Panoramic image acquisition method and device

Abstract

The invention discloses a panoramic image acquisition method and device, and belongs to the field of vehicles. In the running process of the vehicle, a first image collected by the first camera at a first moment, a second image collected by the first camera at a second moment and a third image collected by the second camera at the second moment are obtained, and the first moment is the moment before the second moment; acquiring a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different areas in the first image; and splicing the second image, the third image, the fourth image and the fifth image to obtain a panoramic image around the vehicle. According to the invention, the complexity of obtaining the panoramic image can be reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a method and device for acquiring panoramic images. Background Art

[0002] Vehicles are generally equipped with an around view monitoring (AVM) system, which is also called a panoramic imaging system, a panoramic parking system or a panoramic visual system. During the driving process of the vehicle, the AVM system can obtain a panoramic image around the vehicle to assist the driver in driving the vehicle.

[0003] At present, the AVM system includes four cameras arranged on the vehicle body and located around the vehicle. The AVM system collects environmental images around the vehicle through the four cameras, and the AVM system generates a panoramic image around the vehicle based on the environmental images collected by the four cameras. For example, the four cameras include a camera arranged on the vehicle body and located in front of the vehicle (for example, called a front camera), a camera arranged on the vehicle body and located behind the vehicle (for example, called a rear camera), a camera arranged on the vehicle body and located on the left side of the vehicle (for example, called a left camera), and a camera arranged on the vehicle body and located on the right side of the vehicle (for example, called a right camera). The AVM system collects environmental images in front of the vehicle through the front camera, collects environmental images behind the vehicle through the rear camera, collects environmental images on the left side of the vehicle through the left camera, and collects environmental images on the right side of the vehicle through the right camera; the AVM system generates a panoramic image around the vehicle based on the environmental images in front of the vehicle, the environmental images behind the vehicle, the environmental images on the left side of the vehicle, and the environmental images on the right side of the vehicle.

[0004] However, since four cameras are needed to obtain a panoramic image around the vehicle, the process of obtaining the panoramic image is complicated. Summary of the invention

[0005] The present application provides a method and device for obtaining a panoramic image, which can reduce the complexity of obtaining a panoramic image around a vehicle. The technical solution of the present application is as follows.

[0006] In a first aspect, a method for acquiring a panoramic image is provided, the method comprising:

[0007] During the driving of the vehicle, a first image captured by a first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at the second moment are acquired, the first camera is located on the vehicle and in front of the vehicle, the second camera is located on the vehicle and behind the vehicle, the first moment is a moment before the second moment, the first image and the second image both include an environment image in front of the left side of the vehicle, an environment image directly in front of the vehicle, and an environment image in front of the right side of the vehicle, and the third image includes an environment image in rear left side of the vehicle, an environment image directly behind the vehicle, and an environment image in rear right side of the vehicle;

[0008] Acquire a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different regions in the first image, the fourth image includes an image of the environment in front of the left side of the vehicle at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle at the first moment;

[0009] The second image, the third image, the fourth image and the fifth image are stitched together to obtain a panoramic image around the vehicle at the second moment.

[0010] Optionally, the stitching of the second image, the third image, the fourth image, and the fifth image to obtain a panoramic image around the vehicle at the second moment includes:

[0011] Get the splicing template;

[0012] The second image, the third image, the fourth image and the fifth image are stitched together according to the stitching template to obtain a panoramic image around the vehicle at the second moment.

[0013] Optionally, the first image includes a first area, a second area, and a third area, the first area, the second area, and the third area are arranged in sequence along a first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area;

[0014] In the panoramic image, the second image and the third image are both located between the fourth image and the fifth image, the fourth image, the second image and the fifth image are arranged in sequence along the first coordinate axis of the panoramic image, the second image and the third image are arranged in sequence along the second coordinate axis of the panoramic image, the coordinate range corresponding to the second image on the first coordinate axis is the same as the coordinate range corresponding to the third image on the first coordinate axis, the coordinate range corresponding to the fourth image on the second coordinate axis is the same as the coordinate range corresponding to the fifth image on the second coordinate axis, the coordinate range corresponding to the second image on the second coordinate axis is continuous with the coordinate range corresponding to the third image on the second coordinate axis, and the union of the coordinate range corresponding to the second image on the second coordinate axis and the coordinate range corresponding to the third image on the second coordinate axis is the same as the coordinate range corresponding to the fourth image on the second coordinate axis.

[0015] Optionally, the method further includes:

[0016] Parking the vehicle in a vehicle parking area of ​​a calibration site, wherein the calibration site includes a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle;

[0017] Capturing a first picture through the first camera, where the first picture includes the first calibration pattern and the second calibration pattern;

[0018] Capturing a second picture through the second camera, where the second picture includes the third calibration pattern and the fourth calibration pattern;

[0019] Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture;

[0020] The second camera is calibrated according to the third calibration pattern and the fourth calibration pattern in the second picture.

[0021] Optionally, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are both located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are both tangent to the elliptical pattern;

[0022] The calibrating the first camera according to the first calibration pattern and the second calibration pattern in the first picture includes: calibrating the first camera according to the tangent point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the tangent point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture;

[0023] The calibrating the second camera according to the third calibration pattern and the fourth calibration pattern in the second picture includes: calibrating the second camera according to the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture.

[0024] Optionally, the vehicle parking area is in a rectangular shape.

[0025] The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the collinearity of the first vertex of the vehicle parking area;

[0026] The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the collinearity of the second vertex of the vehicle parking area;

[0027] The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the collinearity of the third vertex of the vehicle parking area;

[0028] The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear.

[0029] Optionally, the calibration site is in a rectangular shape, the vehicle parking area is located in a central area of ​​the calibration site, and four sides of the vehicle parking area are parallel to four sides of the calibration site in a one-to-one correspondence;

[0030] The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, the first vertex of the vehicle parking area, and the first vertex of the calibration site are collinear;

[0031] The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, the second vertex of the vehicle parking area, and the second vertex of the calibration site are collinear;

[0032] The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, the third vertex of the vehicle parking area, and the third vertex of the calibration site are collinear;

[0033] The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, the fourth vertex of the vehicle parking area, and the fourth vertex of the calibration site are collinear.

[0034] In a second aspect, a panoramic image acquisition device is provided, the acquisition device comprising:

[0035] A first acquisition module, used for acquiring, during the driving of the vehicle, a first image acquired by a first camera at a first moment, a second image acquired by the first camera at a second moment, and a third image acquired by the second camera at the second moment, wherein the first camera is located on the vehicle and in front of the vehicle, the second camera is located on the vehicle and behind the vehicle, the first moment is a moment before the second moment, the first image and the second image both include an environment image of the left front of the vehicle, an environment image directly in front of the vehicle, and an environment image of the right front of the vehicle, and the third image includes an environment image of the left rear of the vehicle, an environment image directly behind the vehicle, and an environment image of the right rear of the vehicle;

[0036] a second acquisition module, configured to acquire a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different regions in the first image, the fourth image includes an image of the environment in front of the left side of the vehicle at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle at the first moment;

[0037] A stitching module is used to stitch the second image, the third image, the fourth image and the fifth image to obtain a panoramic image around the vehicle at the second moment.

[0038] Optionally, the splicing module is used to:

[0039] Get the splicing template;

[0040] The second image, the third image, the fourth image and the fifth image are stitched together according to the stitching template to obtain a panoramic image around the vehicle at the second moment.

