Panoramic photo generation method and device based on holder, equipment and medium

Abstract

The invention relates to the technical field of image acquisition and processing. The method comprises the following steps: obtaining a panoramic shooting starting instruction, obtaining an image acquisition position parameter set of a plurality of shooting visual angles according to the shooting starting instruction, obtaining an image acquisition position parameter set of a plurality of shooting visual angles based on the image acquisition position parameter set of the plurality of shooting visual angles, and generating a panoramic picture according to the image acquisition position parameter set. When the mobile terminal equipment reaches a corresponding acquisition position, acquiring environment illumination intensity information, obtaining adjusted exposure parameters according to the illumination intensity information, obtaining multiple pieces of image information according to the adjusted exposure parameters, organizing the multiple pieces of image information into an image information sequence in sequence, and acquiring the image information based on the image information sequence; and extracting edge feature information between the images, generating a panoramic image based on the edge feature information, and performing spherical mapping rendering processing on the panoramic image to obtain a rendered panoramic image. The method has the effect of improving image processing.

Description

Technical Field

[0001] The present invention relates to the technical field of image acquisition and processing, and in particular to a method, device, equipment and medium for generating panoramic photos based on a pan / tilt platform. Background Art

[0002] With the development of mobile shooting equipment and image processing technology, panoramic image acquisition solutions based on gimbal control have gradually been applied to various scenarios such as drone aerial photography and handheld stabilizer photography.

[0003] In existing technologies, the gimbal is typically controlled to rotate a mobile device at fixed angles, capturing images from multiple directions and then synthesizing a panoramic image using an image stitching algorithm. While this method offers a certain degree of automation, it still presents numerous challenges in practical applications. For example, lighting conditions vary significantly from shooting angle to shooting angle, and uniform exposure parameters can easily lead to inconsistent image brightness, compromising the stitching effect. Furthermore, the image stitching process lacks a quality inspection mechanism, making it impossible to identify and repair stitching defects, resulting in image edge misalignment or noticeable seams. Summary of the Invention

[0004] In order to improve the image processing effect, the present application provides a panorama photo generation method, device, equipment and medium based on a panorama.

[0005] The above-mentioned invention objective of this application is achieved through the following technical solutions: A method for generating a panoramic photo based on a panorama head, the method comprising: Obtain a panoramic shooting start instruction, and according to the shooting start instruction, control the gimbal to drive the mobile terminal device to rotate at a preset angle step size to obtain a set of image acquisition position parameters for multiple shooting angles; Based on the image acquisition position parameter sets of the multiple shooting perspectives, when the mobile terminal device reaches a corresponding acquisition position, collect ambient light intensity information; Adjusting the exposure parameter of the mobile terminal device according to the light intensity information to obtain an adjusted exposure parameter; According to the adjusted exposure parameters, an image of the current viewing angle is captured at a corresponding capture position to obtain a plurality of image information; Organizing the plurality of image information into an image information sequence in sequence, and extracting edge feature information between images based on the image information sequence; Based on the edge feature information, performing image registration processing and image stitching processing on the images in the image data sequence, thereby generating a panoramic image; Spherical mapping rendering is performed on the panoramic image to obtain a rendered panoramic image, and the panoramic image is displayed on a display interface of the mobile terminal device.

[0006] By adopting the above technical solution, it is possible to combine the light intensity information under different shooting angles during the image acquisition process, dynamically adjust the exposure parameters of the mobile device, and achieve targeted exposure control, thereby effectively alleviating the problem of inconsistent image brightness caused by lighting differences and improving the overall uniformity of the image data; at the same time, image registration and stitching processing are performed based on edge feature information to enhance image alignment accuracy. Combined with stitching quality detection and image fusion optimization processing, it is possible to identify and repair defects such as misalignment, brightness mutation or texture fracture in the stitching area, and ultimately generate a panoramic image with stronger visual continuity and higher structural consistency, fully solving the problems of single exposure control and imperceptible and unrepairable stitching defects in the existing technology.

[0007] In a preferred example, the present application may be further configured as follows: the panoramic shooting start instruction is obtained, and according to the shooting start instruction, the pan / tilt platform is controlled to drive the mobile terminal device to rotate at a preset angle step to obtain a set of image acquisition position parameters for multiple shooting angles, including: Determining initial orientation angle information of the gimbal based on the shooting start instruction; Calculating multiple target rotation angles according to the initial orientation angle information and a preset angle step; Controlling the pan / tilt platform to rotate to the plurality of target rotation angles in sequence, and after completing positioning at each target rotation angle, collecting rotation angle information of the current position to obtain an image acquisition position parameter; The image acquisition position parameters are aggregated to obtain a set of image acquisition position parameters of the multiple shooting angles.

[0008] By adopting the above technical solution, after the panoramic image acquisition is started, based on the initial orientation angle, multiple target rotation angles can be accurately calculated in combination with the preset angle step, and the gimbal can be controlled to complete high-precision rotation and angle positioning one by one, ensuring that the spatial coordinates of each image acquisition position have clear identification and reusability, thereby forming a complete and continuous set of image acquisition position parameters, providing a stable position information basis for subsequent lighting information acquisition, exposure adjustment, image stitching and other processing, effectively improving the structural controllability of image acquisition and the spatial consistency of the stitching process.

[0009] In a preferred example, the present application may be further configured as follows: adjusting the exposure parameter of the mobile terminal device according to the light intensity information to obtain the adjusted exposure parameter includes: Based on the light intensity information, analyzing the light change trend of the current image acquisition position through a sliding window difference algorithm; Comparing the light intensity information with a preset exposure reference value, and combining the light change trend to determine the exposure adjustment requirement of the current acquisition position; Based on the exposure adjustment requirement, the exposure parameter of the mobile terminal device is dynamically adjusted through a nonlinear exposure response strategy to obtain the adjusted exposure parameter.

[0010] By adopting the above technical solution, it is possible to combine the light intensity information of different image acquisition positions, use the sliding window difference algorithm to analyze the lighting change trend, and make a comprehensive judgment on the lighting status based on the preset exposure reference value, so as to accurately identify whether the current image acquisition position needs exposure adjustment, and then dynamically adjust the exposure parameters through a nonlinear exposure response strategy, so that the mobile device has regional adaptive exposure capabilities under different lighting conditions, effectively avoiding the problem of inconsistent image brightness under multiple shooting angles, and improving the overall lighting coordination and stitching consistency of the panoramic image.

