Flight equipment, image construction method and equipment

Abstract

The invention discloses a flight device and an image construction method and device.The flight device comprises a first camera module which is arranged at the lower end of the flight device and used for collecting a first image, and the first image comprises a flight device lower image which is shot by the first camera module and comprises ground scenery; the second camera module is arranged at the upper end of the flight equipment and used for collecting a second image, the second image comprises an image, which is shot by the second camera module and comprises sky scenery, above the flight equipment, the first image and the second image are spliced to obtain a third image, and the third image is a panoramic image; wherein the first camera module has a first angular resolution, the second camera module has a second angular resolution, and the first angular resolution is different from the second angular resolution.

Description

Technical Field

[0001] This application belongs to the field of image processing technology, and specifically relates to a flight device, an image construction method, and a device. Background Technology

[0002] When using multiple camera modules in a flight device to acquire images and stitch them together to obtain a panoramic image, multiple camera modules can simultaneously capture images from different directions, and then the panoramic image is generated through image stitching technology. However, when using multiple camera modules for image stitching, multiple camera modules with the same total resolution and angular resolution are usually used for image acquisition and stitching. This results in the inefficient use of the angular resolution of the camera modules and the image processor's computing power. In addition, due to the limited computing power of the image processor, excessively high resolution requirements often exceed the image processor's computing capabilities, leading to a significant decrease in image processing speed and quality. Summary of the Invention

[0003] This application provides a flight device, an image construction method, and a device.

[0004] This application provides a flight device, the flight device comprising:

[0005] A first camera module is disposed at the lower end of the flight equipment and is used to capture a first image, the first image including an image of the area below the flight equipment containing ground scenery captured by the first camera module;

[0006] The second camera module is installed at the top of the flight equipment and is used to capture a second image. The second image includes an image of the flight equipment above the flight equipment containing sky scenery, captured by the second camera module. The first image and the second image are stitched together to obtain a third image, which is a panoramic image.

[0007] The first camera module has a first angular resolution, and the second camera module has a second angular resolution, wherein the first angular resolution and the second angular resolution are different.

[0008] In some embodiments, the shooting direction of the first camera module is opposite to that of the second camera module.

[0009] In some embodiments, the total resolution of the first camera module is greater than the total resolution of the second camera module.

[0010] It can be seen that when using camera modules with different angular resolutions to acquire images, using camera modules with lower angular resolutions requires less image processing computing power, which is beneficial to improving the utilization rate of image processing computing power.

[0011] In some embodiments, the optical axis of the first camera module is parallel to and lies on the same straight line as the optical axis of the second camera module.

[0012] In some embodiments, at any identical field of view, the second angular resolution is less than or equal to the first angular resolution.

[0013] In some embodiments, the first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

[0014] As can be seen, the peak of the angular resolution of the camera module in this embodiment occurs between the center direction and the edge direction of the optical lens. With the camera module in this embodiment, a clearer image can be obtained between the center direction and the edge direction of the optical lens.

[0015] In some embodiments, the distance between the peak of the first angular resolution curve and the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the optical lens of the second camera module, and the distance between the peak of the second angular resolution curve and the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the optical lens of the second camera module, respectively.

[0016] In some embodiments, the distance from the location of the peak of the second angular resolution curve at the optical lens to the edge of the optical lens of the second camera module is less than the distance from the location of the peak of the first angular resolution curve at the optical lens to the edge of the optical lens of the first camera module.

[0017] This application also provides an image construction method, the method comprising:

[0018] Acquire the first image captured by the first camera module;

[0019] A second image is acquired by a second camera module; wherein the first camera module has a first angular resolution, the second camera module has a second angular resolution, and the first angular resolution and the second angular resolution are different; the first image and the second image partially overlap.

[0020] The first image is stitched together with the second image to obtain the third image.

[0021] In some embodiments, stitching the first image and the second image together to obtain a third image includes: stitching the first image and the second image together at a first position to obtain a third image; wherein, the first position is the position of the overlapping area of ​​the first image and the second image; and the third image is a panoramic image.

[0022] This application provides an image construction device, the device comprising:

[0023] A first camera module, used to capture a first image;

[0024] A second camera module is used to capture a second image, wherein the first image and the second image partially overlap.

[0025] The first camera module has a first angular resolution, and the second camera module has a second angular resolution, wherein the first angular resolution and the second angular resolution are different;

[0026] A processor is configured to stitch the first image and the second image together to obtain a third image, wherein the third image is a panoramic image.

[0027] In some embodiments, the total resolution of the first camera module is greater than the total resolution of the second camera module.

[0028] It can be seen that when using camera modules with different angular resolutions to acquire images, using camera modules with lower angular resolutions requires less image processing computing power, which is beneficial to improving the utilization rate of image processing computing power.

[0029] In some embodiments, the first camera module and the second camera module are located on the same image acquisition device; wherein the shooting direction of the optical lens of the first camera module is opposite to the shooting direction of the optical lens of the second camera module.

[0030] In some embodiments, the image acquisition device is located on the image construction device, or the image acquisition device and the image construction device are separate components.

[0031] In some embodiments, the optical axis of the first camera module is parallel to and lies on the same straight line as the optical axis of the second camera module.

[0032] It can be seen that by setting the optical axes of the two camera modules to be parallel and on the same straight line, it is beneficial to ensure that the images captured by the two camera modules at the edges of their corresponding optical lenses have consistency, which is beneficial to improving the imaging quality of the stitched image.

[0033] In some embodiments, at any identical field of view, the second angular resolution is less than or equal to the first angular resolution.

[0034] In some embodiments, the first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

[0035] As can be seen, the peak of the angular resolution of the camera module in this embodiment occurs between the center direction and the edge direction of the optical lens. With the camera module in this embodiment, a clearer image can be obtained between the center direction and the edge direction of the optical lens.

[0036] In some embodiments, the distance between the peak of the first angular resolution curve and the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the optical lens of the second camera module, and the distance between the peak of the second angular resolution curve and the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the optical lens of the second camera module, respectively.