[0041] Optionally, the first image includes a first area, a second area, and a third area, the first area, the second area, and the third area are arranged in sequence along a first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area;

[0042] In the panoramic image, the second image and the third image are both located between the fourth image and the fifth image, the fourth image, the second image and the fifth image are arranged in sequence along the first coordinate axis of the panoramic image, the second image and the third image are arranged in sequence along the second coordinate axis of the panoramic image, the coordinate range corresponding to the second image on the first coordinate axis is the same as the coordinate range corresponding to the third image on the first coordinate axis, the coordinate range corresponding to the fourth image on the second coordinate axis is the same as the coordinate range corresponding to the fifth image on the second coordinate axis, the coordinate range corresponding to the second image on the second coordinate axis is continuous with the coordinate range corresponding to the third image on the second coordinate axis, and the union of the coordinate range corresponding to the second image on the second coordinate axis and the coordinate range corresponding to the third image on the second coordinate axis is the same as the coordinate range corresponding to the fourth image on the second coordinate axis.

[0043] Optionally, the acquisition device further includes: a calibration module, configured to:

[0044] Parking the vehicle in a vehicle parking area of ​​a calibration site, wherein the calibration site includes a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle;

[0045] Capturing a first picture through the first camera, where the first picture includes the first calibration pattern and the second calibration pattern;

[0046] Capturing a second picture through the second camera, where the second picture includes the third calibration pattern and the fourth calibration pattern;

[0047] Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture;

[0048] The second camera is calibrated according to the third calibration pattern and the fourth calibration pattern in the second picture.

[0049] Optionally, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are both located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are both tangent to the elliptical pattern;

[0050] The calibration module is used for:

[0051] Calibrate the first camera according to the tangent point between the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the tangent point between the circular pattern and the elliptical pattern in the second calibration pattern in the first picture;

[0052] The second camera is calibrated according to the tangent points of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture and the tangent points of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture.

[0053] Optionally, the vehicle parking area is in a rectangular shape.

[0054] The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the collinearity of the first vertex of the vehicle parking area;

[0055] The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the collinearity of the second vertex of the vehicle parking area;

[0056] The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the collinearity of the third vertex of the vehicle parking area;

[0057] The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear.

[0058] Optionally, the calibration site is in a rectangular shape, the vehicle parking area is located in a central area of ​​the calibration site, and four sides of the vehicle parking area are parallel to four sides of the calibration site in a one-to-one correspondence;

[0059] The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, the first vertex of the vehicle parking area, and the first vertex of the calibration site are collinear;

[0060] The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, the second vertex of the vehicle parking area, and the second vertex of the calibration site are collinear;

[0061] The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, the third vertex of the vehicle parking area, and the third vertex of the calibration site are collinear;

[0062] The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, the fourth vertex of the vehicle parking area, and the fourth vertex of the calibration site are collinear.

[0063] In a third aspect, a panoramic image acquisition device is provided, comprising a memory and a processor;

[0064] The memory is used to store computer programs;

[0065] The processor is used to execute the computer program stored in the memory so that the acquisition device performs the method provided by the first aspect or any optional implementation of the first aspect.

[0066] In a fourth aspect, a vehicle is provided, comprising a panoramic image acquisition device as provided in the second aspect or any optional implementation of the second aspect, or comprising a panoramic image acquisition device as provided in the third aspect.

[0067] Optionally, the vehicle further includes a first camera and a second camera, wherein the first camera is located on the vehicle and in front of the vehicle, and the second camera is located on the vehicle and behind the vehicle.

[0068] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed, a method for acquiring a panoramic image as provided in the first aspect or any optional method of the first aspect is implemented.

[0069] In a sixth aspect, a computer program product is provided, which includes a program or code, and when the program or code is executed, it implements the method for acquiring a panoramic image as provided in the first aspect or any optional method of the first aspect.

[0070] The beneficial effects of the technical solution provided by this application include:

[0071] The present application provides a method and device for acquiring a panoramic image, and the acquisition method is performed by a panoramic image acquisition device. The acquisition device is deployed in a vehicle, and the vehicle includes a first camera and a second camera, the first camera is located on the vehicle and in front of the vehicle, and the second camera is located on the vehicle and in the rear of the vehicle. During the driving of the vehicle, the acquisition device acquires a first image captured by the first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at a second moment, the first image and the second image both include an environmental image of the left front of the vehicle, an environmental image directly in front of the vehicle, and an environmental image of the right front of the vehicle, and the third image includes an environmental image of the left rear of the vehicle, an environmental image directly behind the vehicle, and an environmental image of the right rear of the vehicle. The acquisition device acquires a fourth image and a fifth image based on the first image, the fourth image includes an environmental image of the left front of the vehicle, and the fifth image includes an environmental image of the right front of the vehicle. The acquisition device splices the second image, the third image, the fourth image, and the fifth image to obtain a panoramic image around the vehicle at the second moment. The present application uses two cameras to obtain panoramic images around the vehicle, which can reduce the complexity of obtaining panoramic images around the vehicle and reduce the hardware cost of obtaining panoramic images around the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0073] Figure 1 is a flow chart of a method for acquiring a panoramic image provided by an embodiment of the present application;

[0074] Figure 2 is a schematic diagram of acquiring a fourth image and a fifth image based on a first image provided by an embodiment of the present application;

[0075] Figure 3 is a schematic diagram of a panoramic image provided by an embodiment of the present application;

[0076] Figure 4 is a schematic diagram of a splicing template provided in an embodiment of the present application;

[0077] Figure 5 is a flow chart of a method for calibrating a camera provided in an embodiment of the present application;

[0078] Figure 6 is a schematic diagram of a calibration site provided in an embodiment of the present application;

[0079] Figure 7 is a schematic diagram of a panoramic image acquisition device provided in an embodiment of the present application;

[0080] Figure 8 It is a schematic diagram of a vehicle provided in an embodiment of the present application.

[0081] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0083] At present, the AVM system of a vehicle collects environmental images around the vehicle through four cameras, and generates a panoramic image around the vehicle based on the environmental images collected by the four cameras to assist the driver in driving the vehicle (for example, parking, etc.). Since four cameras are required to obtain a panoramic image around the vehicle, the process of obtaining a panoramic image is complicated and the hardware cost of obtaining a panoramic image is high.

[0084] The embodiment of the present application provides a technical solution, which can obtain a panoramic image of the surroundings of the vehicle by using two cameras, thereby reducing the complexity of obtaining the panoramic image and reducing the hardware cost of obtaining the panoramic image.

[0085] The technical solution of the present application is introduced below, and first the method embodiment of the present application is introduced.

[0086] Please refer to Figure 1 , which shows a flow chart of a panoramic image acquisition method provided by an embodiment of the present application. The acquisition method is executed by a panoramic image acquisition device, which is deployed in vehicle A. Figure 1 , the acquisition method includes the following steps S101 to S103.

[0087] S101. During the driving of vehicle A, a first image captured by the first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at a second moment are obtained, the first camera is located on vehicle A and in front of vehicle A, the second camera is located on vehicle A and behind vehicle A, the first moment is the previous moment of the second moment, the first image and the second image both include an environmental image of the left front of vehicle A, an environmental image directly in front of vehicle A, and an environmental image of the right front of vehicle A, and the third image includes an environmental image of the left rear of vehicle A, an environmental image directly behind vehicle A, and an environmental image of the right rear of vehicle A.

