular to the plane where the lens 11 is located. The connecting plate 23 is connected to the reflecting plate 22 at an angle, so that the reflecting surface 21 of the reflecting plate 22 is arranged obliquely relative to the lens 11. Preferably, the reflecting plate 22 and the connecting plate 23 are connected at 135°. Since the vertical direction of the connecting plate 23 is perpendicular to the plane where the lens 11 is located, the angle between the reflecting surface 21 of the reflecting plate 22 and the plane where the lens 11 is located is 45°, which means that the reflected light of the reflecting surface 21 is vertically incident on the lens 11.

[0067] In this embodiment, the height of the connecting plate 23 can be higher than the height of the image acquisition module 10, and a reflective plate with a smaller area can be used, so that the lens can receive all reflected light reflected by the reflective surface of the reflective plate, thereby reducing the cost of the image acquisition device.

[0068] Further, see Figure 6 The image acquisition device further includes a mounting portion 40 and a base 50. The stabilizing member 32 is mounted on the base 50 through the mounting portion 40, and the base 50 is provided with a motor 51, and a first gear 511 provided on the motor 51 is meshed with a second gear 311 of the rotating member 31. The rotating member 31 can be automatically rotated relative to the stabilizing member by the motor 51, that is, a panoramic image of the environment where the image acquisition device is located can be obtained by electronic control.

[0069] In addition, a control circuit (not shown) may be provided inside the base 50, and the control circuit is connected to the motor 51 and the image acquisition module 10. The control circuit may control the motor 51 to drive the rotating member to rotate, and the control circuit may control the image acquisition module 10 to acquire images.

[0070] The invention also provides a method for collecting panoramic images.

[0071] Reference Figure 7 , Figure 7 The present invention is a flowchart of an embodiment of a method for collecting panoramic images. The method for collecting panoramic images includes:

[0072] Step S10, controlling the rotating part to drive the reflecting part to rotate one circle, and using the image acquisition module to acquire each image formed by the reflecting surface of the reflecting part during the rotation process.

[0073] In this embodiment, the execution subject is an image acquisition device. The various components of the image acquisition device are specifically described above and will not be described in detail here.

[0074] When it is necessary to obtain a panoramic image of the environment where the image acquisition device is located, the image acquisition device controls the rotation part to drive and drive the rotation part to rotate one circle, and then controls the image acquisition module to capture each image formed by the reflection surface of the reflection part during the rotation process.

[0075] Step S20, obtaining a first sub-region in each image, where the boundary of the first sub-region is a side edge of the reflective surface.

[0076] The image acquisition device acquires the first sub-region of each image, and the boundary of the first sub-region is the side of the reflective surface, that is, the image acquisition device acquires the sub-region formed by the light reflected by the reflective surface in each image. The reflective surface reflects the ambient light to the image acquisition module, so that the image acquired by the image acquisition module is an ambient image.

[0077] Step S30: stitching the first sub-regions to obtain a panoramic image.

[0078] The image acquisition device can obtain a panoramic image by splicing each first sub-area.

[0079] In one example, the image acquisition module captures an image every 2 seconds, and the rotating part can rotate 90° every 2 seconds, thereby measuring the rotation angle between each image and the first image, and then rotating the image in the opposite direction to the rotation angle corresponding to the image, so that the images with the rotation angles can be spliced ​​in the order of the acquisition time points to obtain a 360° panoramic image.

[0080] In this embodiment, the image acquisition module controls the rotating part to drive the reflecting part to rotate one circle, and the image acquisition module acquires each image formed by the reflection of the reflecting part during the rotation process, and then acquires the first sub-region representing the environmental image reflected by the reflecting surface from each image, and finally splices each sub-region to obtain a panoramic image. In this embodiment, the image acquisition device drives the reflecting surface to rotate with the lens as the center line as the axis, so that the reflecting surface reflects the ambient light to the lens during the rotation process, so that the image acquisition device acquires a 360° panoramic image, that is, the rotating part only needs to rotate the reflecting part without rotating the image acquisition device as a whole, so that the rotating part does not need to adopt a complex mechanical structure, thereby reducing the cost of acquiring a panoramic image.

[0081] Reference Figure 8 , Figure 8 FIG. 1 is a flow chart of another embodiment of the panoramic image acquisition method of the present invention, based on Figure 7 In the illustrated embodiment, step S30 includes:

[0082] Step S31: determining a reference sub-region in each first sub-region.

[0083] Step S32: determining a rotation angle between the reference sub-region and each second sub-region, where the second sub-region is a first sub-region that is not determined as a reference sub-region.