[0037] In some embodiments, the distance from the location of the peak of the second angular resolution curve at the optical lens to the edge of the optical lens of the second camera module is less than the distance from the location of the peak of the first angular resolution curve at the optical lens to the edge of the optical lens of the first camera module.

[0038] In some embodiments, the first camera module includes at least a first optical lens and a first image sensor; the second camera module includes at least a second optical lens and a second image sensor; wherein the first optical lens and the second optical lens have different optical structures, and the first image sensor and the second image sensor have the same hardware parameters; or, the first optical lens and the second optical lens have different optical structures, and the first image sensor and the second image sensor have different hardware parameters; or, the first optical lens and the second optical lens have the same optical structure, and the first image sensor and the second image sensor have different hardware parameters.

[0039] This application provides a flight device, an image construction method, and a device. The flight device provided in this application can acquire images through two camera modules with different angular resolutions and stitch the acquired images together to obtain a panoramic image. This facilitates the rational allocation and utilization of image processing computing power by making reasonable use of the angular resolution of the camera modules. The flight device provided in this application is beneficial for more efficient use of the angular resolution of the camera modules under the same transmission bandwidth, resulting in better image effects. Attached Figure Description

[0040] Figure 1 A schematic diagram of a camera module for a flight device provided in an embodiment of this application;

[0041] Figure 2 This is a schematic diagram of the flight environment of a flight device provided in an embodiment of this application;

[0042] Figure 3 A schematic diagram of angular resolution parameters provided in an embodiment of this application;

[0043] Figure 4 This is a schematic diagram of another angular resolution parameter provided in an embodiment of this application;

[0044] Figure 5 A flowchart illustrating an image construction method provided in an embodiment of this application;

[0045] Figure 6 This is a schematic diagram of the composition structure of an image construction device provided in an embodiment of this application;

[0046] Figure 7 This is a schematic diagram of the composition structure of an image acquisition device provided in an embodiment of this application. Detailed Implementation

[0047] Panoramic cameras, or those mounted on aerial devices, typically use two or more camera modules with identical lenses to stitch images together in a 360-degree, seamless manner, resulting in a 360-degree panoramic image. Normally, camera modules with identical lenses have the same total and angular resolution. However, in actual panoramic image acquisition, for images acquired at different frequencies, it's common to use camera modules with the same total and angular resolution. This leads to an inefficient use of the camera module's angular resolution and the image processor's computing power. Furthermore, due to the limited computing power of image processors, excessively high resolution requirements often exceed their processing capabilities, resulting in a significant decrease in image processing speed and quality.

[0048] To address the aforementioned issues, embodiments of this application provide a flight device, an image construction method, and a device that can acquire panoramic images using camera modules with different angular resolutions. This facilitates the rational allocation of camera modules with different angular resolutions during panoramic image acquisition and the rational allocation of image processing computing power.

[0049] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the embodiments provided herein are merely illustrative of the embodiments of this application and are not intended to limit the embodiments of this application. Furthermore, the embodiments provided below are some embodiments for implementing this application, and not all embodiments for implementing this application. Unless otherwise specified, the technical solutions described in the embodiments of this application can be implemented in any combination.

[0050] It should be noted that, in the embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a method or apparatus that includes a list of elements includes not only the elements expressly described, but also other elements not expressly listed, or elements inherent to implementing the method or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other related elements in the method or apparatus that includes that element (e.g., steps in the method or units in the apparatus; for example, a unit in the apparatus may be a portion of circuitry, a portion of a processor, a portion of a program or software, etc.).

[0051] The device provided in this application includes a series of modules, but the device provided in this application is not limited to the modules explicitly described, but may also include modules required for obtaining relevant information or processing based on information. Similarly, the image construction method provided in this application includes a series of steps, but the image construction method provided in this application is not limited to the steps described.

[0052] This application provides a flight device, such as... Figure 1 As shown, the flight equipment 10 provided in this embodiment includes:

[0053] A first camera module 101 is disposed at the lower end of the flight device 10 and is used to capture a first image, which includes an image of the area below the flight device 10 containing ground scenery captured by the first camera module 101.

[0054] The second camera module 102 is disposed on the upper part of the flight device 10 and is used to capture a second image. The second image includes an image above the flight device 10 containing sky scenery captured by the second camera module 102. The first image is used to stitch with the second image to obtain a third image, which is a panoramic image.

[0055] The first camera module 101 has a first angular resolution, and the second camera module 102 has a second angular resolution. The first angular resolution and the second angular resolution are different.

[0056] In this embodiment of the application, the flight equipment can be an aircraft, such as a drone, glider, helicopter, airship, etc. Figure 2 As can be seen from the given schematic diagram of the flight environment of the flight device 10, when the flight device 10 is flying at an altitude higher than the ground to collect images, the first camera module 101 of the flight device 10 takes downward images including the ground scene, and the second camera module 102 of the flight device 10 takes upward images including the sky.

[0057] The first angular resolution of the first camera module 101 is different from the second angular resolution of the second camera module 102. In order to increase the shooting range and obtain a complete image or a panoramic image, the shooting areas of the first camera module 101 and the second camera module 102 need to overlap or intersect, that is, the first image and the second image have partially overlapping areas.

[0058] The first camera module 101 may include relevant optical and processing devices for acquiring images. For example, the first camera module 101 may include a first optical lens and a first image sensor. The first camera module 101 may also include a first digital signal processor (DSP) chip, etc. The first camera module 101 may be independently mounted on the flight device 10, or it may be mounted together with the second camera module 102 on an image acquisition device, with the image acquisition device placed on the flight device 10.

[0059] The second camera module 102 may include relevant optical devices and processing devices for acquiring images. For example, the second camera module 102 may include a second optical lens and a second image sensor. The second camera module 102 may also include a second DSP chip, etc.

