Panoramic image generating device, panoramic image generating method, and panoramic image generating program

Abstract

The present invention comprises: an alignment processing unit 10 that generates a panoramic image by synthesizing a plurality of partial images A–D that have been captured by a plurality of imaging devices so as to partially overlap and generates a coordinate table 11 that associates coordinates for each of the partial images A–D with coordinates for the panoramic image; a brightness adjustment unit 20 that references the coordinate table 11, finds brightness factors that represent the ratios of the brightness values of pixels from pairs of partial images (AB, BC, CD) that have overlap, and generates a brightness adjustment coefficient for smoothing the differences in brightness represented by the brightness factors; and an image synthesis unit 30 that uses the coordinate table 11, the brightness adjustment coefficient, and the partial images to generate a panoramic image in which the brightness differences between the partial images have been adjusted.

Description

[Technical field]

[0001] The present invention relates to a panoramic image generating device, a panoramic image generating method, and a panoramic image generating program. [Background technology]

[0002] A panoramic image generating device is known that generates a wider-angle panoramic image by combining images captured by multiple cameras with some of the images overlapping. Such a panoramic image generating device matches feature points included in the frame images to detect corresponding points that show the same subject, and combines the frame images based on the corresponding points.

[0003] Patent Document 1 discloses a method of installing multiple cameras so that some of their shooting areas overlap, and acquiring seam information indicating a joining line that joins multiple high-resolution images obtained from the cameras.

[0004] Furthermore, Non-Patent Document 1 discloses a system that uses a mirror installed at a certain angle with the intention of concentrating ambient light at the center of the imaging system, and captures the reflected light using multiple cameras, although there is a constraint that a certain distance is required between the subject to be photographed and the camera. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2018-26744 A [Non-patent literature]

[0006] [Non-Patent Document 1] C. Weissig, et al. “The Ultimate Immersive xperience:Panoramic 3D Video Acquisition”, International Conference on Multimedia Modeling, pp.671-681, 2012. https: / / link.springer.com / content / pdf / 10.1007%2F978-3-642-27355-1.pdf Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the techniques disclosed in Patent Document 1 and Non-Patent Document 1, parallax exists because the focal centers are different for each of the multiple cameras. Therefore, when seam information is set based on the feature points of an object located at a certain depth, double images or defects may occur between the object and an object located at a different depth on the panoramic image.

[0008] In addition, the gain and shutter speed of the image sensor may differ for each of the multiple cameras, and the brightness and color of the image may change significantly at the seam information boundary, degrading the viewing quality of the panoramic image. Thus, the conventional technology has a problem that double images or missing parts of the subject may occur, degrading the viewing quality of the panoramic image.

[0009] The present invention has been made in consideration of this problem, and aims to provide a panoramic image generation device, a panoramic image generation method, and a panoramic image generation program that are capable of generating a panoramic image without double images or missing parts of the subject. [Means for solving the problem]

[0010] A panoramic image generating device according to one embodiment of the present invention comprises an alignment processing unit that generates a panoramic image by synthesizing multiple split images captured by multiple imaging devices so that some areas overlap, and generates a coordinate table that associates the coordinates of each of the split images with the coordinates of the panoramic image, a brightness adjustment unit that refers to the coordinate table, determines a brightness multiplier that represents the ratio of the brightness values ​​of two pixels in a split image having an overlapping area, and generates a brightness adjustment coefficient that averages out the brightness difference represented by the brightness multiplier, and an image synthesis unit that uses the coordinate table, the brightness adjustment coefficient, and the split images to adjust the brightness difference between the split images and generate a synthesized panoramic image.

[0011] Furthermore, a panoramic image generating method according to one aspect of the present invention is a panoramic image generating method performed by the above-mentioned panoramic image generating device, and includes the following steps: generating a panoramic image by combining multiple split images captured by multiple imaging devices so that some areas overlap, and generating a coordinate table that associates the coordinates of each of the split images with the coordinates of the panoramic image; referring to the coordinate table, determining a brightness multiplier that represents the ratio of the brightness values ​​of two pixels in a split image having an overlapping area, and generating a brightness adjustment coefficient that averages out the brightness difference represented by the brightness multiplier; and an image synthesis step using the coordinate table, the brightness adjustment coefficient, and the split images to adjust the brightness difference between the split images and generate a synthesized panoramic image.