[0011] In a preferred example, the present application may be further configured as follows: organizing the plurality of image information into an image information sequence in sequence, and extracting edge feature information between images based on the image information sequence, including: Arranging the plurality of image information in the order of image acquisition to construct the image information sequence; Performing an overlapping region recognition operation on the image pairs sequentially arranged in the image information sequence to obtain image overlapping regions; An edge detection operation is performed in the image overlapping area to extract the edge feature information.

[0012] By adopting the above technical solution, after image acquisition is completed, multiple image information can be organized in an orderly manner according to the image acquisition order, a clearly structured image information sequence can be constructed, and the overlapping areas of image pairs can be identified in sequence in the sequence, so as to accurately locate the splicing contact boundaries between each image, further perform edge detection operations in the image overlapping areas, extract key edge feature information between images, ensure that subsequent image registration operations have stable and accurate feature basis, and effectively improve the spatial consistency of image alignment and the stitching success rate.

[0013] In a preferred example, the present application may be further configured as follows: performing image registration processing and image stitching processing on the images in the image data sequence based on the edge feature information, thereby generating a panoramic image, including: determining image alignment transformation parameters between corresponding images based on the edge feature information; Based on the image alignment transformation parameters, performing the image registration process on the original images in the image data sequence to obtain a registered image sequence; The image stitching process is performed on the registered images in the registered image sequence to obtain the panoramic image.

[0014] By adopting the above technical solution, it is possible to accurately determine the alignment transformation parameters between images based on the edge feature information extracted between the images, so that the original images can be spatially registered with high precision, and further stitching operations can be performed on the registered image sequence to complete structurally continuous pixel-level fusion in the overlapping areas of the images, thereby generating a panoramic image with coherent contours and unified structure.

[0015] In a preferred example, the present application may be further configured as follows: performing the image stitching process on the registered images in the registered image sequence to obtain the panoramic image further includes: identifying, in the panoramic image, a stitching region between image pairs determined by the image stitching process; Performing a splicing quality inspection on the splicing area according to a preset splicing quality determination rule to obtain a splicing quality inspection result; When the stitching quality inspection result shows that there are stitching defects, image fusion optimization processing is performed on the stitching area.

[0016] By adopting the above technical solution, after the panoramic image is generated, the stitching area formed between each image pair during the image stitching process can be accurately identified, and based on the preset stitching quality judgment rules, the edge continuity, brightness consistency and texture matching degree of the stitching area can be quantitatively detected, thereby identifying the stitching areas with defects such as breakage, color difference or structural dislocation. If the stitching quality is detected to be substandard, further image fusion optimization processing is performed, and the defective area is repaired based on pixel fusion and transition smoothing strategies, thereby effectively improving the visual integrity and structural coherence of the panoramic image.

[0017] In a preferred example, the present application may be further configured as follows: the panorama photo generation method based on a gimbal further includes: Acquiring gesture information, and identifying interactive operation instructions based on the gesture information; According to the interactive operation instruction, the browsing interaction parameters of the panoramic image are controlled to obtain updated browsing interaction parameters.

[0018] By adopting the above technical solution, it is possible to generate standardized interactive operation instructions by collecting gesture information such as touch trajectories and performing type recognition, thereby controlling the browsing interaction parameters of the panoramic image according to different types of instructions, and accurately realizing operations such as image perspective offset, zoom or rotation, effectively improving the interactive response efficiency and visual control flexibility of panoramic images in mobile devices, and enhancing the user's immersion and operational convenience in the process of viewing panoramic images.

[0019] The second object of the present invention is achieved through the following technical solutions: A panorama photo generation device based on a panorama platform, comprising: A panoramic shooting control module is used to obtain a panoramic shooting start instruction and, based on the shooting start instruction, control the pan / tilt head to drive the mobile terminal device to rotate at a preset angle step to obtain a set of image acquisition position parameters for multiple shooting angles; A light acquisition module, configured to acquire ambient light intensity information when the mobile device reaches a corresponding acquisition position based on a set of image acquisition position parameters of the multiple shooting angles; an exposure adjustment module, configured to adjust an exposure parameter of the mobile terminal device according to the light intensity information to obtain an adjusted exposure parameter; An image acquisition module is used to acquire an image of a current viewing angle at a corresponding acquisition position according to the adjusted exposure parameters to obtain a plurality of image information; an edge feature extraction module, configured to sequentially organize the plurality of image information into an image information sequence, and extract edge feature information between images based on the image information sequence; an image stitching module, configured to perform image registration processing and image stitching processing on the images in the image data sequence based on the edge feature information, thereby generating a panoramic image; The rendering and display module is used to perform spherical mapping rendering processing on the panoramic image to obtain a rendered panoramic image, and display the panoramic image on the display interface of the mobile terminal device.

[0020] By adopting the above technical solution, it is possible to combine the light intensity information under different shooting angles during the image acquisition process, dynamically adjust the exposure parameters of the mobile device, and achieve targeted exposure control, thereby effectively alleviating the problem of inconsistent image brightness caused by lighting differences and improving the overall uniformity of the image data; at the same time, image registration and stitching processing are performed based on edge feature information to enhance image alignment accuracy. Combined with stitching quality detection and image fusion optimization processing, it is possible to identify and repair defects such as misalignment, brightness mutation or texture fracture in the stitching area, and ultimately generate a panoramic image with stronger visual continuity and higher structural consistency, fully solving the problems of single exposure control and imperceptible and unrepairable stitching defects in the existing technology.

[0021] The third objective of this application is achieved through the following technical solutions: A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method for generating panoramic photos based on a panorama are implemented.