[0060] When the first camera module 101 and the second camera module 102 are respectively placed on the flight device 10, the flight device 10 can acquire images through the first camera module 101 and the second camera module 102 to obtain the first image acquired by the first camera module 101 and the second image acquired by the second camera module 102. Furthermore, the first image and the second image can be stitched together to obtain a third image.

[0061] The first camera module 101 and the second camera module 102 can also be located on the same image acquisition device, which is placed on the flight equipment 10. Alternatively, the first camera module 101 and the second camera module 102 can be located on different image acquisition devices, which can be placed on the flight equipment 10. When the first camera module 101 and the second camera module 102 are located on different image acquisition devices, the image acquisition devices corresponding to the first camera module 101 and the second camera module 102 can communicate. When the first camera module 101 and the second camera module 102 are located on the same image acquisition device, the image acquisition device can control the first camera module 101 and the second camera module 102 to perform image acquisition separately, or control the first camera module 101 and the second camera module 102 to perform image acquisition simultaneously. After the image acquisition device controls the first camera module 101 and the second camera module 102 to acquire images, it sends the acquired first and second images to the flight equipment 10. The processor and other processing devices of the flight equipment 10 process the first and second images to obtain a third image.

[0062] In this embodiment, the first angular resolution of the first camera module 101 is different from the second angular resolution of the second camera module 102. Specifically, the difference between the first angular resolution and the second angular resolution may occur when the optical structures of the first optical lens and the second optical lens are different, and / or when the hardware parameters of the first image sensor and the second image sensor are different.

[0063] In this embodiment, angular resolution represents the number of pixels occupied by the sensor in the image formed by a unit angle on the object side. Angular resolution is used to describe the resolving power of the camera module and reflects the system's ability to distinguish details of adjacent objects. By calculating and comparing angular resolution, the performance and application scenarios of different camera modules can be better understood and evaluated. Since the angular resolution of the same camera module may be different at different fields of view, in order to reflect the overall shooting capability of the same camera module, the integral of the curves reflecting the angular resolution of the camera module at different fields of view is used as the total resolution. The total resolution reflects the precision of the camera module or the clarity of the photos taken by the camera module.

[0064] Depending on the different acquisition scenarios, the first camera module 101 and the second camera module 102 can adopt a hemispherical lens, a wide-angle lens, a fisheye lens, etc. The first camera module 101 and the second camera module 102 can also be camera modules containing a multi-lens array. Depending on the image acquisition scenario or different image acquisition requirements, the flight device 10 in this embodiment can also be equipped with multiple camera modules to acquire images acquired by two or more camera modules. For example, in addition to acquiring the first image acquired by the first camera module 101 and the second image acquired by the second camera module 102, the flight device 10 can also acquire the third image acquired by the third camera module, the fourth image acquired by the fourth camera module, and so on. Each pair of adjacent camera modules has an overlapping acquisition area. For example, when the first camera module 101 is adjacent to the second camera module 102, the first camera module 101 and the second camera module 102 have an overlapping acquisition area. When the second camera module 102 is adjacent to the third camera module, the second camera module 102 and the third camera module have an overlapping acquisition area. In practical applications, the angular resolution corresponding to the multiple camera modules can be configured according to actual needs, depending on the image acquisition scenario or different image acquisition requirements. This application does not limit this.

[0065] Panoramic images represent the surrounding scene mapped onto a plane through specific geometric mapping relationships, and then processed by a panoramic player to achieve a three-dimensional effect. Panoramic images can be classified according to the range of the scene they encompass, including cylindrical panoramas and spherical panoramas. Cylindrical panoramas do not include the top and bottom of the scene; spherical panoramas include a 360-degree horizontal view and a 180-degree vertical view. Spherical panoramas provide more comprehensive scene information, giving users a stronger sense of immersion.

[0066] Therefore, when a cylindrical panoramic image is required to be obtained through the first camera module 101 and the second camera module 102, the first image and the second image must include at least the entire scene in the current acquisition environment, except for the top and bottom of the scene; when a spherical panoramic image is required to be obtained through the first camera module 101 and the second camera module 102, the scene in the first image and the scene in the second image must be able to include panoramic images of the surrounding 360-degree horizontal view and 180-degree vertical view in the current acquisition environment. Typically, to acquire a spherical panoramic image, the flying device 10 needs to be placed above the ground. The plane parallel to the ground where the flying device 10 is located is used as the first xy-plane, the straight line perpendicular to the first xy-plane where the flying device 10 is located is used as the first z-axis, and the direction from the ground to the sky is used as the positive direction of the first z-axis. The first camera module 101 can capture images from a 360-degree horizontal perspective parallel to the first xy-plane, as well as images from 90 to 180 degrees along the z-axis. The second camera module 102 can capture images from a 360-degree horizontal perspective parallel to the first xy-plane, as well as images from 0 to 90 degrees along the z-axis. Using a preset image processing algorithm, the first image captured by the first camera module 101 and the second image captured by the second camera module 102 are stitched together to form a seamless panoramic image, thus obtaining the third image.

[0067] by Figure 3 As shown in the example, Figure 3 A schematic diagram of the angular resolution parameters of the first camera module 101 and the second camera module 102 is shown. It can be seen that the first camera module 101 and the second camera module 102 have similar angular resolutions at a field of view of approximately 90 degrees. Therefore, during stitching, the image with a field of view of approximately 90 degrees in the first image can be stitched together with the image with a field of view of approximately 90 degrees in the second image, resulting in a uniformly blended stitch and a third image.

[0068] Figure 4 A schematic diagram showing another angular resolution parameter for the first camera module 101 and the second camera module 102 is presented. It can be seen that... Figure 4 In the case where the difference in angular resolution between the first angular resolution of the first camera module 101 and the second angular resolution of the second camera module 102 is the same for each same field of view, the first image and the second image can be stitched together based on a preset image processing algorithm to obtain a third image.

[0069] In some embodiments, the shooting direction of the first camera module is opposite to that of the second camera module.