[0012] A panoramic image generating program according to one aspect of the present invention is a panoramic image generating program for causing a computer to function as the above-mentioned panoramic image generating device. Effect of the Invention

[0013] According to the present invention, a panoramic image without double images or loss of a subject can be generated. [Brief description of the drawings]

[0014] [Figure 1]1 is a block diagram illustrating an example of a functional configuration of a panoramic image generating device according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a diagram showing an example of a divided image obtained by capturing a wide horizontal field of view using four image pickup elements. [Diagram 3] This figure shows a schematic diagram of the correspondence between the coordinates of a divided image, the coordinates of a synthesis buffer that represents the coordinates of a panoramic image formed by superimposing parts of the divided images, and three coordinates of an output image obtained by dividing the coordinates of the synthesis buffer in accordance with a video signal transmission standard. [Figure 4] 1A and 1B are diagrams showing examples of panoramic images, where (a) is a diagram showing an example without brightness adjustment, (b) is a diagram showing an example where the brightness between the divided images is matched, and (c) is a diagram showing an example where the brightness between the divided images is matched gradually. [Diagram 5] 5 is a waveform showing the transition of RGB values ​​corresponding to FIG. 4. [Figure 6] FIG. 13 is a diagram showing overlapping areas of divided images. [Figure 7] FIG. 5 is a diagram showing a waveform obtained by correcting and combining the RGB signals shown in FIG. 4 so that they coincide with each other. [Figure 8] This is a waveform that represents the luminance transition achieved by combining the four divided images while smoothly correcting the luminance differences between them. [Figure 9] 2 is a flowchart showing a processing procedure of the panoramic image generating device shown in FIG. [Figure 10] 2 is a flowchart showing a processing procedure of a brightness adjustment unit shown in FIG. [Figure 11] FIG. 1 is a block diagram showing an example of the configuration of a general-purpose computer system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same reference characters are used to refer to the same parts, and the description will not be repeated.

[0016] Fig. 1 is a block diagram showing an example of the functional configuration of a panoramic image generating device according to an embodiment of the present invention. The panoramic image generating device 100 shown in Fig. 1 is a device that generates a panoramic image by synthesizing a plurality of divided images captured by a plurality of imaging devices so that some areas of the divided images overlap each other.

[0017] The panoramic image generating device 100 includes an alignment processing unit 10, a brightness adjustment unit 20, an image synthesis unit 30, and an output unit 40. Each functional block will be described in detail below with reference to the drawings.

[0018] [Alignment Processing Section] The alignment processing unit 10 generates a panoramic image by synthesizing a plurality of divided images captured by a plurality of imaging devices so that some of the divided images overlap, and generates a coordinate table in which the coordinates of each of the divided images correspond to the coordinates of the panoramic image. Next, the divided images will be described.

[0019] (Split image) 2 shows an example of divided images when one target is captured widely in the horizontal direction by four different imaging elements (sometimes called image sensors (not shown)). The top row shows divided images A to D converted into images.

[0020] The bottom three rows are waveforms showing the transition of luminance of each channel of RGB signals of imaging elements (not shown) corresponding to each of the divided images A to D. In this example, the imaging conditions of each imaging element are not set to be equal.

[0021] As shown in Figure 2, the average luminance is dimmed in the horizontal direction, and it can be seen that the characteristics differ for each imaging element. This dimming in the horizontal direction is called vignetting, and occurs along the periphery of the lens edge of the lens placed in front of the imaging element. In this way, the divided images differ depending on the characteristics of the imaging element. Next, the coordinate table will be explained.

[0022] (coordinate table) The coordinate table 11 is a table in which the coordinates of each divided image correspond to the coordinates of a panoramic image obtained by combining the divided images.

[0023] Fig. 3 is a diagram showing a schematic diagram of the correspondence relationship among some of the three coordinates. The top row of Fig. 3 shows the coordinates of each of the multiple divided images. In this example, the divided images have an overlapping area at one or both ends in the horizontal direction. The overlapping area is the range where two divided images overlap, and its width is determined by the user.

[0024] The dashed frame in the second row from the top in FIG. 3 indicates that the brightness value of the overlapping region is adjusted by the brightness adjustment section 20.