[0022] The fourth objective of this application is achieved through the following technical solutions: A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for generating panoramic photos based on a panorama.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. During the image acquisition process, the system can dynamically adjust the exposure parameters of mobile devices by combining light intensity information from different shooting angles to achieve targeted exposure control, effectively alleviating image brightness inconsistencies caused by lighting differences and improving the overall uniformity of image data. Furthermore, the system performs image registration and stitching based on edge feature information to enhance image alignment accuracy. Combined with stitching quality detection and image fusion optimization, it can identify and repair defects such as misalignment, brightness mutations, or texture breaks in the stitching area, ultimately generating panoramic images with greater visual continuity and structural consistency. This fully addresses the issues of single exposure control and imperceptible and unrepairable stitching defects in existing technologies. 2. After a panoramic image is generated, it can accurately identify the stitching areas formed between image pairs during the image stitching process. Based on preset stitching quality judgment rules, it can quantitatively detect the edge continuity, brightness consistency, and texture matching of the stitching areas. This allows it to identify stitching areas with defects such as breakage, color difference, or structural dislocation. If the stitching quality is detected to be substandard, it can further perform image fusion optimization processing and repair the defective areas based on pixel fusion and transition smoothing strategies, effectively improving the visual integrity and structural coherence of the panoramic image. 3. It can generate standardized interactive operation instructions by collecting gesture information such as touch trajectories and performing type recognition, thereby controlling the browsing interaction parameters of panoramic images according to different types of instructions, accurately realizing operations such as image perspective offset, zoom or rotation, effectively improving the interactive response efficiency and visual control flexibility of panoramic images on mobile devices, and enhancing the user's immersion and operational convenience when viewing panoramic images. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a method for generating a panoramic photo based on a panorama platform in an embodiment of the application; Figure 2 This is a flowchart for implementing step S10 in a panorama photo generation method based on a panorama head in one embodiment of the present application; Figure 3 This is a flowchart for implementing step S30 in a panorama photo generation method based on a panorama head in one embodiment of the present application; Figure 4This is a flowchart for implementing step S50 in a panorama photo generation method based on a panorama head in one embodiment of the present application; Figure 5 This is a flowchart for implementing step S60 in a panorama photo generation method based on a panorama head in one embodiment of the present application; Figure 6 This is a flowchart for implementing step S603 in a panorama photo generation method based on a panorama head in one embodiment of the present application; Figure 7 This is a flowchart of the implementation after step S70 in a panorama photo generation method based on a panorama in one embodiment of the present application; Figure 8 This is a principle block diagram of a panorama photo generation device based on a panorama platform according to an embodiment of the present application; Figure 9 It is a schematic diagram of a device in one embodiment of the present application. DETAILED DESCRIPTION

[0025] The present application is further described in detail below with reference to the accompanying drawings.

[0026] In one embodiment, if Figure 1 As shown, the present application discloses a method for generating panoramic photos based on a panorama, which specifically includes the following steps: S10: Obtain a panoramic shooting start instruction, and according to the shooting start instruction, control the gimbal to drive the mobile terminal device to rotate at a preset angle step, thereby obtaining a set of image acquisition position parameters for multiple shooting angles.

[0027] Specifically, a panoramic shooting control entrance is set in the mobile device. When the user clicks the start control in the shooting interface, a panoramic shooting start instruction is generated. The panoramic shooting start instruction is sent to the pan-tilt control device using Bluetooth or Wi-Fi communication. The initial rotation angle obtained by the built-in angle sensor of the pan-tilt is used as the starting angle, and incremental superposition is performed according to a preset angle step. Multiple target rotation angle values are calculated in sequence using an accumulation method. Each target rotation angle value is transmitted to the drive motor as a control instruction for rotation. The angle sensor detects the current rotation state in real time and outputs the current rotation angle. The current rotation angle is compared with the corresponding target rotation angle. If the angle difference is within the allowable error range, the target rotation is considered to be completed. When the target rotation angle is completed, the current rotation angle value is immediately sampled and recorded as an image acquisition position parameter. Then, the calculation, control and recording of the next target rotation angle are continued. The rotation control and parameter recording operations are performed in sequence until the rotation covers the set panoramic shooting angle range, thereby obtaining a set of image acquisition position parameters for multiple shooting angles.

[0028] S20: Based on the image acquisition position parameter sets of multiple shooting perspectives, when the mobile terminal device reaches the corresponding acquisition position, collect ambient light intensity information.

[0029] Specifically, after obtaining the image acquisition position parameter set, each image acquisition position in the image acquisition position parameter set is used as a target judgment reference. When the mobile device is in the gimbal-driven rotation state, the current device orientation angle value is collected in real time through the gyroscope and angle sensor, and the current device orientation angle value is compared with each target angle value in the image acquisition position parameter set. When the difference between the current device orientation angle value and the angle value of a certain image acquisition position meets the set threshold condition, it is determined that the device has reached the corresponding image acquisition position. After determining that the device has reached the image acquisition position, the ambient light detection component is called to start collecting ambient light data at the current image acquisition position. The ambient light data collection method includes extracting the brightness channel value in the original sensing matrix from the image sensor and performing grayscale statistics, or reading the numerical output of the ambient light intensity sensing element and performing numerical quantization. The above operations complete the collection of ambient light intensity information at the current acquisition position.

[0030] S30: Adjusting exposure parameters of the mobile device according to the light intensity information to obtain adjusted exposure parameters.

[0031] Specifically, after completing the collection of ambient light intensity information at the current image acquisition location, the light intensity information is input into a light trend analysis process. The light trend analysis process calculates the difference between the light intensity value at the current image acquisition location and the historical light intensity value at the adjacent acquisition location. The light intensity difference at two or more consecutive angle positions is used to analyze whether the current light change is increasing, decreasing, or fluctuating. Based on this difference, a light change trend indicator for the current image acquisition location is generated. The light intensity information at the current image acquisition location is then numerically compared with a preset exposure reference value. The brightness offset between the current light intensity and the exposure reference value is calculated. Combined with the brightness offset and the light change trend indicator, it is determined whether exposure parameter adjustment is required at the current image acquisition location. If exposure adjustment is required, a nonlinear exposure response strategy function is invoked. The nonlinear exposure response strategy function uses the brightness offset value as an input index and maps the corresponding exposure compensation value, shutter time parameter, and gain parameter into a nonlinear response function curve. These three parameters are combined and updated to form the adjusted exposure parameters.

[0032] S40: According to the adjusted exposure parameters, an image of the current viewing angle is captured at a corresponding capture position to obtain a plurality of image information.

[0033] Specifically, after the adjusted exposure parameters are written into the image acquisition control path, the mobile terminal device immediately calls the image acquisition trigger mechanism to start the image acquisition operation when the rotation positioning of the current target image acquisition position is completed. In the image acquisition operation, the exposure compensation, shutter duration and gain control value of the image sensor are set according to the loaded exposure parameter set, and the image signal processing link is activated to synchronously receive the original image data output by the image sensor. During the acquisition process, the image data undergoes denoising, format conversion, cache storage and other processing links and is temporarily written into the image information storage buffer. The image information storage buffer stores the image frame information under each shooting angle in the order of image acquisition. By repeating the above-mentioned rotation positioning, exposure loading and image acquisition operations, the image acquisition of multiple image acquisition positions is continuously completed, and finally multiple image information is obtained.

[0034] S50: Organizing the plurality of image information into an image information sequence in sequence, and extracting edge feature information between the images based on the image information sequence.