[0088] During the driving process of vehicle A, a first camera located on and in front of vehicle A can collect images in front of vehicle A in real time, and a second camera located on and behind vehicle A can collect images in the rear of vehicle A in real time. The images collected by the first camera include environmental images of the left front of vehicle A, environmental images directly in front of vehicle A, and environmental images of the right front of vehicle A. The images collected by the second camera include environmental images of the left rear of vehicle A, environmental images directly behind vehicle A, and environmental images of the right rear of vehicle A. The acquisition device acquires a first image collected by the first camera at a first moment, a second image collected by the first camera at a second moment, and a third image collected by the second camera at a second moment. Since the first image and the second image are both images collected by the first camera, the first image and the second image both include environmental images of the left front of vehicle A, environmental images directly in front of vehicle A, and environmental images of the right front of vehicle A. Since the third image is an image collected by the second camera, the third image includes environmental images of the left rear of vehicle A, environmental images directly behind vehicle A, and environmental images of the right rear of vehicle A. Furthermore, since the first image is an image captured by the first camera at the first moment, the first image includes, at the first moment, an environment image of the left front of vehicle A, an environment image directly in front of vehicle A, and an environment image of the right front of vehicle A. Since the second image is an image captured by the first camera at the second moment, the second image includes, at the second moment, an environment image of the left front of vehicle A, an environment image directly in front of vehicle A, and an environment image of the right front of vehicle A. Since the third image is an image captured by the second camera at the second moment, the third image includes, at the second moment, an environment image of the left rear of vehicle A, an environment image directly in front of vehicle A, and an environment image of the right rear of vehicle A.

[0089] S102. Acquire a fourth image and a fifth image based on the first image, the fourth image and the fifth image are images of different areas in the first image, the fourth image includes an image of the environment in front of the left side of the vehicle A at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle A at the first moment.

[0090] In an optional embodiment, the first image includes a first area, a second area, and a third area, and the first area, the second area, and the third area are arranged in sequence along the first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area. In a specific embodiment, the first area, the second area, and the third area are arranged in sequence and continuously along the first coordinate axis of the first image. The coordinate range corresponding to the first area on the first coordinate axis of the first image, the coordinate range corresponding to the second area on the first coordinate axis, and the coordinate range corresponding to the third area on the first coordinate axis are continuous in sequence. Among them, the coordinate range corresponding to any area of ​​the first area, the second area, and the third area on the first coordinate axis of the first image is the coordinate range covered by the orthographic projection of any area on the first coordinate axis.

[0091] In an optional embodiment, the coordinate range corresponding to the first area on the second coordinate axis of the first image, the coordinate range corresponding to the second area on the second coordinate axis, and the coordinate range corresponding to the third area on the second coordinate axis are the same. The length corresponding to the first area on the first coordinate axis of the first image is equal to the length corresponding to the third area on the first coordinate axis, and the length corresponding to the second area on the first coordinate axis is greater than the length corresponding to the first area on the first coordinate axis. In one embodiment, the ratio of the length corresponding to the first area on the first coordinate axis, the length corresponding to the second area on the first coordinate axis, and the length corresponding to the third area on the first coordinate axis is 1:2:1. In other embodiments, the ratio of the length corresponding to the first area on the first coordinate axis of the first image, the length corresponding to the second area on the first coordinate axis, and the length corresponding to the third area on the first coordinate axis is other values, and the embodiments of the present application do not limit this. Among them, the coordinate range corresponding to any area in the first area, the second area, and the third area on the second coordinate axis is the coordinate range covered by the positive projection of any area on the second coordinate axis. The length corresponding to any one of the first area, the second area and the third area on the first coordinate axis is the span of the coordinate range covered by the orthographic projection of any one of the areas on the first coordinate axis.

[0092] The acquisition device divides the first image into a first region, a second region, and a third region along a first coordinate axis of the first image. The acquisition device acquires an image of the first region and an image of the third region. The acquisition device determines the image of the first region as a fourth image. The acquisition device determines the image of the third region as a fifth image. For example, the acquisition device determines the first region as the fourth image, and the acquisition device determines the third region as the fifth image. Please refer to Figure 2 , which shows a schematic diagram of obtaining a fourth image and a fifth image based on a first image G provided by an embodiment of the present application. Figure 2 , the coordinate axis x is the first coordinate axis of the first image G, and the coordinate axis y is the second coordinate axis of the first image G. The acquisition device divides the first image G into a first region G1, a second region G2, and a third region G3 along the first coordinate axis x. The first region G1, the second region G2, and the third region G3 are arranged successively along the first coordinate axis x. The coordinate range corresponding to the first region G1 on the second coordinate axis y, the coordinate range corresponding to the second region G2 on the second coordinate axis y, and the coordinate range corresponding to the third region G3 on the second coordinate axis y are the same. The length x11 corresponding to the first region G1 on the first coordinate axis x is equal to the length x31 corresponding to the third region G3 on the first coordinate axis x. The length x21 corresponding to the second region G2 on the first coordinate axis x is greater than the length x11 corresponding to the first region G1 on the first coordinate axis x. For example, the ratio of x11, x21, and x31 is 1:2:1. For example, the acquisition device determines the first region G1 as the fourth image, and the acquisition device determines the third region G3 as the fifth image.

[0093] It should be noted that, during the driving of vehicle A, the blind area of ​​the first camera at any moment is the visible area of ​​the first camera at the previous moment (or at least one moment before the any moment). According to the principle of vehicle motion, the environment located in the left front of vehicle A at any moment is located on the left side of vehicle A at the next moment of the any moment, and the environment located in the right front of vehicle A at any moment is located on the right side of vehicle A at the next moment of the any moment. Therefore, there is a correlation between the images captured by the first camera at different moments. The environment image in front of the left side of vehicle A at any moment is the environment image on the left side of vehicle A at the next moment of the any moment, and the environment image in front of the right side of vehicle A at any moment is the environment image on the right side of vehicle A at the next moment of the any moment. Since the second moment is the next moment of the first moment, the environment image in front of the left side of vehicle A at the first moment is the environment image on the left side of vehicle A at the second moment, and the environment image in front of the right side of vehicle A at the first moment is the environment image on the right side of vehicle A at the second moment. Since the fourth image includes the environment image in front of the left side of the vehicle A at the first moment, and the fifth image includes the environment image in front of the right side of the vehicle A at the first moment, the fourth image includes the environment image in front of the left side of the vehicle A at the second moment, and the fifth image includes the environment image in front of the right side of the vehicle A at the second moment. By way of example, the fourth image is the environment image in front of the left side of the vehicle A at the first moment, the fifth image is the environment image in front of the right side of the vehicle A at the first moment, the fourth image is the environment image in front of the left side of the vehicle A at the second moment, and the fifth image is the environment image in the right side of the vehicle A at the second moment. By way of example, the fourth image is referred to as the environment image in front of the left side of the vehicle A at the second moment, the fifth image is referred to as the environment image in front of the vehicle A at the second moment, the second image is referred to as the environment image in front of the vehicle A at the second moment, and the third image is referred to as the environment image in the rear of the vehicle A at the second moment.

[0094] S103. Stitch the second image, the third image, the fourth image and the fifth image to obtain a panoramic image around the vehicle A at the second moment.