[0025] The third row from the top of Fig. 3 shows a schematic representation of the coordinates of a panoramic image when each divided image is overlapped in the overlapping area to form a single panoramic image. The coordinates of the panoramic image are called the synthesis buffer. The horizontal width of the synthesis buffer is narrower by the amount of the overlapping area of ​​the divided images. The height direction is the same as that of the divided images.

[0026] The coordinate table 11 associates the coordinates of the divided images A to D shown in the first row from the top of FIG. 3 with the coordinates of the panoramic image (composite buffer) shown in the third row.

[0027] 3 shows a schematic representation of the coordinates of the output image output by the output unit 40. The output unit 40 generates output images by dividing the panoramic image output by the image synthesis unit 30, and uses the coordinate table 11 to associate the coordinates of the output image with the coordinates of the panoramic image.

[0028] The coordinates of the output images vary depending on the video signal transmission standard of, for example, a projector to which the panoramic image generating device 100 is connected. In the example shown in Fig. 3, a width narrower than the coordinate range of the synthesis buffer is divided into three output images. The number of output images and the overlapping area vary depending on the number and functions of the devices that display the output images.

[0029] The luminance value of P4 of one pixel of the divided image C shown in Fig. 3 is transferred to the coordinate B3 of the composite buffer, and the luminance value of the coordinate B3 is further transferred to the coordinate D3 of "output 2" of the output image and to the coordinate D4 of "output 3" of the output image. The luminance value transferred in this way may be traced back from the output image side.

[0030] When going back from the output image side, since it is known from coordinate table 11 that the luminance values ​​of coordinates D3 and D4 are the same, for example, by referring to the luminance value of pixel D3 in “output 3” of the output image, it is not necessary to go back to the composite buffer and divided image for pixel 4.

[0031] Fig. 4 is a diagram showing an example of an image obtained by converting the luminance values ​​of the composite buffer into pixel values, and Fig. 5 is a waveform showing the transition of the luminance values ​​of the composite buffer corresponding to Fig. 4.

[0032] The upper panoramic image (a) in Fig. 4 is an image without leveling the luminance unevenness caused by the dimming in the horizontal direction. As shown in Fig. 4(a) and Fig. 5(a), the luminance in the overlapping area changes significantly.

[0033] The panoramic image (b) in the middle of Fig. 4 is an image obtained when the brightness was adjusted in the "matching mode." As shown in Fig. 4(b) and Fig. 5(b), the brightness is so uniform that the difference in brightness in the overlapping area is not visible.

[0034] The panoramic image in the bottom row of Fig. 4 is an image with brightness adjustment in "curved mode." As shown in Fig. 4(c) and Fig. 5(c), the brightness of the overlapping area changes gradually. On the other hand, the outside of the overlapping area maintains the brightness without brightness adjustment.

[0035] The "matching mode" and "curving mode" will be described in detail later.

[0036] [Brightness adjustment section] The luminance adjustment unit 20 refers to the coordinate table 11, obtains a luminance magnification that represents the ratio of the luminance values ​​of the pixels in the two corresponding divided images, and generates a luminance adjustment coefficient that averages out the difference in luminance represented by the luminance magnification.

[0037] Here, the overlapping areas of the divided images will be described.

[0038] FIG. 6 is a diagram showing a schematic diagram of an overlapping region between divided images A and B. Let w i , half the width of the overlapping area is w o , half the width of the range to adjust the brightness is w c Segmented image C has the same overlapping area between segmented images B and D. The same is true for segmented image D.

[0039] The luminance values ​​of the divided images A to D are, for example, 1920 × 1080 in the case of 2K resolution. o Pixels (x 1920-2wo ,y 100 ) of divided image B that overlaps with 0 ,y 100 ) the corresponding luminance values ​​are Y A (x 1920-2wo ,y 100 ) and Y B (x 0 ,y 100 ), the luminance multiplier is Y A (x 1920-2wo ,y 100 ) / Y B (x 0 ,y 100 ).

[0040] Luminance magnification Y A / Y B can be calculated for each pixel, or for the overlapping regions 2w of different divided images. o Randomly sample multiple sets of coordinates in and calculate the brightness adjustment coefficient Y A / Y B However, if the luminance value of any pixel in the divided images is 0 or saturated, those luminance values ​​shall be excluded.