[0070] The shooting direction of the first camera module 101 is opposite to that of the second camera module 102. The first camera module 101 can capture images below the flying device 10, while the corresponding second camera module 102 can capture images above the flying device 10. To obtain a panoramic image, the plane parallel to the ground where the flying device 10 is located is taken as the second xy plane, and the straight line perpendicular to the second xy plane where the flying device 10 is located is taken as the second z-axis. The direction from the ground to the sky is taken as the positive direction of the second z-axis. The first camera module 101 is responsible for capturing images downward from 90 degrees to 180 degrees along the second z-axis and from 0 degrees to 360 degrees along the second xy plane as the first image. The second camera module 102 is responsible for capturing images upward from 0 degrees to 90 degrees along the second z-axis and from 0 degrees to 360 degrees along the second xy plane as the second image. By stitching the first image and the second image together, a panoramic third image can be obtained.

[0071] In some embodiments, the total resolution of the first camera module is greater than the total resolution of the second camera module.

[0072] In the field of image processing technology, high-frequency images represent images where grayscale values ​​change rapidly. These images with rapidly changing grayscale values ​​often contain important information such as image details and edges. Low-frequency images, on the other hand, have slowly changing grayscale values, meaning that color or brightness exhibits a continuous and gradual change in space. Taking spatial scenes as an example, the grayscale changes of objects in the sky are slower than those in the ground; therefore, a sky image is a low-frequency image relative to a ground image, and a ground image is a high-frequency image relative to a sky image.

[0073] based on Figure 2 As can be seen from the shooting scene of the flight device 10, the first camera module 101 is mainly used to capture ground scenery, while the second camera module 102 is mainly used to capture sky scenery. Considering the characteristics of high-frequency and low-frequency images, it can be assumed that the first camera module 101 mainly captures high-frequency images, and the second camera module 102 mainly captures low-frequency images. When the first camera module 101 is used to capture high-frequency images and the second camera module 102 is used to capture low-frequency images, the total resolution of the first camera module 101 is greater than the total resolution of the second camera module 102.

[0074] In this embodiment, the total resolution is used to characterize the image sharpness or the precision of the camera module. From the perspective of angular resolution, the total resolution can be considered as the integral of the angular resolution curve. Therefore, the integral of the angular resolution curve of the first camera module 101 is greater than the integral of the angular resolution curve of the second camera module 102. When the first camera module 101 is used to acquire high-frequency images and the second camera module 102 is used to acquire low-frequency images, Figure 3A schematic diagram showing the angular resolution parameters of the first camera module 101 and the second camera module 102 is provided. It can be seen that... Figure 3 The angular resolution of the first camera module 101 is greater than that of the second camera module 102 at any field of view.

[0075] In some embodiments, the optical axis of the first camera module is parallel to and lies on the same straight line as the optical axis of the second camera module.

[0076] The optical axis represents the center line of a light beam (light column) or the axis of symmetry of an optical system. When the first camera module 101 and the second camera module 102 are shooting objects in opposite directions, the optical axes of the first camera module 101 and the second camera module 102 can be adjusted to make the optical axis of the first camera module 101 parallel to the optical axis of the second camera module 102. For example, the optical axes of the two camera modules can be adjusted to be parallel by a mechanical adjustment device, or the parallelism of the optical axes of the two camera modules can be adjusted by using a calibration chart. In addition, calibration software can be added to the camera modules to automatically adjust the parallelism of the optical axes of the two camera modules through the built-in algorithms and image processing technology in the calibration software.

[0077] By aligning the optical axes of the first camera module 101 and the second camera module 102 parallel and on the same straight line, image quality can be improved. Normally, when the optical axes of the first camera module 101 and the second camera module 102 are parallel and on the same straight line, the images captured by the two camera modules are consistent in the horizontal and / or vertical directions. This facilitates accurate reconstruction of the scene's three-dimensional structure and enhances the sense of depth when synthesizing stereoscopic images. In this embodiment, aligning the optical axes of the two camera modules parallel and on the same straight line ensures consistency in the images captured by the two camera modules at the edges of their corresponding optical lenses, thus improving the image quality of the stitched image.

[0078] In some embodiments, at any identical field of view, the second angular resolution is less than or equal to the first angular resolution.

[0079] Reference Figure 3 or Figure 4 As shown in the schematic diagram of the angular resolution parameters of the first camera module 101 and the second camera module 102 in this embodiment, under any identical field of view corresponding to the first and second angular resolutions, the second angular resolution is less than or equal to the first angular resolution. In actual shooting, the second camera module 102 can be used to acquire low-frequency images, and the first camera module 101 can be used to acquire high-frequency images.

[0080] In some embodiments, the first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

[0081] For short focal length lenses, due to their shorter focal length, light passing through the lens often experiences greater aberrations and distortion at the edges. This characteristic results in lower resolution at the edges compared to the center. Therefore, in short focal length lenses, the angular resolution at the center is higher than at the edges. Conversely, telephoto lenses, with their longer focal lengths, offer a greater angle of view and higher magnification. However, telephoto lenses also face design challenges, such as minimizing edge aberrations and distortion while maintaining center resolution. Nevertheless, due to their specialized design, telephoto lenses often achieve very high resolution in the center region, but at the edges, resolution may decrease due to oblique light incidence and lens aberration control. It's worth noting that this decrease may be less pronounced compared to short focal length lenses, and in some high-end telephoto lenses, advanced optical design and manufacturing processes can effectively maintain edge resolution. Therefore, in telephoto lenses, the angular resolution at the center is also often higher than at the edges, but the difference may be relatively smaller compared to short focal length lenses. Therefore, it can be seen that, under normal circumstances, whether it is a short focal length lens or a long focal length lens, the angular resolution at the center of the optical lens will be higher than the angular resolution at the edge.

[0082] This application embodiment provides an angular resolution distribution characteristic of an optical lens, which can serve as the first optical lens of a first camera module 101 and the second optical lens of a second camera module 102. In this embodiment, the angular resolution at the center of the optical lens is not the highest. Correspondingly, in terms of imaging, the first and second images acquired by the first camera module 101 and the second camera module 102 in this embodiment are not the clearest in the direction of the center of the optical lens. That is to say, compared with lenses in related technologies, the camera module in this embodiment can obtain high-quality imaging within a certain range in the direction of the edge of the optical lens.