[0095] In an optional embodiment, the acquisition device acquires a stitching template; the acquisition device stitches the second image, the third image, the fourth image and the fifth image according to the stitching template to obtain a panoramic image around the vehicle A at the second moment. For example, Figure 3 is a schematic diagram of the panoramic image. Figure 3 In , "B" represents the second image, "C" represents the third image, "G1" represents the fourth image, "G2" represents the fifth image, the coordinate axis x is the first coordinate axis of the panoramic image, and the coordinate axis y is the second coordinate axis of the panoramic image. Figure 3As shown, in the panoramic image: the second image B and the third image C are both located between the fourth image G1 and the fifth image G2, the fourth image G1, the second image B and the fifth image G2 are arranged in sequence along the first coordinate axis x, the second image B and the third image C are arranged in sequence along the second coordinate axis y, the coordinate range corresponding to the second image B on the first coordinate axis x is the same as the coordinate range corresponding to the third image C on the first coordinate axis x, the coordinate range corresponding to the fourth image G1 on the second coordinate axis y is the same as the coordinate range corresponding to the fifth image G2 on the second coordinate axis y, the coordinate range corresponding to the second image B on the second coordinate axis y is continuous with the coordinate range corresponding to the third image C on the second coordinate axis y, and the union of the coordinate range corresponding to the second image B on the second coordinate axis y and the coordinate range corresponding to the third image C on the second coordinate axis y is the same as the coordinate range corresponding to the fourth image G1 on the second coordinate axis y. In a specific embodiment, as Figure 3 As shown, the fourth image G1, the second image B and the fifth image G2 are arranged successively along the first coordinate axis x, and the second image B and the third image C are arranged successively along the second coordinate axis y. The coordinate range corresponding to the fourth image G1 on the first coordinate axis x, the coordinate range corresponding to the second image B on the first coordinate axis x, and the coordinate range corresponding to the fifth image G2 on the first coordinate axis x are successively continuous, and the coordinate range corresponding to the second image B on the second coordinate axis y and the coordinate range corresponding to the third image C on the second coordinate axis y are successively continuous. The length y1 corresponding to the second image B on the second coordinate axis y is equal to the length y2 corresponding to the third image C on the second coordinate axis y. The length x12 corresponding to the fourth image G1 on the first coordinate axis x is equal to the length x32 corresponding to the fifth image G2 on the first coordinate axis x. Among them, the coordinate range corresponding to any image of the second image B, the third image C, the fourth image G1 and the fifth image G2 on the first coordinate axis x is the coordinate range covered by the orthographic projection of any image on the first coordinate axis x. The coordinate range corresponding to any image among the second image B, the third image C, the fourth image G1 and the fifth image G2 on the second coordinate axis y is the coordinate range covered by the orthographic projection of any image on the second coordinate axis y. The length corresponding to any image among the second image B and the third image C on the second coordinate axis y is the span of the coordinate range covered by the orthographic projection of any image on the second coordinate axis y. The length corresponding to any image among the fourth image G1 and the fifth image G2 on the first coordinate axis x is the span of the coordinate range covered by the orthographic projection of any image on the first coordinate axis x.

[0096] For specific embodiments, please refer to Figure 4, which shows a schematic diagram of a splicing template provided by an embodiment of the present application. The splicing template includes a first idle block F1 corresponding to the front environment image, a second idle block F2 corresponding to the rear environment image, a third idle block F3 corresponding to the left environment image, and a fourth idle block F4 corresponding to the right environment image. In the splicing template: the first free block F1 and the second free block F2 are both located between the third free block F3 and the fourth free block F4, the third free block F3, the first free block F1 and the fourth free block F4 are arranged in sequence along the first coordinate axis x of the splicing template, the first free block F1 and the second free block F2 are arranged in sequence along the second coordinate axis y of the splicing template, the coordinate range corresponding to the first free block F1 on the first coordinate axis x is the same as the coordinate range corresponding to the second free block F2 on the first coordinate axis x, the coordinate range corresponding to the third free block F3 on the second coordinate axis y is the same as the coordinate range corresponding to the fourth free block F4 on the second coordinate axis y, the coordinate range corresponding to the first free block F1 on the second coordinate axis y is continuous with the coordinate range corresponding to the second free block F2 on the second coordinate axis y, and the union of the coordinate range corresponding to the first free block F1 on the second coordinate axis y and the coordinate range corresponding to the second free block F2 on the second coordinate axis y is the same as the coordinate range corresponding to the third free block F3 on the second coordinate axis y. For example, the length y1 corresponding to the first free block F1 on the second coordinate axis y is equal to the length y2 corresponding to the second free block F2 on the second coordinate axis y, and the length x12 corresponding to the third free block F3 on the first coordinate axis x is equal to the length x32 corresponding to the fourth free block F4 on the first coordinate axis x. The acquisition device adds the second image B (that is, the front environment image of the vehicle A at the second moment) to the first free block F1, the acquisition device adds the third image C (that is, the rear environment image of the vehicle A at the second moment) to the second free block F2, the acquisition device adds the fourth image G1 (that is, the left environment image of the vehicle A at the second moment) to the third free block F3, and the acquisition device adds the fifth image G2 (that is, the right environment image of the vehicle A at the second moment) to the fourth free block F4. In this way, the second image B, the third image C, the fourth image G1 and the fifth image G2 are spliced ​​according to the splicing template. After splicing, the following can be obtained: Figure 3 Panoramic image shown.

[0097] In a specific embodiment, the acquisition device extracts features from the second image B, the third image C, the fourth image G1, and the fifth image G2, respectively, to obtain image features of the second image B, the third image C, the fourth image G1, and the fifth image G2. The acquisition device determines that the second image B is a front environment image based on the image features of the second image B, and the acquisition device adds the second image B to the first free block F1. The acquisition device determines that the third image C is a rear environment image based on the image features of the third image C, and the acquisition device adds the third image C to the second free block F2. The acquisition device determines that the fourth image G1 is a left environment image based on the image features of the fourth image G1, and the acquisition device adds the fourth image G1 to the third free block F3. The acquisition device determines that the fifth image G2 is a right environment image based on the image features of the fifth image G2, and the acquisition device adds the fifth image G2 to the fourth free block F4.

[0098] In an optional embodiment, after the acquisition device stitches the second image, the third image, the fourth image, and the fifth image, the acquisition device fuses the stitched panoramic image to reduce the stitching gaps between the second image, the third image, the fourth image, and the fifth image. For example, the acquisition device fuses the stitched panoramic image through a deep learning neural network, which is not limited in the embodiment of the present application.

[0099] In the embodiment of the present application, an acquisition device acquires a panoramic image of the surroundings of vehicle A at the second moment according to a first image acquired by the first camera at the first moment, a second image acquired by the first camera at the second moment, and a third image acquired by the second camera at the second moment as an example. In an optional embodiment, the acquisition device also acquires a panoramic image of the surroundings of vehicle A at the third moment according to the image acquired by the first camera at the second moment, the image acquired by the first camera at the third moment, and the image acquired by the second camera at the third moment. The acquisition device also acquires a panoramic image of the surroundings of vehicle A at the fourth moment according to the image acquired by the first camera at the third moment, the image acquired by the first camera at the fourth moment, and the image acquired by the second camera at the fourth moment. That is, during the driving process of vehicle A, the acquisition device can acquire a panoramic image of the surroundings of vehicle A at any moment according to the image acquired by the first camera at the previous moment, the image acquired by the first camera at any moment, and the image acquired by the second camera at any moment. The specific implementation process can refer to the relevant descriptions in S101 to S103, which will not be repeated here.