[0041] For example, if the average brightness magnification of the Nth divided image is M ave Let the brightness magnification between the Nth divided image and the N+1th divided image be M N+1 In this case, the divided image in the N+1th overlapping area is assigned a brightness adjustment coefficient (M ave / M N+1 ) to adjust the brightness. In other words, the brightness adjustment coefficient is, for example, the reciprocal of the brightness magnification. By doing so, the brightness in the Nth and N+1th overlapping regions can be made to match.

[0042] The method of matching the luminance may be, for example, a "matching mode" operation that eliminates the step in the average luminance between the divided images. The range in which the luminance is adjusted in the "matching mode" is the overlapping region 2w. o In other words, the brightness adjustment unit 20 calculates a brightness adjustment coefficient for adjusting the brightness difference between the divided images in the overlapping regions of the divided images, and adjusts the brightness difference between the divided images.

[0043] Furthermore, the brightness difference between the divided images may be adjusted in a "curving mode" that gently curves the divided images. The brightness adjustment coefficient in the "curving mode" can be expressed by, for example, the following equation.

[0044]

number

[0045] Here, M A is the brightness magnification of the divided image A, M B is the brightness magnification of the overlapping image B on the right side of the image A, and w i is the image width of the divided image, w o is half the width of the overlapping area, w c is half the width for gradual (curved) brightness adjustment.

[0046] The brightness adjustment coefficient for the divided images can be expressed by the following formula.

[0047]

number

[0048] These brightness adjustment coefficients are applied only to brightness values ​​within a range that smoothly adjusts the brightness of the overlapping region. In this way, the brightness adjustment coefficients may be expressed as a function that smoothly adjusts the brightness difference between the divided images. Note that the cosine function that represents the brightness adjustment coefficient may be a sine function or a polynomial function.

[0049] Equations (1) and (2) are based on the assumption that the divided image is divided in the horizontal direction (x). In the case of horizontal division, or a cross-shaped division in the horizontal and vertical directions, the same equations as above are used to refer to the corresponding coordinates (y coordinates for the vertical direction) and the width of the overlapping area.

[0050] [Image synthesis section] The image synthesis unit 30 uses the coordinate table 11, the brightness adjustment coefficient, and the divided images to generate a panoramic image in which the brightness difference between the divided images is adjusted.

[0051] Figure 7 shows a waveform that represents the transition of brightness when the RGB signals shown in Figure 2 are matched in the "matching mode" using the brightness adjustment coefficient. As shown in Figure 7, the step in the average brightness between the divided images is eliminated, and the brightness of that part is matched.

[0052] Fig. 8 is a waveform showing the transition of luminance when the RGB signals shown in Fig. 7 are matched in the "curved mode". In this case, the RGB signals corresponding to the divided images change smoothly and match.

[0053] In the "curve mode," a brightness magnification factor according to the coordinates is applied to a certain range (the x-coordinate range in this example) defined by the user from the center of the overlapping area between the divided images.

[0054] The brightness adjustment coefficient according to this embodiment is calculated from divided images captured by multiple image capture devices with some areas overlapping. Therefore, there is no parallax between the divided images. As a result, the brightness adjustment coefficient does not change unintentionally due to camera work or subject movement, and stable operation can be expected.

[0055] [Output section] The output unit 40 generates output images by dividing the panoramic image output by the image synthesis unit 30, and associates the coordinates of the output image with the coordinates of the panoramic image using the coordinate table 11. The output image output by the output unit 40 varies depending on the specifications of an image display device (not shown) to which the panoramic image generating device 100 is connected. The specifications may be, for example, any of SDI (Serial Digital Interface) output conforming to a video signal transmission standard, image output conforming to a video compression standard, and image output specified by an ISP (Internet Service Provider), etc.

[0056] The output unit 40 associates the coordinates of the panoramic image (the image held in the "composite buffer" in FIG. 3) with the coordinates of the output image. Therefore, by referring to the coordinate table 11, the coordinates of the output image can be traced back to the coordinates of the divided images.