[0084] In this embodiment, the image acquisition device determines a reference sub-region in any first sub-region, thereby determining a rotation angle between the reference sub-region and each second sub-region. The second sub-region is a first sub-region that is not determined as a reference sub-region.

[0085] In one example, the rotating part of the image acquisition device has a rotation speed, and the image acquisition module acquires images at intervals of a set time length. The image acquisition device obtains the set time length, and the product of the set time length and the rotation speed is the rotation angle between two adjacent images. The image acquisition device then determines the acquisition time period of the reference sub-area and the interval time length between each second sub-area, and then calculates the ratio of the interval time length to the set time length, and the product of the ratio of the second sub-area and the rotation angle is the rotation angle between the second sub-area and the reference sub-area.

[0086] In another example, the reflective surface is provided with a marking area forming a geometric shape, and the marking area does not reflect light. The image acquisition module can determine the rotation angle between the reference sub-area and each second sub-area based on the geometric shape of the reference sub-area and the geometric shape in each second sub-area. For example, if the geometric shape of a second sub-area is rotated 180° relative to the geometric shape of the reference sub-area, then the rotation angle between the reference sub-area and the second sub-area is 180°.

[0087] Step S33: rotating each second sub-region by a rotation angle corresponding to the second sub-region.

[0088] The image acquisition device rotates each second sub-region by a rotation angle corresponding to the second sub-region, and the rotation directions of each second sub-region need to be the same.

[0089] Step S34, according to the time point of each image acquisition, the rotated second sub-regions and the reference sub-region are stitched together to obtain a panoramic image.

[0090] Image acquisition time points: According to the order of the acquisition time points of each image, the rotated second sub-areas and the reference sub-areas are spliced ​​to obtain a panoramic image.

[0091] In this embodiment, the image acquisition device rotates the sub-regions and then splices the rotated sub-regions, thereby accurately acquiring a panoramic image.

[0092] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0093] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An image acquisition device, characterized in that: include: Image acquisition module; A reflective portion, wherein a reflective surface of the reflective portion is configured to allow reflected light to be incident on a lens of the image acquisition module; A rotating part, provided with the reflecting part, for driving the reflecting part to make the reflecting surface rotate with the center line of the lens as the axis; The reflective surface is provided with a plurality of marking areas forming a geometric shape, and the marking areas do not reflect light; The marking area is a hollow area of ​​the reflective surface or the material of the marking area is a light-absorbing material; The rotating part includes a rotating member and a stabilizing member, the rotating member is movably connected to the periphery of the stabilizing member, and the rotating member can rotate relative to the stabilizing member, the reflecting part is arranged on the rotating member, the image acquisition module is arranged on the stabilizing member, and the lens is arranged relative to the reflecting surface.

2. The image acquisition device according to claim 1, characterized in that: The reflecting part comprises a reflecting plate and a connecting plate, wherein the connecting plate connects the rotating member and the reflecting plate, and the connecting plate is connected to the reflecting plate at an angle, so that the reflecting surface of the reflecting plate is arranged obliquely relative to the lens.

3. The image acquisition device according to claim 2, characterized in that: The image acquisition device also includes a base and a mounting portion, the stabilizing member is mounted on the base via the mounting portion, the base is provided with a motor, and a first gear provided on the motor is meshed with a second gear of the rotating member.

4. The image acquisition device according to claim 3, characterized in that: A control circuit is provided inside the base, and the control circuit is connected to the motor and the image acquisition module.

5. A method for collecting panoramic images, characterized in that: Applied to the image acquisition device according to any one of claims 1 to 4, the method comprises: Control the rotating part to drive the reflecting part to rotate one circle, and collect each image formed by the reflecting surface of the reflecting part during the rotation process through the image acquisition module; Acquire a first sub-region in each image, where a boundary of the first sub-region is a side edge of the reflective surface; The first sub-areas are stitched together to obtain a panoramic image.

6. The panoramic image acquisition method according to claim 5, characterized in that: The step of stitching the first sub-areas to obtain a panoramic image comprises: determining a reference sub-region in each of the first sub-regions; determining a rotation angle between the reference sub-region and each second sub-region, where the second sub-region is a first sub-region that is not determined as a reference sub-region; Rotate each of the second sub-regions by a rotation angle corresponding to the second sub-region; According to the time point of each image acquisition, the rotated second sub-regions and the reference sub-region are spliced ​​to obtain a panoramic image.

7. The panoramic image acquisition method according to claim 6, characterized in that: The step of determining the rotation angle between the reference sub-region and each second sub-region comprises: A rotation angle between the reference sub-region and each second sub-region is determined according to a geometric shape in the reference sub-region and a geometric shape in each second sub-region.

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