[0100] In summary, the technical solution provided in the embodiment of the present application can obtain panoramic images around the vehicle using two cameras, which can reduce the complexity of obtaining panoramic images around the vehicle and reduce the hardware cost of obtaining panoramic images around the vehicle.

[0101] In an optional embodiment, before the first camera and the second camera capture images, for example, before the acquisition device acquires a first image captured by the first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at a second moment, the first camera and the second camera are calibrated to obtain camera parameters of the first camera and camera parameters of the second camera.

[0102] Please refer to Figure 5 , which shows a flow chart of a method for calibrating a first camera and a second camera provided in an embodiment of the present application. Figure 5 As shown, the method includes the following steps S501 to S505.

[0103] S501. Park vehicle A in a vehicle parking area of ​​a calibration site, which includes a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle.

[0104] In one embodiment, vehicle A is an intelligent driving vehicle, and the acquisition device controls vehicle A to park in the vehicle parking area of ​​the calibration site. In another embodiment, vehicle A is a non-intelligent driving vehicle, and the acquisition device prompts the driver to park vehicle A in the vehicle parking area of ​​the calibration site.

[0105] Please refer to Figure 6 , which shows a schematic diagram of a calibration site provided in an embodiment of the present application. The calibration site includes a vehicle parking area, a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area. Among them, the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle. That is, after the vehicle is parked in the vehicle parking area, the front of the vehicle is close to the front of the vehicle parking area, the rear of the vehicle is close to the rear of the vehicle parking area, the left side of the vehicle is close to the left side of the vehicle parking area, and the right side of the vehicle is close to the right side of the vehicle parking area.

[0106] In an optional embodiment, if Figure 6As shown, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and an elliptical pattern. In each calibration pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are tangent to the elliptical pattern. In an optional embodiment, the shape of the vehicle parking area is a rectangle, and the centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the first vertex of the vehicle parking area are collinear. The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the second vertex of the vehicle parking area are collinear. The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the third vertex of the vehicle parking area are collinear. The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear. Among them, the four calibration patterns (i.e., the first calibration pattern, the second calibration pattern, the third calibration pattern, and the fourth calibration pattern) correspond one-to-one to the four vertices of the vehicle parking area. Among the four vertices of the vehicle parking area, the vertex corresponding to each calibration pattern is the vertex closest to each calibration pattern among the four vertices. The first calibration pattern corresponds to the first vertex of the vehicle parking area. The second calibration pattern corresponds to the second vertex of the vehicle parking area. The third calibration pattern corresponds to the third vertex of the vehicle parking area. The fourth calibration pattern corresponds to the fourth vertex of the vehicle parking area.

[0107] In an optional embodiment, if Figure 6As shown, the shape of the calibration site is also a rectangle, the vehicle parking area is located in the central area of ​​the calibration site, and the four sides of the vehicle parking area are parallel to the four sides of the calibration site in a one-to-one correspondence. The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, the first vertex of the vehicle parking area, and the first vertex of the calibration site are collinear. The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, the second vertex of the vehicle parking area, and the second vertex of the calibration site are collinear. The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, the third vertex of the vehicle parking area, and the third vertex of the calibration site are collinear. The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, the fourth vertex of the vehicle parking area, and the fourth vertex of the calibration site are collinear. Among them, the four calibration patterns (i.e., the first calibration pattern, the second calibration pattern, the third calibration pattern, and the fourth calibration pattern) correspond one-to-one to the four vertices of the vehicle parking area, and the four calibration patterns correspond one-to-one to the four vertices of the calibration site. Among the four vertices of the vehicle parking area, the vertex corresponding to each calibration pattern is the vertex that is closest to each calibration pattern among the four vertices. Among the four vertices of the calibration site, the vertex corresponding to each calibration pattern is the vertex that is closest to each calibration pattern among the four vertices. The first calibration pattern corresponds to the first vertex of the vehicle parking area, and the first calibration pattern corresponds to the first vertex of the calibration site. The second calibration pattern corresponds to the second vertex of the vehicle parking area, and the second calibration pattern corresponds to the second vertex of the calibration site. The third calibration pattern corresponds to the third vertex of the vehicle parking area, and the third calibration pattern corresponds to the third vertex of the calibration site. The fourth calibration pattern corresponds to the fourth vertex of the vehicle parking area, and the fourth calibration pattern corresponds to the fourth vertex of the calibration site.

[0108] S502. Capture a first picture through a first camera, where the first picture includes a first calibration pattern and a second calibration pattern. The first camera is located on vehicle A and in front of vehicle A.

[0109] The acquisition device controls the first camera to capture the first picture.

[0110] Since the first camera is located at vehicle A and in front of vehicle A, and the first calibration pattern is located at the left front of the vehicle parking area, and the second calibration pattern is located at the right front of the vehicle parking area, the first picture captured by the first camera includes the first calibration pattern and the second calibration pattern.

[0111] S503. Capture a second picture through a second camera, where the second picture includes a third calibration pattern and a fourth calibration pattern. The second camera is located on vehicle A and behind vehicle A.

[0112] The acquisition device controls the second camera to capture the second picture.

[0113] Since the second camera is located at vehicle A and behind vehicle A, and the third calibration pattern is located at the left rear of the vehicle parking area, and the fourth calibration pattern is located at the right rear of the vehicle parking area, the second picture captured by the second camera includes the third calibration pattern and the fourth calibration pattern.

[0114] S504: Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture.

[0115] In an optional embodiment, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern. In each calibration pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are tangent to the elliptical pattern. The acquisition device calibrates the first camera according to the tangent point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the tangent point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture. In a specific embodiment, the acquisition device identifies the intersection point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and identifies the intersection point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture; the acquisition device determines the intersection point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture and the intersection point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture as detection points (it can be understood that a total of 8 detection points can be determined); the acquisition device calibrates the first camera according to the information of the detection points determined from the first picture.

[0116] In a specific embodiment, the acquisition device detects the first picture using an edge detection algorithm to identify the intersection point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and to identify the intersection point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture. The acquisition device extracts information of the detection point determined from the first picture using an edge detection algorithm. The acquisition device obtains the camera parameters of the first camera based on the information of the detection point determined from the first picture to calibrate the first camera. The edge detection algorithm may be a Canny algorithm, a Sobel algorithm, a Laplacian algorithm, or the like.

[0117] Among them, the detection point is also called a control point, a key point or a calibration point. In the embodiment of the present application, the tangent point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture and the tangent point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture are determined as detection points. Therefore, the accuracy of the determined detection points is high, which can improve the accuracy of calibration of the first camera.

[0118] S505. Calibrate the second camera according to the third calibration pattern and the fourth calibration pattern in the second picture.

[0119] In an optional embodiment, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern. In each calibration pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are tangent to the elliptical pattern. The acquisition device calibrates the second camera according to the tangent point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and the tangent point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture. In a specific embodiment, the acquisition device identifies the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and identifies the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture; the acquisition device determines the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture and the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture as detection points (it can be understood that a total of 8 detection points can be determined); the acquisition device calibrates the second camera according to the information of the detection points determined from the second picture.

[0120] In a specific embodiment, the acquisition device detects the second picture using an edge detection algorithm to identify the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and to identify the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture. The acquisition device extracts information of the detection point determined from the second picture using an edge detection algorithm. The acquisition device obtains the camera parameters of the second camera based on the information of the detection point determined from the second picture to calibrate the second camera. The edge detection algorithm may be a Canny algorithm, a Sobel algorithm, a Laplacian algorithm, or the like.