[0083] Based on the distribution characteristics of the curves for the first angular resolution and the second angular resolution given in the above embodiments, it can be seen that the trend of the first angular resolution from the center of the first optical lens to the edge of the first optical lens is an upward trend followed by a downward trend; the trend of the second angular resolution from the center of the second optical lens to the edge of the second optical lens is an upward trend followed by a downward trend.

[0084] by Figure 3 As can be seen from the schematic diagram of the angular resolution parameters of the first camera module 101 and the second camera module 102 shown, Figure 3 The vertical axis represents angular resolution, and the horizontal axis represents the field of view. For the first camera module 101, 0 degrees represents the center position of its first optical lens, and 90 degrees represents the angle perpendicular to the optical axis. It can be seen that the first camera module 101 achieves maximum angular resolution near a 60-degree field of view at the edge, while the second camera module 102 achieves maximum angular resolution near an 85-degree field of view at the edge. That is, in this embodiment, the first camera module 101 captures images with higher clarity near a 60-degree field of view, while the second camera module 102 captures images with higher clarity near a 85-degree field of view.

[0085] In some embodiments, the distance between the peak of the first angular resolution curve and the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the optical lens of the second camera module; the distance between the peak of the second angular resolution curve and the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the optical lens of the second camera module.

[0086] Based on the curve characteristics of the first angular resolution and the second angular resolution given in this embodiment, it can be seen that the absolute value of the difference between the field of view corresponding to the maximum value of the first angular resolution curve and the 0-degree field of view is greater than the absolute value of the difference between the field of view corresponding to the maximum value of the first angular resolution curve and the 90-degree field of view. That is, the field of view corresponding to the maximum angular resolution of the first camera module 101 is closer to the edge direction of the optical lens of the first camera module 101. Similarly, the absolute value of the difference between the field of view corresponding to the maximum value of the second angular resolution curve and the 0-degree field of view is also greater than the absolute value of the difference between the field of view corresponding to the maximum value of the second angular resolution curve and the 90-degree field of view. That is, the field of view corresponding to the maximum angular resolution of the second camera module 102 is closer to the edge direction of the optical lens of the second camera module 102.

[0087] In some embodiments, the distance from the location of the optical lens at the peak of the second angular resolution curve to the edge of the optical lens of the second camera module is less than the distance from the location of the optical lens at the peak of the first angular resolution curve to the edge of the optical lens of the first camera module.

[0088] In this embodiment, the absolute value of the difference between the field of view corresponding to the maximum value of the second angular resolution curve and the 90-degree field of view is smaller than the absolute value of the difference between the field of view corresponding to the maximum value of the first angular resolution curve and the 90-degree field of view. That is, the field of view corresponding to the maximum angular resolution of the second camera module 102 is closer to the vertical (i.e., edge) direction than the field of view corresponding to the maximum angular resolution of the first camera module 101. In other words, the first camera module 101 has a better shooting effect in the direction close to the center of the optical lens of the second camera module 102 than the second camera module 102. Moreover, such an angular resolution curve distribution can ensure that the angular resolution of the first camera module 101 and the second camera module 102 is close at the edge, thus improving the image stitching effect.

[0089] Based on the distribution characteristics of the first angular resolution curve and the second angular resolution curve given in this embodiment, the corresponding first camera module 101 and second camera module 102 also have high imaging capabilities when acquiring images in the corresponding optical lens edge direction, and high-quality images can be acquired through the first camera module 101 and the second camera module 102.

[0090] Based on the flight equipment proposed in the foregoing embodiments, this application also proposes an image construction method, such as... Figure 5 As shown, Figure 5 A flowchart illustrating an image construction method is shown, which includes:

[0091] Step 501: Acquire the first image captured by the first camera module.

[0092] Step 502: Acquire the second image captured by the second camera module; wherein the first camera module has a first angular resolution, the second camera module has a second angular resolution, and the first angular resolution and the second angular resolution are different; the first image and the second image partially overlap.

[0093] In this embodiment, at least two camera modules are used to acquire images. These at least two camera modules include a first camera module and a second camera module, where the first camera module has a different first angular resolution than the second camera module. To increase the shooting range and obtain a complete wide-angle or panoramic image, the shooting areas of the first and second camera modules need to overlap, meaning the first image and the second image have a partially overlapping area.

[0094] The first camera module involved in this embodiment can refer to the first camera module in the above-mentioned flight equipment; the second camera module involved in this embodiment can refer to the second camera module in the above-mentioned flight equipment.

[0095] The first camera module and the second camera module can be camera modules on devices such as intelligent communication devices, monitoring devices, and panoramic image acquisition devices.

[0096] Specifically, when the first camera module and the second camera module are located on the same image acquisition device, the first camera module can acquire the image below, and the second camera module can acquire the image above, thus obtaining a panoramic image.

[0097] When the first camera module and the second camera module are located on the same image acquisition device, the first camera module can capture the image on the left side of the image acquisition device, while the second camera module can capture the image on the right side of the image acquisition device. A panoramic image of the area surrounding the image acquisition device can be obtained through the first and second camera modules.

[0098] In some application scenarios, the first camera module can also capture images from the front of the image acquisition device, while the second camera module can capture images from the rear of the image acquisition device. Through the first and second camera modules, a panoramic image of the area surrounding the image acquisition device can be obtained.

[0099] Step 503: Combine the first image with the second image to obtain the third image.

[0100] The first and second images are preprocessed to obtain the processed first and second images. The image preprocessing includes image denoising, brightness adjustment, and color correction.

[0101] The processed first image is stitched together with the second image using common feature points or regions. When there are two or more camera modules, images captured by adjacent camera modules can also be identified and stitched together using common feature points or regions between the images captured by adjacent camera modules to obtain a third image. The third image can include images of the entire area captured by the first and second camera modules, and the third image can be a panoramic image or a wide-angle image.