[0035] Specifically, after completing the acquisition of image information at multiple image acquisition positions, the multiple image information are written into the image information cache queue in the order of image acquisition. The image information cache queue arranges the position index of each image frame according to the image shooting trigger sequence number, and the image frame data in the image information cache queue are extracted in sequence according to the numbering order to construct an image information sequence as a subsequent processing object. After the image information sequence is constructed, the image sequence is input into the edge feature extraction process frame by frame. The edge feature extraction process applies an edge detection algorithm based on gradient changes on each image frame, and uses grayscale gradient, direction mask or Laplace operator processing to perform edge detection processing on the image pixel area to extract and form an edge feature map. The edge line distribution, edge point density or edge direction information in the edge feature map is further used to construct an edge feature information set for image comparison, thereby completing the edge feature information extraction between images.

[0036] S60: Based on the edge feature information, perform image registration processing and image stitching processing on the images in the image data sequence, so as to generate a panoramic image.

[0037] Specifically, the image information sequence and edge feature information are written as input data into the image registration and stitching processing flow. The image registration processing flow compares the edge feature line distribution of adjacent image frames in the image information sequence and uses the geometric relationship between image feature points to construct image registration alignment parameters. The image registration alignment parameters are composed of the position offset, rotation direction difference and scale ratio between matching points. The image frames are aligned to a unified coordinate reference by performing a linear transformation on the image pixel positions. After the image registration is completed, the transformed image data is input into the image stitching process. The image stitching process arranges multiple image frames in sequence according to the acquisition order, and uses pixel fusion, gradient smoothing or weighted overlay to eliminate the seam edge differences in the overlapping areas of the images to complete the seamless stitching of the images, and writes the stitched image data into the output buffer. The image data in the output buffer is the stitched panoramic image.

[0038] S70: Perform spherical mapping rendering processing on the panoramic image to obtain a rendered panoramic image, and display the panoramic image on a display interface of the mobile terminal device.

[0039] Specifically, the panoramic image output by the image stitching processing flow is imported as input data into the spherical mapping rendering flow. The spherical mapping rendering flow performs a coordinate remapping operation on the panoramic image by constructing a spherical projection model. The coordinate remapping operation performs coordinate conversion on the pixel positions in the panoramic image based on the set spherical parameters, and maps the two-dimensional plane pixels in the original image coordinate system to the three-dimensional pixel positions in the spherical coordinate system. After the mapping is completed, the image is resampled according to the projection position of the three-dimensional spherical pixel position on the screen plane. The image resampling process uses interpolation filling to fill the pixel gaps in the projected image, and generates rendered image data with a spherical visual effect. The rendered image data is loaded into the image display interface of the mobile device via the image display control interface, and the rendered panoramic image is displayed on the image display interface according to the initialized perspective.

[0040] In one embodiment, if Figure 2 As shown, in step S10, a panoramic shooting start instruction is obtained, and according to the shooting start instruction, the gimbal is controlled to drive the mobile terminal device to rotate at a preset angle step to obtain a set of image acquisition position parameters of multiple shooting angles, including: S101: Based on a shooting start instruction, determine the initial orientation angle information of the gimbal.

[0041] Specifically, after the user triggers the panoramic shooting start control through the shooting interface of the mobile device, the device generates a shooting start instruction, and the shooting start instruction is transmitted to the gimbal control path to trigger the initialization operation of the rotation control module. The rotation angle information at the current moment is collected by calling the angle detection component integrated in the gimbal. The rotation angle information includes two components, horizontal and vertical. This angle information is written into the angle status storage area as the initial angle state of the current shooting process, and is used as the starting angle for subsequent target rotation angle calculations, thereby determining the initial orientation angle information of the gimbal.

[0042] S102: Calculate multiple target rotation angles according to the initial orientation angle information and a preset angle step.

[0043] In this embodiment, the preset angle step refers to a fixed rotation incremental angle value set in the horizontal direction to complete a set of image acquisitions required to cover the target shooting range. The fixed rotation incremental angle value is preset based on the horizontal viewing angle range of the mobile device image sensor to ensure that there is an overlapping area that can be used for stitching between the captured images after each rotation. The numerical value of the angle step can be 10°, 15°, or other specific angle values set according to the imaging characteristics of the device, which is used to control the angle interval skipped by each rotation of the gimbal during continuous shooting.

[0044] Specifically, after completing the collection of the initial orientation angle information of the gimbal, use the initial angle value as the starting angle of the angle calculation process, write the initial angle value into the angle calculation variable, call the angle step generation logic to obtain the angle step value from the preset configuration item, and the angle step value represents the angle increment required for each rotation. By gradually superimposing the initial angle value and the angle step value, multiple target rotation angle values are generated in sequence using a numerical accumulation method. Each accumulation result is recorded as a target angle. Repeat the angle superposition and recording operations until the cumulative angle range meets the preset shooting coverage requirements. All generated target angle values are organized into a target rotation angle list in the order of accumulation. The target rotation angle list will be used as the angle input data set for the subsequent rotation execution stage.

[0045] S103: Control the pan / tilt platform to rotate to multiple target rotation angles in sequence, and after completing positioning at each target rotation angle, collect rotation angle information of the current position to obtain an image acquisition position parameter.

[0046] Specifically, multiple target rotation angle sets are written into the rotation control process in sequence, and the rotation control process reads the target rotation angle values one by one, generates a driving signal to control the pan-tilt motor to rotate to the specified angle position, and whenever the pan-tilt reaches a certain target rotation angle, calls the angle sensor to detect the current angle value in real time, and determines whether the rotation has completed positioning. If the difference between the detected angle value and the target rotation angle value is within the tolerance threshold range, it is confirmed that the current rotation is completed, and the rotation angle data of the current position is collected on the basis of completing the positioning. The collected angle data is stored in the acquisition parameter list as an image acquisition position parameter, which is used to record the shooting position of the current viewing angle.

[0047] S104: Summarize the image acquisition position parameters to obtain a set of image acquisition position parameters of multiple shooting angles.

[0048] Specifically, when all target rotation angle controls are completed, the gimbal completes the rotation of multiple viewing angles and collects the corresponding angle information, all record items in the image acquisition position parameter list are summarized and sorted according to the acquisition order, and each image acquisition position parameter is written into the image acquisition position parameter set construction logic in order of number. By combining all image acquisition position parameters, a complete set of image acquisition position parameters for multiple shooting perspectives is generated.

[0049] In one embodiment, if Figure 3 As shown, in step S30, the exposure parameters of the mobile terminal device are adjusted according to the light intensity information to obtain the adjusted exposure parameters, including: S301: Based on the light intensity information, the light change trend of the current image acquisition position is analyzed by a sliding window difference algorithm.