[0057] As described above, the panoramic image generating device 100 according to the present embodiment includes an alignment processing unit 10 that generates a panoramic image by synthesizing a plurality of divided images A to D captured by a plurality of imaging devices so that some areas overlap, and generates a coordinate table 11 in which the coordinates of each of the divided images A to D correspond to the coordinates of the panoramic image, a brightness adjustment unit 20 that refers to the coordinate table 11, obtains a brightness magnification that represents the ratio of the brightness values ​​of pixels of two divided images (A and B, B and C, C and D) having overlapping areas, and generates a brightness adjustment coefficient that smooths the brightness difference represented by the brightness magnification, and an image synthesis unit 30 that uses the coordinate table 11, the brightness adjustment coefficient, and the divided images to adjust the brightness difference between the divided images A to D and synthesize the panoramic image. This makes it possible to generate a panoramic image signal without double images or defects of the subject, and improve the viewing quality of the panoramic image.

[0058] The panoramic image generating device 100 also includes an output unit 40, which generates output images by dividing the panoramic image output by the image synthesis unit 30, and associates the coordinates of the output image with the coordinates of the panoramic image using the coordinate table 11. This makes it possible to output a panoramic image to any image display device connected to the panoramic image generating device 100.

[0059] The brightness adjustment coefficient is the inverse of the brightness magnification, and is multiplied by the overlapping area or all of the divided images to be combined, thereby eliminating the brightness difference between different divided images.

[0060] The brightness adjustment coefficient is expressed as a function that gently adjusts the brightness difference in the range including the overlapping area of ​​the divided images and not exceeding the divided images. This allows the brightness difference in the range including the overlapping area and not exceeding the divided images to be gently adjusted, and the original brightness is maintained outside that range. In other words, each image sensor can generate a panoramic image with the optimized settings. Therefore, there is no blown-out highlights or crushed shadows in the subjects outside the overlapping areas.

[0061] (Panorama image generation method) FIG. 9 is a flowchart showing the processing steps of the panoramic image generating method performed by the panoramic image generating device 100 according to this embodiment.

[0062] When the panoramic image generating device 100 starts operating, the alignment processing unit 10 first acquires divided images captured by a plurality of imaging devices so that some areas overlap. The divided images may be any of image information captured by an imaging device such as a camera, a video signal captured by a video device, image information output by a device capable of reproducing recorded images, and image information acquired from an ISP (Internet Service Provider) that outputs image information acquired by an image sensor. If a synchronization signal is available, the synchronization signal is also acquired at the same time.

[0063] Next, the alignment processing unit 10 synthesizes the acquired multiple divided images to generate a panoramic image, and generates a coordinate table 11 in which the coordinates of each divided image correspond to the coordinates of the panoramic image (step S1).

[0064] Next, the brightness adjustment unit 20 refers to the coordinate table 11, obtains a brightness magnification factor that represents the ratio of the brightness values ​​of two pixels in a divided image having an overlapping area, and generates a brightness adjustment coefficient that smoothes out the difference in brightness represented by the brightness magnification factor (step S2).

[0065] Next, the image synthesis unit 30 uses the coordinate table 11, the brightness adjustment coefficient, and the divided images to adjust the brightness difference between the divided images and generate a synthesized panoramic image (step S3).

[0066] Next, the output unit 40 generates output images by dividing the panoramic image output by the image synthesis unit (step S4). The output images are divided and output into a plurality of SDI (Serial Digital Interface) outputs (output image information) conforming to a video signal transmission standard, for example.

[0067] 10 is a flowchart showing the procedure of the process performed by the brightness adjustment unit 20. The operation will be described with reference to FIG.

[0068] The brightness adjustment unit 20 first obtains the divided image and the coordinate table 11 from the alignment processing unit 10 (step S30).

[0069] Next, the brightness adjustment unit 20 converts pixel values ​​of the divided image into brightness values ​​based on the settings of the image sensor that acquired the divided image or the user's operation (step S31).

[0070] Next, the luminance adjustment unit 20 refers to the coordinate table 11 and calculates a luminance magnification that indicates the ratio of the luminance values ​​of pixels of the two divided images having an overlapping area (step S32).

[0071] Next, the brightness adjustment unit 20 calculates a brightness adjustment coefficient for leveling out the brightness difference between the divided images using either the previously described "matching mode (step S33A)" or "curving mode (step S33B)" based on the brightness magnification (step S33).

[0072] Then, the brightness adjustment unit 20 outputs the brightness adjustment coefficient to the image synthesis unit 30 (step S34).

[0073] The processes from steps S30 to S34 are executed for each frame of the divided images.