[0102] by Figure 3 As shown in the example, Figure 3 A schematic diagram of the angular resolution parameters of a first camera module and a second camera module is shown. It can be seen that the first and second camera modules have similar angular resolutions at approximately 90 degrees of field of view. Therefore, during stitching, the image with a corresponding field of view of approximately 90 degrees in the first image can be stitched together with the image with a corresponding field of view of approximately 90 degrees in the second image, resulting in a uniformly blended third image.

[0103] Figure 4 A schematic diagram showing another angular resolution parameter for the first and second camera modules is presented. It can be seen that... Figure 4In the case where the difference between the first angular resolution of the first camera module and the second angular resolution of the second camera module is the same for each same field of view, the first image and the second image can be stitched together based on a preset image processing algorithm to obtain a third image.

[0104] This embodiment provides an image construction method, which corresponds to the method described above for obtaining a third image through a camera module in a flight device. It can acquire different images through camera modules with different angular resolutions and stitch the different images together.

[0105] The method presented in this embodiment facilitates the adjustment of camera modules with different angular resolutions based on the acquisition of images at different frequencies, thereby enabling the rational allocation of image processing computing power and improving its utilization rate. Under conditions of limited system-on-chip (SOC) computing power in image acquisition devices, the method of this embodiment helps to obtain superior image quality. Specific implementations of this method embodiment can be found in the aforementioned device embodiments.

[0106] In practical applications, steps 501 to 503 can be implemented based on a processor, which can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), CPU, controller, microcontroller, and microprocessor.

[0107] In some embodiments, the above-mentioned stitching of the first image and the second image to obtain a third image includes: stitching the first image and the second image at a first position to obtain a third image; wherein, the first position is the position of the overlapping area of ​​the images in the first image and the second image; and the third image is a panoramic image.

[0108] To obtain a larger area of ​​captured images, the first image and the second image can be stitched together. When the first image includes region one and region two, and the second image includes region two and region three, the first image and the second image can be stitched together based on the image of region two to obtain the third image.

[0109] When the distribution of the first angular resolution and the second angular resolution is Figure 3 In the scenario shown, a third image can be obtained by stitching together the image with a field of view of approximately 90 degrees from the first image and the image with a field of view of approximately 90 degrees from the second image, based on a preset image processing algorithm. When the distribution of the first angular resolution and the second angular resolution is... Figure 4 In the case shown, the first and second images can be stitched together based on a preset image processing algorithm to obtain the third image.

[0110] When the first camera module and the second camera module are located as follows Figure 1 When the flight equipment is in the air, the first camera module can be placed at the lower end of the flight equipment, and the second camera module can be placed at the upper end of the flight equipment. When the flight equipment is in the air, the first camera module is used to capture images of the ground downwards, that is, the first image is a ground image; the second camera module is used to capture images of the sky upwards, that is, the second image is a sky image.

[0111] When the flight equipment needs to acquire panoramic images of the surrounding area from a 360-degree horizontal perspective and a 180-degree vertical perspective, the first and second camera modules can also be fisheye lenses, combined with... Figure 3 The angular resolution parameter distribution shown indicates that the first and second camera modules have similar angular resolutions at approximately 90 degrees of field of view. In this case, the third image can be obtained by stitching together the image positions corresponding to approximately 90 degrees of field of view in the first and second images. Combined with... Figure 4 The alternative angular resolution parameter distribution shown can also be used to stitch the first and second images together to obtain a third image based on a preset image processing algorithm.

[0112] Those skilled in the art will understand that the order in which the steps are written in the above-described method of the specific implementation does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic. It should be noted that for technical details not disclosed in the embodiments of the method of this application, please refer to the description of the embodiments of the device of this application for understanding.

[0113] This application also provides an image construction device. Figure 6 This is a schematic diagram of the composition structure of an image construction device provided in an embodiment of this application, such as... Figure 6 As shown, the image construction device 60 includes:

[0114] The first camera module 101 is used to capture the first image.

[0115] The second camera module 102 is used to capture a second image, and the first image and the second image partially overlap.

[0116] The first camera module 101 has a first angular resolution, and the second camera module 102 has a second angular resolution. The first angular resolution and the second angular resolution are different.

[0117] The processor 601 is used to stitch the first image and the second image together to obtain a third image, which is a panoramic image.

[0118] The first camera module 101 and the second camera module 102 in this embodiment can be specifically set based on the methods given in the above embodiments, and the image stitching method involved in this embodiment can also be implemented with reference to the methods given in the above embodiments.

[0119] In some embodiments, the total resolution of the first camera module is greater than the total resolution of the second camera module.

[0120] In this embodiment, the total resolution of the first camera module 101 and the total resolution of the second camera module 102 are the same as the distribution curves given in the above embodiment. The corresponding angular resolution distribution can be referred to Figure 3 or Figure 4 The angular resolution distribution curve is shown.

[0121] In some embodiments, the first camera module and the second camera module are located on the same image acquisition device; wherein the shooting direction of the optical lens of the first camera module is opposite to the shooting direction of the optical lens of the second camera module.

[0122] like Figure 7 As shown, Figure 7 The image acquisition device 70 shown includes a first camera module 101 and a second camera module 102. The shooting direction of the first camera module 101 and the shooting direction of the second camera module 102 are such that... Figure 7 As shown in the example, when the first camera module 101 and the second camera module 102 are located on the same image acquisition device 70, the shooting direction of the first camera module 101 can be the direction indicated by the arrow in line L1, and the shooting direction of the second camera module 102 can be the direction indicated by the arrow in line L2.

[0123] The first camera module 101 can capture images below the image acquisition device 70, and the corresponding second camera module 102 can capture images above the image acquisition device 70. For example, the image below the image acquisition device 70 captured by the first camera module 101 can be a ground image, and the image above the image acquisition device 70 captured by the second camera module 102 can be a sky image.