[0050] In this embodiment, the sliding window difference algorithm refers to selecting one image acquisition position forward and backward with the current image acquisition position as the center to form a sliding window containing three consecutive sampling points, extracting the light intensity values corresponding to the three sampling points in the sliding window from the image acquisition position parameter set, and recording them as the light intensity of the previous position, the light intensity of the current acquisition position, and the light intensity of the next position, respectively. By calculating the difference between the light intensity of the current acquisition position and the light intensity of the previous position, and the difference between the light intensity of the current acquisition position and the light intensity of the next position, the sign direction and absolute value of the two differences are determined, so as to infer whether the light at the current acquisition position is continuously rising, continuously falling, or fluctuating.

[0051] Specifically, based on the light intensity information, a sliding window difference algorithm is constructed to analyze the light change trend of the current image acquisition position, including extracting the light intensity values of the current image acquisition position, the previous image acquisition position and the next image acquisition position from the image acquisition position parameter set, constructing the light intensity sequence and performing two difference operations, respectively calculating the difference between the light intensity value of the current acquisition position minus the light intensity value of the previous position, and the difference between the light intensity value of the next position minus the light intensity value of the current acquisition position. If the signs of the two sets of difference values are consistent and the absolute values exceed the set threshold, the light trend is judged to be continuously rising or falling. If the directions of the difference values are inconsistent or the absolute values are both lower than the threshold, the light trend is judged to be in a fluctuating state. Finally, a light change trend label is generated to describe the dynamic state of light at the current image acquisition position.

[0052] S302: Compare the light intensity information with a preset exposure reference value, and determine the exposure adjustment requirement of the current acquisition position in combination with the light change trend.

[0053] In this embodiment, the preset exposure reference value refers to a set of values pre-set by the device during the optical calibration stage based on the photosensitivity characteristics of the image sensor and the target image brightness standard. This set of values represents the reference brightness level required to obtain uniform image exposure under standard lighting conditions. The exposure reference value is defined in units of grayscale intensity levels and can be configured differently according to the type of working environment of the device. For example, different reference brightness value ranges can be set for scenes such as outdoor high light and indoor low light, which are used as a benchmark for lighting judgment in the subsequent exposure parameter adjustment process.

[0054] Specifically, the light intensity information of the current image acquisition position is input into the brightness judgment logic, and a direct numerical comparison is performed with the preset exposure reference value. The brightness offset between the current light intensity value and the exposure reference value is calculated. The brightness offset is obtained by subtracting the reference value from the current value, and the absolute value is taken to indicate the degree of deviation. At the same time, the light change trend label corresponding to the image acquisition position is read, and a joint judgment is made based on the size of the brightness offset and the combination of the trend label. When the brightness offset exceeds the preset tolerance threshold and the light change trend label shows a continuous increase or decrease, it is judged that there is an exposure adjustment requirement for the current image acquisition position. If the brightness offset is within the tolerance range or the light change trend is a fluctuating state, it is judged that no exposure adjustment is required for the current image acquisition position. Finally, an exposure adjustment requirement judgment result is output as a conditional input for subsequent exposure parameter updates.

[0055] S303: Based on the exposure adjustment requirement, dynamically adjust the exposure parameters of the mobile terminal device through a nonlinear exposure response strategy to obtain adjusted exposure parameters.

[0056] In this embodiment, the nonlinear exposure response strategy refers to pre-establishing an exposure adjustment response curve model based on the nonlinear correspondence between lighting conditions and image exposure results. By using the exposure adjustment demand as the input variable, the corresponding exposure parameter output value is searched in the nonlinear response curve. The nonlinear response curve is designed based on the dynamic response characteristics of image sensors of different devices and the perception sensitivity of lighting changes. It can achieve asymmetric exposure adjustment steps in low-light or high-brightness areas, thereby avoiding the problem of excessive exposure adjustment or loss of image details due to drastic lighting changes.

[0057] Specifically, after determining that there is a need for exposure adjustment at the current image acquisition position, an exposure adjustment input is constructed based on the brightness offset and the lighting change trend, and the exposure adjustment input is passed as an input variable into the exposure adjustment response curve model. The exposure adjustment response curve model is composed of multiple nonlinear response segments. Each response segment is established according to the exposure response characteristics of the image sensor in different lighting areas. By matching the response interval to which the input variable belongs and performing corresponding calculations, the target exposure control level is output. The target exposure control level is used as an index parameter to find the corresponding exposure compensation value, shutter time value and image gain value in the exposure parameter mapping table, and the exposure parameter set is formed by combining them to finally obtain the adjusted exposure parameters.

[0058] In one embodiment, if Figure 4 As shown, in step S50, multiple image information is sequentially organized into an image information sequence, and edge feature information between images is extracted based on the image information sequence, including: S501: Arrange multiple image information according to the image acquisition order to construct an image information sequence.

[0059] Specifically, after completing the acquisition of image information at multiple image acquisition positions, the multiple image information are sorted according to the acquisition order in the image acquisition position parameter set. The sorting operation is performed in ascending order according to the angle number or time stamp recorded during the image acquisition process. The sorted image information is written into the image information cache queue frame by frame in sequence. The image information cache queue constitutes an image information sequence according to the arrangement order, and finally constructs the image information sequence.

[0060] S502: performing an overlapping region recognition operation on the image pairs sequentially arranged in the image information sequence to obtain image overlapping regions.

[0061] Specifically, the image information sequence is written as input data into the overlapping area recognition processing flow. In the processing flow, image pairs in the image information sequence are extracted in sequence and pairwise processing operations are performed. The grayscale distribution histogram or edge contour image is calculated for each image pair. The overlapping parts between adjacent images are analyzed through the initial matching area before image alignment, and the position information of the pixel position overlapping area is recorded to form the spatial boundary annotation data of the image overlapping area, and the image overlapping area is obtained.

[0062] S503: Perform edge detection in the image overlapping area to extract edge feature information.

[0063] Specifically, after identifying the image overlapping areas corresponding to each image pair in the image information sequence, each image overlapping area is input into the edge feature extraction processing flow. The edge feature extraction processing flow performs an edge detection operation on the pixel data of the overlapping area. The edge detection operation calls an image operator based on grayscale gradient calculation for processing, including using Sobel, Prewitt or Canny operators to perform gradient analysis and edge positioning on the intensity changes in the pixel matrix. The obtained edge point coordinates and direction information are combined to form edge feature information to obtain edge feature information.