[0121] Among them, the detection point is also called a control point, a key point or a calibration point. In the embodiment of the present application, the tangent point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture and the tangent point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture are determined as detection points. Therefore, the accuracy of the determined detection points is high, which can improve the accuracy of calibration of the second camera.

[0122] In the process of calibrating the first camera and the second camera in the embodiment of the present application, the accuracy of the detection points used is relatively high, so the accuracy of calibrating the first camera and the second camera is relatively high. The distortion and viewing angle deviation of the images captured by the calibrated first camera and the calibrated second camera are both relatively small. The embodiment of the present application can improve the robustness of calibrating the first camera and the second camera.

[0123] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0124] Please refer to Figure 7 , which shows a schematic diagram of a panoramic image acquisition device 700 provided in an embodiment of the present application. The acquisition device 700 is used to perform Figure 1 and Figure 5 The method provided in the embodiment shown. Figure 7 As shown, the acquisition device 700 includes a first acquisition module 710 , a second acquisition module 720 and a splicing module 730 .

[0125] The first acquisition module 710 is used to acquire a first image captured by the first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at a second moment during the driving process of the vehicle, wherein the first camera is located on the vehicle and in front of the vehicle, and the second camera is located on the vehicle and behind the vehicle, the first moment is the moment before the second moment, and the first image and the second image both include an environmental image of the left front of the vehicle, an environmental image directly in front of the vehicle, and an environmental image of the right front of the vehicle, and the third image includes an environmental image of the left rear of the vehicle, an environmental image directly behind the vehicle, and an environmental image of the right rear of the vehicle. For the implementation of the functions of the first acquisition module 710, please refer to the relevant description in the above step S101.

[0126] The second acquisition module 720 is used to acquire a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different regions in the first image, wherein the fourth image includes an image of the environment in front of the left side of the vehicle at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle at the first moment. For the implementation of the function of the second acquisition module 720, please refer to the relevant description in the above step S102.

[0127] The stitching module 730 is used to stitch the second image, the third image, the fourth image and the fifth image to obtain a panoramic image of the surroundings of the vehicle at the second moment. For the implementation of the function of the stitching module 730, please refer to the relevant description in the above step S103.

[0128] In an optional embodiment, the stitching module 730 is used to: obtain a stitching template; and stitch the second image, the third image, the fourth image, and the fifth image according to the stitching template to obtain a panoramic image around the vehicle at the second moment.

[0129] Optionally, the first image includes a first area, a second area and a third area, the first area, the second area and the third area are arranged in sequence along a first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area; in the panoramic image, the second image and the third image are both located between the fourth image and the fifth image, the fourth image, the second image and the fifth image are arranged in sequence along the first coordinate axis of the panoramic image, the second image and the third image are arranged in sequence along the second coordinate axis of the panoramic image, the coordinate range corresponding to the second image on the first coordinate axis is the same as the coordinate range corresponding to the third image on the first coordinate axis, the coordinate range corresponding to the fourth image on the second coordinate axis is the same as the coordinate range corresponding to the fifth image on the second coordinate axis, the coordinate range corresponding to the second image on the second coordinate axis is continuous with the coordinate range corresponding to the third image on the second coordinate axis, and the union of the coordinate range corresponding to the second image on the second coordinate axis and the coordinate range corresponding to the third image on the second coordinate axis is the same as the coordinate range corresponding to the fourth image on the second coordinate axis.

[0130] For optional embodiments, please continue to refer to Figure 7 , the acquisition device 700 also includes a calibration module 740.

[0131] The calibration module 740 is used to:

[0132] Parking the vehicle in a vehicle parking area of ​​a calibration site, the calibration site comprising a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle;

[0133] Capturing a first picture through a first camera, where the first picture includes a first calibration pattern and a second calibration pattern;

[0134] Capturing a second picture through a second camera, wherein the second picture includes a third calibration pattern and a fourth calibration pattern;

[0135] Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture;

[0136] The second camera is calibrated according to the third calibration pattern and the fourth calibration pattern in the second picture.

[0137] In an optional embodiment, each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and an elliptical pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are both located on the straight line where the major axis of the elliptical pattern is located, and the two circular patterns are both tangent to the elliptical pattern;

[0138] The calibration module 740 is used to: calibrate the first camera according to the intersection point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the intersection point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture; calibrate the second camera according to the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture.

[0139] In an optional embodiment, the shape of the vehicle parking area is a rectangle, and the centers of two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the first vertex of the vehicle parking area are collinear; the centers of two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the second vertex of the vehicle parking area are collinear; the centers of two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the third vertex of the vehicle parking area are collinear; the centers of two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear.

[0140] In an optional embodiment, the calibration site is in a rectangular shape, the vehicle parking area is located in the central area of ​​the calibration site, and the four sides of the vehicle parking area are parallel to the four sides of the calibration site in a one-to-one correspondence;

[0141] The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, the first vertex of the vehicle parking area, and the first vertex of the calibration site are collinear;

[0142] The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, the second vertex of the vehicle parking area, and the second vertex of the calibration site are collinear;

[0143] The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, the third vertex of the vehicle parking area, and the third vertex of the calibration site are collinear;

[0144] The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, the fourth vertex of the vehicle parking area, and the fourth vertex of the calibration site are collinear.

[0145] In summary, the technical solution provided in the embodiment of the present application can obtain panoramic images around the vehicle using two cameras, which can reduce the complexity of obtaining panoramic images around the vehicle and reduce the hardware cost of obtaining panoramic images around the vehicle.

[0146] The present application embodiment provides a panoramic image acquisition device, comprising a memory and a processor. The memory is used to store a computer program. The processor is used to execute the computer program stored in the memory so that the panoramic image acquisition device performs the following steps: Figure 1 and Figure 5 The method provided by the illustrated embodiment.

[0147] An embodiment of the present application provides a vehicle, comprising the panoramic image acquisition device in the above embodiment.

[0148] As an example, see Figure 8 , which shows a schematic diagram of a vehicle 800 provided in an embodiment of the present application. The panoramic image acquisition device described in the above embodiment is deployed in the vehicle 800.

[0149] Typically, vehicle 800 includes: a processor 801 and a memory 802 .

[0150] The processor 801 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 801 may be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 801 may include but is not limited to a central processing unit (CPU). In some embodiments, the processor 801 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In other embodiments, the processor 801 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0151] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 802 is used to store at least one instruction, which is used to be executed by the processor 801 to implement the method provided in the embodiment of the present application.

[0152] In some embodiments, the vehicle 800 may further include: a peripheral device interface 803 and at least one peripheral device. The processor 801, the memory 802 and the peripheral device interface 803 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral device interface 803 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 804, a display screen 805, a camera assembly 806, an audio circuit 807, a positioning assembly 808 and a power supply 809.

[0153] The peripheral device interface 803 may be used to connect at least one peripheral device related to input / output (I / O) to the processor 801 and the memory 802. In some embodiments, the processor 801, the memory 802, and the peripheral device interface 803 are integrated on the same chip or circuit board. In other embodiments, any one or two of the processor 801, the memory 802, and the peripheral device interface 803 may be implemented on a separate chip or circuit board, which is not limited in the embodiments of the present application.