[0124] In some embodiments, the image acquisition device is located on the image building device 60, or the image acquisition device and the image building device 60 are separate units.

[0125] Image acquisition device 70 is used to acquire images through a camera module, and image construction device 60 is used to acquire the images acquired by the camera module and process the acquired images. In practical applications, depending on different needs, image acquisition device 70 can be located on image construction device 60, or it can be part of image construction device 60; in another implementation, image acquisition device 70 and image construction device 60 can also be separately configured. In this case, image acquisition device 70 and image construction device 60 can form a communication connection, which can be wired or wireless, such as via Bluetooth or a local area network; image acquisition device 70 can also have a built-in storage module. After acquiring an image, image acquisition device 70 stores the acquired image in the storage module, and image construction device 60 processes the image by reading the image from the storage module of image acquisition device 70.

[0126] In some embodiments, the optical axis of the first camera module is parallel to and lies on the same straight line as the optical axis of the second camera module.

[0127] The specific implementation method of this embodiment can refer to the method given in the above-mentioned flight equipment embodiment, and the optical axis of the first camera module 101 and the optical axis of the second camera module 102 are set to be parallel and located on the same straight line, so as to obtain a better image stitching effect.

[0128] In some embodiments, at any identical field of view, the second angular resolution is less than or equal to the first angular resolution.

[0129] The specific implementation method of this embodiment can refer to the method given in the above-described embodiment of the flight equipment. By setting the second angular resolution to be less than or equal to the first angular resolution, the image processing computing power required for image stitching can be reduced when performing image stitching through the image building device 60.

[0130] In some embodiments, the first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

[0131] In some embodiments, the distance between the peak of the first angular resolution curve and the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the optical lens of the second camera module; the distance between the peak of the second angular resolution curve and the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the optical lens of the second camera module.

[0132] In some embodiments, the distance from the location of the optical lens at the peak of the second angular resolution curve to the edge of the optical lens of the second camera module is less than the distance from the location of the optical lens at the peak of the first angular resolution curve to the edge of the optical lens of the first camera module.

[0133] The angular resolution curve distribution of the first camera module 101 and the second camera module 102 involved in the above embodiments is as follows: Figure 3 The curve distribution shown corresponds to the angular resolution curves of the first camera module 101 and the second camera module 102 involved in the above-mentioned flight equipment, which can be specifically referred to in the embodiment section.

[0134] In some embodiments, the first camera module includes at least a first optical lens and a first image sensor; the second camera module includes at least a second optical lens and a second image sensor; wherein the first optical lens and the second optical lens have different optical structures, and the first image sensor and the second image sensor have the same hardware parameters; or, the first optical lens and the second optical lens have different optical structures, and the first image sensor and the second image sensor have different hardware parameters; or, the first optical lens and the second optical lens have the same optical structure, and the first image sensor and the second image sensor have different hardware parameters.

[0135] The camera module described in this embodiment includes at least an optical lens and an image sensor. The optical lens is the core component of the camera module for optical imaging, responsible for converting the target scene into an image through the optical imaging system. The image sensor is used to convert the light (light signal) entering through the optical lens into an electrical signal. By converting the light signal into an electrical signal, the foundation for subsequent image capture and processing is laid.

[0136] When the optical structures of the first and second optical lenses are different, the angular resolution of the first camera module 101 and the second camera module 102 will differ due to the differences in their optical structures. Therefore, even when the hardware parameters of the first and second image sensors are the same, the angular resolution of the first camera module 101 and the second camera module 102 will still differ due to the differences in their optical lenses. In this case, the angular resolutions of the first camera module 101 and the second camera module 102 may appear as follows: Figure 3 The distribution trend is shown.

[0137] When the hardware parameters of the first image sensor and the second image sensor are different, it indicates that their light signal processing capabilities are different. Similarly, when the optical structures of the first optical lens and the second optical lens are different, the angular resolutions of the first camera module 101 and the second camera module 102 are also different. Therefore, when the optical structures of the first optical lens and the second optical lens are different, and the hardware parameters of the first image sensor and the second image sensor are different, the angular resolutions corresponding to the first camera module 101 and the second camera module 102 may also exhibit the following characteristics: Figure 3 The angular resolution distribution characteristics are shown.

[0138] When the first and second optical lenses have the same optical structure, the image conversion capabilities of the first camera module 101 and the second camera module 102 should be the same. However, when the hardware parameters of the first and second image sensors are different, it indicates that the light signal processing capabilities of the first camera module 101 and the second camera module 102 are different. Therefore, in this embodiment, the angular resolution of the first camera module 101 and the angular resolution of the second camera module 102 may be as follows: Figure 4 As shown, the difference in angular resolution between the first angular resolution of the first camera module 101 and the second angular resolution of the second camera module 102 is the same for each identical field of view.

[0139] As can be seen from the above embodiments, for the first camera module 101 and the second camera module 102, the differences in their optical lenses and / or image sensors may lead to differences in their corresponding angular resolutions. When the angular resolution of the first camera module 101 and the angular resolution of the second camera module 102 present the following characteristics... Figure 3 When the distribution is as shown, image stitching can be performed at a field of view where the first angular resolution of the first camera module 101 and the second angular resolution of the second camera module 102 are close; when the first angular resolution of the first camera module 101 and the second angular resolution of the second camera module 102 present an image like this... Figure 4 When the distribution is shown, the first and second images can be stitched together based on a preset image processing algorithm to obtain the third image.

[0140] Using the method described in this embodiment, the first camera module 101 has a higher first angular resolution, resulting in clearer imaging of more complex scenes. The second camera module 102 has a lower second angular resolution, which can be used to acquire low-frequency images, reducing the computing power requirements of the SOC in the image acquisition device and enabling reasonable optimization of resource allocation according to the scene.

[0141] The image construction device described in this application can be applied to mobile devices, specifically flying devices or underwater devices. Flying devices can be aircraft, such as drones, gliders, helicopters, airships, etc. Underwater devices can include underwater mobile robots, submersibles, underwater exploration equipment, underwater vehicles, etc.