[0064] In one embodiment, if Figure 5 As shown, in step S60, image registration processing and image stitching processing are performed on the images in the image data sequence based on the edge feature information, thereby generating a panoramic image, including: S601: Determine image alignment transformation parameters between corresponding images according to edge feature information.

[0065] Specifically, the edge feature information in the image information sequence is taken as input, the edge feature data of adjacent image pairs are extracted in sequence, and the feature matching processing logic is called to positionally associate the edge feature points of the two images. By calculating the relative displacement, rotation angle and scale ratio difference between the feature points, the affine transformation matrix between the images is constructed. The translation, rotation and scaling parameters in the affine transformation matrix are the image alignment transformation parameters, and finally the image alignment transformation parameters are obtained.

[0066] S602: Based on the image alignment transformation parameters, perform image registration processing on the original images in the image data sequence to obtain a registered image sequence.

[0067] Specifically, the image alignment transformation parameters are applied sequentially to the original images in the image data sequence, the image transformation processing flow is called for each original image, the image coordinate transformation operation is performed according to the corresponding affine transformation parameters, and the pixel positions in the original image are repositioned according to the translation, rotation and scaling relationships. After processing, the image retains the grayscale structure of the original image and completes spatial alignment. The image data after the transformation is completed is written into the image buffer queue in sequence to obtain a registered image sequence.

[0068] S603: Perform image stitching processing on the registered images in the registered image sequence to obtain a panoramic image.

[0069] Specifically, the registered image sequence is taken as input, and the image stitching processing flow is called in sequence to perform stitching operations on the registered images. After the overlapping areas are identified between adjacent images, the overlapping areas are subjected to pixel-level fusion processing. The fusion processing uses weighted averaging, gradient smoothing or boundary transition to optimize the transition of the image edges to ensure the brightness consistency and structural continuity of the stitching boundary area. After all the registered images are stitched together, a fused entire image is output to obtain a panoramic image.

[0070] In one embodiment, if Figure 6 As shown, in step S603, image stitching processing is performed on the registered images in the registered image sequence to obtain a panoramic image, and the following further comprises: S6031: Identify, in the panoramic image, a stitching area between image pairs determined in the image stitching process.

[0071] Specifically, after completing the image stitching process and generating a panoramic image, the pixel position mapping information of each image pair is extracted from the registered image sequence according to the image pair index relationship recorded during the image stitching process, and the pixel positions of the registered overlapping areas between adjacent images in the panoramic image are marked. The image area at the stitching boundary is extracted through the mapping relationship, and the stitching area corresponding to each image pair in the panoramic image is constructed to finally obtain the stitching area.

[0072] S6032: Perform a splicing quality inspection on the splicing area according to a preset splicing quality determination rule to obtain a splicing quality inspection result.

[0073] In this embodiment, the preset stitching quality judgment rule refers to a multi-index evaluation system established based on image edge continuity, brightness transition consistency and texture matching degree in the image stitching area. Image edge continuity uses the edge direction gradient change to detect whether there is a break or dislocation. Brightness transition consistency uses the absolute value of the grayscale mean difference in the overlapping area as a reference. The texture matching degree is completed by calculating the structural similarity of the local area. The above three indicators are quantified into scores and compared with the corresponding quality threshold values to determine whether there are perceptible stitching defects in the stitching area.

[0074] Specifically, the stitching area is input into the stitching quality detection processing flow. First, the edge information is extracted in the stitching area and the edge direction gradient change is calculated. The breakpoint statistical analysis is performed on the continuity of the edge contour to determine whether there is a discontinuous structural break at the stitching seam. Secondly, the grayscale mean of the images on both sides of the stitching area is calculated, and the standard deviation and mean difference of the grayscale distribution in the overlapping area are obtained to determine whether the brightness transition is smooth. Then, structural similarity analysis is performed on the texture blocks on the left and right sides of the stitching area, and the texture consistency scores of the corresponding areas are compared block by block using a sliding window method. Finally, the edge continuity index, brightness consistency index and texture matching index are compared with their respective judgment thresholds to form a structured stitching quality score table. Based on the scoring results, the quality judgment conclusion of the current stitching area is comprehensively output to finally obtain the stitching quality inspection result.

[0075] S6033: When the stitching quality inspection result shows that there are stitching defects, perform image fusion optimization processing on the stitching area.

[0076] Specifically, when the stitching area marked in the stitching quality inspection results has defects such as obvious fractures, brightness mutations or texture dislocations, the corresponding stitching area will be written into the image fusion optimization process. The image fusion optimization process constructs a fusion weight distribution map according to the shape of the overlapping area boundary, and uses weighted fusion to adjust the pixel values of the image areas on both sides. Interpolation smoothing, brightness recalibration and texture coordination algorithms are applied within the fusion boundary to perform pixel-level fusion operations, reconstruct the fused image blocks and replace the original stitching area, and finally obtain the optimized stitching area image.

[0077] In one embodiment, if Figure 7 As shown, after step S70, the method for generating a panoramic photo based on a panorama head further includes: S701: Acquire gesture information, and identify interactive operation instructions based on the gesture information.

[0078] Specifically, after activating the image browsing interface in the mobile device, the fingertip trajectory data in the user's touch area is continuously collected through the touch input interface integrated on the image display component, and the collected multi-touch position coordinate sequence is written into the gesture recognition processing flow. The gesture recognition processing flow first performs smoothing filtering and timestamp synchronization on the trajectory coordinates, and then matches the qualified gesture templates from the preset gesture type model library based on the trajectory length, sliding direction, contact area change and speed characteristics. When the degree of matching between the touch behavior and the templates such as single-finger sliding, two-finger zooming or three-finger rotation exceeds the set threshold, it is determined to be the corresponding type of interactive operation gesture, and a standardized interactive operation instruction is generated to finally obtain the interactive operation instruction.

[0079] S702: According to the interactive operation instruction, the browsing interaction parameters of the panoramic image are controlled to obtain updated browsing interaction parameters.

[0080] In this embodiment, browsing interaction parameters refer to a set of view control parameters used to control the visual presentation state of the panoramic image in the display interface. The parameters include three items: viewing angle offset, zoom factor and rotation angle. The viewing angle offset is used to determine the latitude and longitude position of the current observation viewpoint on the spherical image, the zoom factor is used to set the observation focal length or the degree of magnification and reduction of the field of view, and the rotation angle is used to control the rotation view switching of the image around a specific axis. The above parameters are dynamically adjusted by parsing the gesture type and operation amplitude in the interactive operation instructions, and act on the rendering path in real time to complete the visual interactive display of the panoramic image.