[0154] The radio frequency circuit 804 is used to receive and transmit radio frequency (RF) signals, also known as electromagnetic signals. The radio frequency circuit 804 communicates with communication networks and other communication devices through electromagnetic signals. The radio frequency circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, and the like. The radio frequency circuit 804 can communicate with other devices through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a wireless fidelity (WiFi) network. In some embodiments, the radio frequency circuit 804 may also include circuits related to near field communication (NFC), which is not limited in the embodiments of the present application.

[0155] The display screen 805 is used to display a user interface (UI). The UI may include text, images, videos, and any combination thereof. When the display screen 805 is a touch display screen, the display screen 805 also has the ability to collect touch signals on the surface or above the surface of the display screen 805. The touch signal may be input to the processor 801 as a control signal for processing. At this time, the display screen 805 may also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. The display screen 805 may be at least one, arranged at any possible position of the vehicle 800. In some embodiments, the display screen 805 may be a flexible display screen, arranged on a curved surface or a folding surface of the vehicle 800. Even, the display screen 805 may also be arranged as a non-rectangular irregular figure, i.e., a special-shaped screen. The display screen 605 may be a liquid crystal display (LCD), an organic light-emitting diode (OLED) display screen, etc.

[0156] The camera assembly 806 is used to capture images or videos. In an embodiment of the present application, the camera assembly 806 includes a first camera (also referred to as a front camera) located on the vehicle 800 and in front of the vehicle 800, and a second camera (also referred to as a rear camera) located on the vehicle 800 and behind the vehicle 800. In some embodiments, the first camera and the second camera respectively include any one of a depth of field camera, a wide-angle camera, and a telephoto camera. In other embodiments, the camera assembly 806 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures. Optionally, in an embodiment of the present application, the processor 801 can obtain a panoramic image around the vehicle 800 based on the image captured by the first camera and the image captured by the second camera, and the display screen 805 is used to display the panoramic image.

[0157] The audio circuit 807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 801 for processing, or input them into the radio frequency circuit 804 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there can be multiple microphones, which are respectively arranged in different parts of the vehicle 800. The microphone can also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 801 or the radio frequency circuit 804 into sound waves. The speaker can be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging.

[0158] The positioning component 808 is used to locate the current geographical location of the vehicle 800 to implement navigation or location based service (LBS). The positioning component 808 can be a positioning component based on the global positioning system (GPS), Beidou system or Galileo system.

[0159] The power supply 809 is used to power various components in the vehicle 800. The power supply 809 can be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 809 includes a rechargeable battery, the rechargeable battery can be a wired rechargeable battery or a wireless rechargeable battery. A wired rechargeable battery is a battery charged through a wired line, and a wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0160] In some embodiments, the vehicle 800 further includes one or more sensors 810 , including but not limited to: an acceleration sensor 811 , a gyroscope sensor 812 , a pressure sensor 813 , a fingerprint sensor 814 , an optical sensor 815 , and a proximity sensor 816 .

[0161] The acceleration sensor 811 can detect the acceleration of the vehicle 800 while it is traveling.

[0162] The gyro sensor 812 can detect the body direction and rotation angle of the vehicle 800 .

[0163] The pressure sensor 813 may be disposed at the lower layer of the display screen 805 of the vehicle 800. The processor 801 controls the operability controls on the UI interface according to the user's pressure operation on the display screen 805. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0164] The fingerprint sensor 814 is used to collect the user's fingerprint, and the processor 801 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 814. When the user's identity is identified as a trusted identity, the processor 801 authorizes the user to perform related operations, including unlocking the screen, viewing encrypted information, downloading software, and changing settings.

[0165] The optical sensor 815 is used to collect the ambient light intensity. In one embodiment, the processor 801 can control the display brightness of the display screen 805 according to the ambient light intensity collected by the optical sensor 815. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display screen 805 is reduced. In another embodiment, the processor 801 can also dynamically adjust the shooting parameters of the camera component 806 according to the ambient light intensity collected by the optical sensor 815.

[0166] The proximity sensor 816, also called a distance sensor, is usually arranged near the display screen 805 of the vehicle 800. The proximity sensor 816 is used to collect the distance between the user and the display screen 805. In one embodiment, when the proximity sensor 816 detects that the distance between the user and the display screen 805 is gradually decreasing, the processor 801 controls the display screen 805 to switch from the screen-on state to the screen-off state; when the proximity sensor 816 detects that the distance between the user and the display screen 805 is gradually increasing, the processor 801 controls the display screen 805 to switch from the screen-off state to the screen-on state.

[0167] Those skilled in the art will understand that Figure 8The structure shown in the figure does not constitute a limitation on the vehicle 800. The vehicle 800 may include more or fewer components than those shown in the figure, or combine certain components, or adopt a different arrangement of components.

[0168] Optionally, the processor 801 and the memory 802 in the vehicle 800 constitute a panoramic image acquisition device.

[0169] The present application provides a computer-readable storage medium in which a computer program is stored. When the computer program is executed (for example, by a vehicle, a panoramic image acquisition device, one or more processors, etc.), the following is achieved: Figure 1 and Figure 5 The method provided by the illustrated embodiment.

[0170] The present application provides a computer program product including a program or code. When the program or code is executed (for example, by a vehicle, a panoramic image acquisition device deployed in the vehicle, one or more processors, etc.), the following is achieved: Figure 1 and Figure 5 The method provided by the illustrated embodiment.

[0171] It should be understood that the term "at least one" in this application refers to one or more, and "plurality" refers to two or more. The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0172] In addition, for the sake of clarity of description, the present application uses words such as "first", "second", and "third" to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that words such as "first", "second", and "third" do not limit the quantity and execution order.

[0173] The different types of embodiments such as the method embodiments and device embodiments provided in the embodiments of the present application can refer to each other, and the embodiments of the present application are not limited thereto. The sequence of operations of the method embodiments provided in the embodiments of the present application can be appropriately adjusted, and the operations can also be increased or decreased in response to the situation. Any technician familiar with the technical field can easily think of the changed methods within the technical scope disclosed in the present application, and they should be included in the protection scope of the present application, so they will not be repeated.

[0174] In the embodiments of the present application, it should be understood that the disclosed devices and the like can be implemented by other configuration methods. For example, the device embodiments described above are only illustrative, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0175] The modules described as separate components may or may not be physically separate, and the components described as modules may or may not be physical modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0176] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for acquiring a panoramic image, characterized in that: The method comprises: During the driving of the vehicle, a first image captured by a first camera at a first moment, a second image captured by the first camera at a second moment, and a third image captured by the second camera at the second moment are acquired, the first camera is located on the vehicle and in front of the vehicle, the second camera is located on the vehicle and behind the vehicle, the first moment is a moment before the second moment, the first image and the second image both include an environment image in front of the left side of the vehicle, an environment image directly in front of the vehicle, and an environment image in front of the right side of the vehicle, and the third image includes an environment image in rear left side of the vehicle, an environment image directly behind the vehicle, and an environment image in rear right side of the vehicle; Acquire a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different regions in the first image, the fourth image includes an image of the environment in front of the left side of the vehicle at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle at the first moment; The second image, the third image, the fourth image and the fifth image are stitched together to obtain a panoramic image around the vehicle at the second moment.

2. The method according to claim 1, characterized in that The step of stitching the second image, the third image, the fourth image, and the fifth image to obtain a panoramic image around the vehicle at the second moment includes: Get the splicing template; The second image, the third image, the fourth image and the fifth image are stitched together according to the stitching template to obtain a panoramic image around the vehicle at the second moment.