[0142] It should be noted that the descriptions of the above image construction device embodiments correspond to the descriptions of the above flight equipment embodiments and image construction method embodiments, and have similar beneficial effects as the embodiments of the same modules and methods. In the embodiments of this application, if the above methods are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a terminal, server, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.

[0143] The memory involved in the above embodiments may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it may also be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0144] Accordingly, this application embodiment further provides a computer storage medium storing computer-executable instructions, which are used to implement any of the image construction methods provided in the above embodiments.

[0145] Correspondingly, this application embodiment further provides a computer program product, the computer program product including computer executable instructions, which are used to implement any of the image construction methods provided in the above embodiments.

[0146] In some embodiments, the functions or modules of the device provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0147] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0148] The methods disclosed in the various method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0149] The features disclosed in the various product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0150] The features disclosed in the various method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0151] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0152] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can interpret the embodiments described above without departing from the spirit and scope of the claims.

Claims

1. A flight device, characterized in that, The flight equipment includes: A first camera module is disposed at the lower end of the flight equipment and is used to capture a first image, the first image including an image of the area below the flight equipment containing ground scenery captured by the first camera module; The second camera module is installed at the top of the flight equipment and is used to capture a second image. The second image includes an image of the flight equipment above the flight equipment containing sky scenery, captured by the second camera module. The first image and the second image are stitched together to obtain a third image, which is a panoramic image. The first camera module has a first angular resolution, and the second camera module has a second angular resolution, wherein the first angular resolution and the second angular resolution are different.

2. The flight equipment according to claim 1, characterized in that, The shooting direction of the first camera module is opposite to that of the second camera module.

3. The flight equipment according to claim 2, characterized in that, The total resolution of the first camera module is greater than the total resolution of the second camera module.

4. The flight equipment according to any one of claims 1 to 3, characterized in that, The optical axis of the first camera module is parallel to the optical axis of the second camera module and lies on the same straight line.

5. The flight equipment according to claim 4, characterized in that, At any given field of view, the second angular resolution is less than or equal to the first angular resolution.

6. The flight equipment according to claim 5, characterized in that, The first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

7. The flight equipment according to claim 6, characterized in that, The distance between the peak of the first angular resolution curve and the center of the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the edge of the optical lens of the first camera module; the distance between the peak of the second angular resolution curve and the center of the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the edge of the optical lens of the second camera module.

8. The flight equipment according to claim 6, characterized in that, The distance from the position of the optical lens at the peak of the second angular resolution curve to the edge of the optical lens of the second camera module is less than the distance from the position of the optical lens at the peak of the first angular resolution curve to the edge of the optical lens of the first camera module.

9. An image construction method, characterized in that, The method includes: Acquire the first image captured by the first camera module; A second image is acquired by a second camera module; wherein the first camera module has a first angular resolution, the second camera module has a second angular resolution, and the first angular resolution and the second angular resolution are different; the first image and the second image partially overlap. The first image is stitched together with the second image to obtain the third image.

10. The method according to claim 9, characterized in that, The step of stitching the first image and the second image together to obtain the third image includes: The first image and the second image are stitched together at a first position to obtain a third image; wherein, the first position is the position of the overlapping area of ​​the first image and the second image; the third image is a panoramic image.

11. An image construction device, characterized in that, The device includes: A first camera module, used to capture a first image; A second camera module is used to capture a second image, wherein the first image and the second image partially overlap. The first camera module has a first angular resolution, and the second camera module has a second angular resolution, wherein the first angular resolution and the second angular resolution are different; A processor is configured to stitch the first image and the second image together to obtain a third image, wherein the third image is a panoramic image.

12. The device according to claim 11, characterized in that, The total resolution of the first camera module is greater than the total resolution of the second camera module.

13. The device according to claim 11, characterized in that, The first camera module and the second camera module are located on the same image acquisition device; wherein the shooting direction of the optical lens of the first camera module is opposite to the shooting direction of the optical lens of the second camera module.

14. The device according to claim 13, characterized in that, The image acquisition device is located on the image construction device, or the image acquisition device and the image construction device are separate units.

15. The device according to any one of claims 11 to 13, characterized in that, The optical axis of the first camera module is parallel to the optical axis of the second camera module and lies on the same straight line.

16. The device according to claim 15, characterized in that, At any given field of view, the second angular resolution is less than or equal to the first angular resolution.

17. The device according to claim 16, characterized in that, The first angular resolution is distributed in a curve, and the peak of the curve of the first angular resolution is located between the center direction of the optical lens of the first camera module and the edge direction of the optical lens of the first camera module; the second angular resolution is distributed in a curve, and the peak of the curve of the second angular resolution is located between the center direction of the optical lens of the second camera module and the edge direction of the optical lens of the second camera module.

18. The device according to claim 17, characterized in that, The distance between the peak of the first angular resolution curve and the center of the optical lens of the first camera module is greater than the distance between the peak of the first angular resolution curve and the edge of the optical lens of the first camera module; the distance between the peak of the second angular resolution curve and the center of the optical lens of the second camera module is greater than the distance between the peak of the second angular resolution curve and the edge of the optical lens of the second camera module.

19. The device according to claim 17, characterized in that, The distance from the position of the optical lens at the peak of the second angular resolution curve to the edge of the optical lens of the second camera module is less than the distance from the position of the optical lens at the peak of the first angular resolution curve to the edge of the optical lens of the first camera module.

20. The device according to claim 11, characterized in that, The first camera module includes at least a first optical lens and a first image sensor; the second camera module includes at least a second optical lens and a second image sensor; wherein the optical structures of the first optical lens and the second optical lens are different, and the hardware parameters of the first image sensor and the second image sensor are the same; Alternatively, the optical structures of the first optical lens and the second optical lens are different, or the hardware parameters of the first image sensor and the second image sensor are different; Alternatively, the first optical lens and the second optical lens may have the same optical structure, but the first image sensor and the second image sensor may have different hardware parameters.

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