[0081] Specifically, after receiving the interactive operation instruction, the gesture type and operation amplitude in the instruction are written into the view control process as input parameters. The view control process determines the browsing interaction parameter items to be updated based on the gesture type. When the gesture type is a sliding operation, the corresponding viewing angle offset is generated by calculating the sliding direction and distance, which is used to update the latitude and longitude observation position of the spherical image; when the gesture type is a zoom operation, the change in the distance between the two fingers is extracted to calculate the zoom coefficient, which is used to adjust the observation focal length or field of view magnification; when the gesture type is a rotation operation, the rotation angle is parsed to update the observation axis direction. All calculated parameter values are summarized to constitute the browsing interaction parameter update set of the current frame, and finally the updated browsing interaction parameters are obtained.

[0082] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0083] In one embodiment, a panorama photo generation device based on a panorama platform is provided. The panorama photo generation device based on a panorama platform corresponds to the panorama photo generation method based on a panorama platform in the above embodiment. Figure 8 As shown, the panorama photo generation device based on the panorama includes a panoramic shooting control module, a light acquisition module, an exposure adjustment module, an image acquisition module, an edge feature extraction module, an image stitching module, and a rendering and display module. The functional modules are described in detail as follows: The panoramic shooting control module is used to obtain a panoramic shooting start instruction and, based on the shooting start instruction, control the pan / tilt to drive the mobile terminal device to rotate at a preset angle step to obtain a set of image acquisition position parameters for multiple shooting angles; The light acquisition module is used to collect image position parameter sets based on multiple shooting angles and collect ambient light intensity information when the mobile device reaches the corresponding acquisition position; An exposure adjustment module, used to adjust the exposure parameters of the mobile device according to the light intensity information to obtain the adjusted exposure parameters; An image acquisition module is used to acquire an image of the current viewing angle at a corresponding acquisition position according to the adjusted exposure parameters to obtain multiple image information; An edge feature extraction module is used to sequentially organize multiple image information into an image information sequence, and extract edge feature information between images based on the image information sequence; An image stitching module is used to perform image registration processing and image stitching processing on images in the image data sequence based on edge feature information, thereby generating a panoramic image; The rendering and display module is used to perform spherical mapping rendering processing on the panoramic image to obtain a rendered panoramic image and display the panoramic image on the display interface of the mobile device.

[0084] Optionally, the panoramic shooting control module includes: The initial angle determination submodule is used to determine the initial orientation angle information of the gimbal based on the shooting start instruction; The target angle calculation submodule is used to calculate multiple target rotation angles based on the initial heading angle information and the preset angle step size; The pan-tilt rotation and angle acquisition module is used to control the pan-tilt to rotate to multiple target rotation angles in sequence, and after completing positioning at each target rotation angle, collect the rotation angle information of the current position to obtain an image acquisition position parameter; The acquisition parameter summary module is used to summarize the image acquisition position parameters to obtain a set of image acquisition position parameters for multiple shooting angles.

[0085] Optionally, the exposure adjustment module includes: The illumination trend analysis submodule is used to analyze the illumination change trend of the current image acquisition location through a sliding window difference algorithm based on the illumination intensity information; The exposure adjustment determination submodule is used to compare the light intensity information with the preset exposure reference value and determine the exposure adjustment requirements of the current acquisition position based on the light change trend; The exposure parameter adjustment submodule is used to dynamically adjust the exposure parameters of the mobile device based on the exposure adjustment requirements through a nonlinear exposure response strategy to obtain the adjusted exposure parameters.

[0086] Optionally, the edge feature extraction module includes: An image sequence construction module is used to arrange multiple image information in the order of image acquisition to construct an image information sequence; The image overlapping area recognition submodule performs overlapping area recognition operations on the image pairs arranged sequentially in the image information sequence to obtain the image overlapping areas. The edge feature extraction submodule is used to perform edge detection operations in the overlapping areas of the images and extract edge feature information.

[0087] Optionally, the image stitching module includes: An image alignment parameter calculation module is used to determine image alignment transformation parameters between corresponding images based on edge feature information; An image registration processing submodule is used to perform image registration processing on the original images in the image data sequence based on the image alignment transformation parameters to obtain a registered image sequence; The image stitching processing submodule is used to perform image stitching processing on the registered images in the registered image sequence to obtain a panoramic image.

[0088] Optionally, the image stitching processing submodule includes: a stitching region identification unit for identifying stitching regions between pairs of images determined in an image stitching process in a panoramic image; The splicing quality detection unit is used to perform splicing quality detection on the splicing area according to the preset splicing quality judgment rules to obtain the splicing quality inspection result; The image fusion optimization unit is used to perform image fusion optimization processing on the stitching area when the stitching quality inspection result shows that there are stitching defects.

[0089] Optionally, the rendering display module includes: The interactive instruction recognition submodule is used to obtain gesture information and identify interactive operation instructions based on the gesture information; The browsing parameter control submodule is used to control the browsing interaction parameters of the panoramic image according to the interactive operation instruction to obtain updated browsing interaction parameters.

[0090] The specific definition of a pan-tilt-based panoramic photo generation device can be found in the definition of a pan-tilt-based panoramic photo generation method above and will not be repeated here. The various modules in the aforementioned pan-tilt-based panoramic photo generation device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in a computer device in software form, so that the processor can call and execute the corresponding operations of each of the aforementioned modules.

[0091] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 9 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for generating panoramic photos based on a pan / tilt platform is implemented.

[0092] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are performed: Obtain a panoramic shooting start command, and according to the shooting start command, control the gimbal to drive the mobile terminal device to rotate at a preset angle step size to obtain a set of image acquisition position parameters for multiple shooting angles; Based on a set of image acquisition position parameters from multiple shooting perspectives, when the mobile device reaches the corresponding acquisition position, it collects ambient light intensity information; Adjusting the exposure parameters of the mobile device according to the light intensity information to obtain the adjusted exposure parameters; According to the adjusted exposure parameters, an image of the current viewing angle is collected at a corresponding collection position to obtain multiple image information; Organizing multiple image information into an image information sequence in sequence, and extracting edge feature information between images based on the image information sequence; Based on the edge feature information, image registration processing and image stitching processing are performed on the images in the image data sequence to generate a panoramic image; Spherical mapping rendering is performed on the panoramic image to obtain a rendered panoramic image, and the panoramic image is displayed on a display interface of a mobile device.