3. The method according to claim 1, characterized in that: The first image includes a first area, a second area, and a third area, the first area, the second area, and the third area are arranged in sequence along a first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area; In the panoramic image, the second image and the third image are both located between the fourth image and the fifth image, the fourth image, the second image and the fifth image are arranged in sequence along the first coordinate axis of the panoramic image, the second image and the third image are arranged in sequence along the second coordinate axis of the panoramic image, the coordinate range corresponding to the second image on the first coordinate axis is the same as the coordinate range corresponding to the third image on the first coordinate axis, the coordinate range corresponding to the fourth image on the second coordinate axis is the same as the coordinate range corresponding to the fifth image on the second coordinate axis, the coordinate range corresponding to the second image on the second coordinate axis is continuous with the coordinate range corresponding to the third image on the second coordinate axis, and the union of the coordinate range corresponding to the second image on the second coordinate axis and the coordinate range corresponding to the third image on the second coordinate axis is the same as the coordinate range corresponding to the fourth image on the second coordinate axis.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: Parking the vehicle in a vehicle parking area of ​​a calibration site, wherein the calibration site includes a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle; Capturing a first picture through the first camera, where the first picture includes the first calibration pattern and the second calibration pattern; Capturing a second picture through the second camera, where the second picture includes the third calibration pattern and the fourth calibration pattern; Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture; The second camera is calibrated according to the third calibration pattern and the fourth calibration pattern in the second picture.

5. The method according to claim 4, characterized in that Each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are both located on a straight line where the major axis of the elliptical pattern is located, and the two circular patterns are both tangent to the elliptical pattern; The calibrating the first camera according to the first calibration pattern and the second calibration pattern in the first picture includes: calibrating the first camera according to the tangent point of the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the tangent point of the circular pattern and the elliptical pattern in the second calibration pattern in the first picture; The calibrating the second camera according to the third calibration pattern and the fourth calibration pattern in the second picture includes: calibrating the second camera according to the intersection point of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture, and the intersection point of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture.

6. The method according to claim 5, characterized in that The shape of the vehicle parking area is rectangular, The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the collinearity of the first vertex of the vehicle parking area; The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the collinearity of the second vertex of the vehicle parking area; The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the collinearity of the third vertex of the vehicle parking area; The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear.

7. A panoramic image acquisition device, characterized in that: The acquisition device comprises: A first acquisition module, used for acquiring, during the driving of the vehicle, a first image acquired by a first camera at a first moment, a second image acquired by the first camera at a second moment, and a third image acquired by the second camera at the second moment, wherein the first camera is located on the vehicle and in front of the vehicle, the second camera is located on the vehicle and behind the vehicle, the first moment is a moment before the second moment, the first image and the second image both include an environment image of the left front of the vehicle, an environment image directly in front of the vehicle, and an environment image of the right front of the vehicle, and the third image includes an environment image of the left rear of the vehicle, an environment image directly behind the vehicle, and an environment image of the right rear of the vehicle; a second acquisition module, configured to acquire a fourth image and a fifth image based on the first image, wherein the fourth image and the fifth image are images of different regions in the first image, the fourth image includes an image of the environment in front of the left side of the vehicle at the first moment, and the fifth image includes an image of the environment in front of the right side of the vehicle at the first moment; A stitching module is used to stitch the second image, the third image, the fourth image and the fifth image to obtain a panoramic image around the vehicle at the second moment.

8. The acquisition device according to claim 7, characterized in that: The splicing module is used for: Get the splicing template; The second image, the third image, the fourth image and the fifth image are stitched together according to the stitching template to obtain a panoramic image around the vehicle at the second moment.

9. The acquisition device according to claim 7, characterized in that: The first image includes a first area, a second area, and a third area, the first area, the second area, and the third area are arranged in sequence along a first coordinate axis of the first image, the fourth image is an image of the first area, and the fifth image is an image of the third area; In the panoramic image, the second image and the third image are both located between the fourth image and the fifth image, the fourth image, the second image and the fifth image are arranged in sequence along the first coordinate axis of the panoramic image, the second image and the third image are arranged in sequence along the second coordinate axis of the panoramic image, the coordinate range corresponding to the second image on the first coordinate axis is the same as the coordinate range corresponding to the third image on the first coordinate axis, the coordinate range corresponding to the fourth image on the second coordinate axis is the same as the coordinate range corresponding to the fifth image on the second coordinate axis, the coordinate range corresponding to the second image on the second coordinate axis is continuous with the coordinate range corresponding to the third image on the second coordinate axis, and the union of the coordinate range corresponding to the second image on the second coordinate axis and the coordinate range corresponding to the third image on the second coordinate axis is the same as the coordinate range corresponding to the fourth image on the second coordinate axis.

10. The acquisition device according to any one of claims 7 to 9, characterized in that: The acquisition device further includes: a calibration module, which is used to: Parking the vehicle in a vehicle parking area of ​​a calibration site, wherein the calibration site includes a first calibration pattern located at the left front of the vehicle parking area, a second calibration pattern located at the right front of the vehicle parking area, a third calibration pattern located at the left rear of the vehicle parking area, and a fourth calibration pattern located at the right rear of the vehicle parking area, wherein the front of the vehicle parking area corresponds to the front of the vehicle, the rear of the vehicle parking area corresponds to the rear of the vehicle, the left side of the vehicle parking area corresponds to the left side of the vehicle, and the right side of the vehicle parking area corresponds to the right side of the vehicle; Capturing a first picture through the first camera, where the first picture includes the first calibration pattern and the second calibration pattern; Capturing a second picture through the second camera, where the second picture includes the third calibration pattern and the fourth calibration pattern; Calibrate the first camera according to the first calibration pattern and the second calibration pattern in the first picture; The second camera is calibrated according to the third calibration pattern and the fourth calibration pattern in the second picture.

11. The acquisition device according to claim 10, characterized in that: Each of the first calibration pattern, the second calibration pattern, the third calibration pattern and the fourth calibration pattern includes two circular patterns and one elliptical pattern, the elliptical pattern is located between the two circular patterns, the centers of the two circular patterns are both located on a straight line where the major axis of the elliptical pattern is located, and the two circular patterns are both tangent to the elliptical pattern; The calibration module is used for: Calibrate the first camera according to the tangent point between the circular pattern and the elliptical pattern in the first calibration pattern in the first picture, and the tangent point between the circular pattern and the elliptical pattern in the second calibration pattern in the first picture; The second camera is calibrated according to the tangent points of the circular pattern and the elliptical pattern in the third calibration pattern in the second picture and the tangent points of the circular pattern and the elliptical pattern in the fourth calibration pattern in the second picture.

12. The acquisition device according to claim 11, characterized in that: The shape of the vehicle parking area is rectangular, The centers of the two circular patterns in the first calibration pattern, the major axis of the elliptical pattern in the first calibration pattern, and the collinearity of the first vertex of the vehicle parking area; The centers of the two circular patterns in the second calibration pattern, the major axis of the elliptical pattern in the second calibration pattern, and the collinearity of the second vertex of the vehicle parking area; The centers of the two circular patterns in the third calibration pattern, the major axis of the elliptical pattern in the third calibration pattern, and the collinearity of the third vertex of the vehicle parking area; The centers of the two circular patterns in the fourth calibration pattern, the major axis of the elliptical pattern in the fourth calibration pattern, and the fourth vertex of the vehicle parking area are collinear.

13. A panoramic image acquisition device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory so that the acquisition device performs the method according to any one of claims 1 to 6.

Images