[0093] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: Obtain a panoramic shooting start command, and according to the shooting start command, control the gimbal to drive the mobile terminal device to rotate at a preset angle step size to obtain a set of image acquisition position parameters for multiple shooting angles; Based on a set of image acquisition position parameters from multiple shooting perspectives, when the mobile device reaches the corresponding acquisition position, it collects ambient light intensity information; Adjusting the exposure parameters of the mobile device according to the light intensity information to obtain the adjusted exposure parameters; According to the adjusted exposure parameters, an image of the current viewing angle is collected at a corresponding collection position to obtain multiple image information; Organizing multiple image information into an image information sequence in sequence, and extracting edge feature information between images based on the image information sequence; Based on the edge feature information, image registration processing and image stitching processing are performed on the images in the image data sequence to generate a panoramic image; Spherical mapping rendering is performed on the panoramic image to obtain a rendered panoramic image, and the panoramic image is displayed on a display interface of a mobile device.

[0094] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0095] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0096] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for generating panoramic photos based on a panorama camera, characterized in that: The method for generating a panoramic photo based on a panorama platform includes: Obtaining a panoramic shooting start instruction, and according to the shooting start instruction, controlling the gimbal to drive the mobile terminal device to rotate at a preset angle step, thereby obtaining a set of image acquisition position parameters for multiple shooting angles; Based on the image acquisition position parameter sets of the multiple shooting perspectives, when the mobile terminal device reaches a corresponding acquisition position, collect ambient light intensity information; Adjusting the exposure parameter of the mobile terminal device according to the light intensity information to obtain an adjusted exposure parameter; According to the adjusted exposure parameters, an image of the current viewing angle is captured at a corresponding capture position to obtain a plurality of image information; Organizing the plurality of image information into an image information sequence in sequence, and extracting edge feature information between images based on the image information sequence; Based on the edge feature information, performing image registration processing and image stitching processing on the images in the image data sequence, thereby generating a panoramic image; Spherical mapping rendering is performed on the panoramic image to obtain a rendered panoramic image, and the panoramic image is displayed on a display interface of the mobile terminal device.

2. The method for generating panoramic photos based on a panorama camera according to claim 1, wherein: The method of obtaining a panoramic shooting start instruction and controlling the pan / tilt head to drive the mobile terminal device to rotate at a preset angle step according to the shooting start instruction to obtain a set of image acquisition position parameters for multiple shooting angles includes: Determining initial orientation angle information of the gimbal based on the shooting start instruction; Calculating multiple target rotation angles according to the initial orientation angle information and a preset angle step; Controlling the pan / tilt platform to rotate to the plurality of target rotation angles in sequence, and after completing positioning at each target rotation angle, collecting rotation angle information of the current position to obtain an image acquisition position parameter; The image acquisition position parameters are aggregated to obtain a set of image acquisition position parameters of the multiple shooting angles.

3. The method for generating panoramic photos based on a panorama camera according to claim 1, wherein: The step of adjusting the exposure parameter of the mobile terminal device according to the light intensity information to obtain the adjusted exposure parameter includes: Based on the light intensity information, analyzing the light change trend of the current image acquisition position through a sliding window difference algorithm; Comparing the light intensity information with a preset exposure reference value, and combining the light change trend to determine the exposure adjustment requirement of the current acquisition position; Based on the exposure adjustment requirement, the exposure parameter of the mobile terminal device is dynamically adjusted through a nonlinear exposure response strategy to obtain the adjusted exposure parameter.

4. The method for generating panoramic photos based on a panorama camera according to claim 1, wherein: The step of sequentially organizing the plurality of image information into an image information sequence and extracting edge feature information between images based on the image information sequence includes: Arranging the plurality of image information in the order of image acquisition to construct the image information sequence; Performing an overlapping region recognition operation on the image pairs sequentially arranged in the image information sequence to obtain image overlapping regions; An edge detection operation is performed in the image overlapping area to extract the edge feature information.

5. The method for generating panoramic photos based on a panorama camera according to claim 1, wherein: The performing image registration processing and image stitching processing on the images in the image data sequence based on the edge feature information to generate a panoramic image includes: determining image alignment transformation parameters between corresponding images based on the edge feature information; Based on the image alignment transformation parameters, performing the image registration process on the original images in the image data sequence to obtain a registered image sequence; The image stitching process is performed on the registered images in the registered image sequence to obtain the panoramic image.

6. The method for generating panoramic photos based on a panorama camera according to claim 5, wherein: The performing the image stitching process on the registered images in the registered image sequence to obtain the panoramic image further includes: identifying, in the panoramic image, a stitching region between image pairs determined by the image stitching process; Performing a splicing quality inspection on the splicing area according to a preset splicing quality determination rule to obtain a splicing quality inspection result; When the stitching quality inspection result shows that there are stitching defects, image fusion optimization processing is performed on the stitching area.

7. The method for generating panoramic photos based on a panorama camera according to claim 1, wherein: The method for generating a panoramic photo based on a panorama platform further includes: Acquiring gesture information, and identifying interactive operation instructions based on the gesture information; According to the interactive operation instruction, the browsing interaction parameters of the panoramic image are controlled to obtain updated browsing interaction parameters.

8. A panorama photo generation device based on a panorama, characterized in that: The device for generating a panoramic photo based on a panorama platform includes: A panoramic shooting control module is used to obtain a panoramic shooting start instruction and, based on the shooting start instruction, control the pan / tilt head to drive the mobile terminal device to rotate at a preset angle step to obtain a set of image acquisition position parameters for multiple shooting angles; A light acquisition module, configured to acquire ambient light intensity information when the mobile device reaches a corresponding acquisition position based on a set of image acquisition position parameters of the multiple shooting angles; an exposure adjustment module, configured to adjust an exposure parameter of the mobile terminal device according to the light intensity information to obtain an adjusted exposure parameter; An image acquisition module is used to acquire an image of a current viewing angle at a corresponding acquisition position according to the adjusted exposure parameters to obtain a plurality of image information; an edge feature extraction module, configured to sequentially organize the plurality of image information into an image information sequence, and extract edge feature information between images based on the image information sequence; an image stitching module, configured to perform image registration processing and image stitching processing on the images in the image data sequence based on the edge feature information, thereby generating a panoramic image; The rendering and display module is used to perform spherical mapping rendering processing on the panoramic image to obtain a rendered panoramic image, and display the panoramic image on the display interface of the mobile terminal device.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the panorama photo generation method based on a panorama head as claimed in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the panorama photo generation method based on a panorama head as claimed in any one of claims 1 to 7 are implemented.

Images