[0074] As described above, the panoramic image generating method according to the present embodiment is a panoramic image generating method performed by the panoramic image generating device 100, and includes an alignment processing step of inputting divided images captured by a plurality of image capturing devices so that some areas overlap, generating a coordinate table 11 in which the coordinates of each divided image correspond to the coordinates of a panoramic image obtained by synthesizing the divided images, a brightness adjustment step of referring to the coordinate table 11 to obtain a brightness magnification expressing the ratio of the brightness values ​​of each pixel of the two corresponding divided images, and generating a brightness adjustment coefficient for leveling out the brightness difference expressed by the brightness magnification, an image synthesis step of generating a synthesized panoramic image by adjusting the brightness difference between the divided images using the coordinate table 11, the brightness adjustment coefficient, and the divided images, and an output step of generating an output image by dividing the panoramic image synthesized in the image synthesis step. This makes it possible to generate a panoramic image signal without double images or defects of the subject.

[0075] According to the present invention, in generating a panoramic image, it is possible to provide a technique for suppressing quality deterioration at the boundary portion during synthesis of a panoramic image caused by a change in luminance between image sensors that occurs due to differences in the setting values ​​of adjacent image sensors, such as when the settings of multiple image sensors are set to auto. In addition, it is possible to suppress quality deterioration at the boundary portion of divided images even if there is variation in luminance due to individual differences between image sensors that may occur when the settings of multiple image sensors are unified.

[0076] The panoramic image generating device 100 can be realized by a general-purpose computer system shown in Fig. 11. For example, in a general-purpose computer system including a CPU 90, a memory 91, a storage 92, a communication unit 93, an input unit 94, and an output unit 95, the CPU 90 executes a predetermined program loaded onto the memory 91, thereby realizing each function of the panoramic image generating device 100. The predetermined program can be recorded on a computer-readable recording medium such as an HDD, SSD, USB memory, CD-ROM, DVD-ROM, or MO, or can be distributed via a network. Note that a GPU may be used instead of a CPU.

[0077] The present invention is not limited to the above embodiment, and modifications are possible within the scope of the gist of the present invention. For example, the divided image is described as four, but the present invention is not limited to this example. The number of divisions may be any number greater than or equal to two. The direction of division is not limited to the horizontal direction.

[0078] Thus, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention-specifying matters related to the scope of the claims appropriate from the above description. [Explanation of symbols]

[0079] 10: Alignment processing section 11: Coordinate table 20: Brightness adjustment section 30: Image synthesis unit 40: Output section 100: Panoramic image generating device

Claims

1. an alignment processing unit that generates a panoramic image by synthesizing a plurality of divided images captured by a plurality of imaging devices so that some areas of the divided images overlap, and generates a coordinate table that associates the coordinates of the divided images with the coordinates of the panoramic image; a brightness adjustment unit that refers to the coordinate table, calculates a brightness magnification that represents a ratio of brightness values ​​of two pixels of the divided images having an overlapping area, and generates a brightness adjustment coefficient that averages out a difference in brightness represented by the brightness magnification; an image synthesis unit that uses the coordinate table, the brightness adjustment coefficient, and the divided images to adjust the brightness difference between the divided images and generate a synthesized panoramic image; A panoramic image generating device comprising:

2. An output unit is provided, The output unit generates an output image by dividing the panoramic image output by the image synthesis unit, and associates coordinates of the output image with coordinates of the panoramic image using the coordinate table. The panoramic image generating device according to claim 1 .

3. The brightness adjustment coefficient is The brightness adjustment coefficient is the inverse of the brightness magnification, and is multiplied by the overlapping area of ​​the divided images or the entire divided images.

3. The panoramic image generating device according to claim 1 or 2.

4. The brightness adjustment coefficient is The luminance difference between the divided images is expressed by a function that smoothly adjusts the luminance difference between the divided images.

3. The panoramic image generating device according to claim 1 or 2.

5. A panoramic image generating method performed by a panoramic image generating device, comprising: an alignment processing step of generating a panoramic image by synthesizing a plurality of divided images captured by a plurality of imaging devices so that some areas of the divided images overlap, and generating a coordinate table in which the coordinates of each of the divided images correspond to the coordinates of the panoramic image; a brightness adjustment step of obtaining a brightness magnification ratio representing a ratio of brightness values ​​of two pixels of the divided images having an overlapping area by referring to the coordinate table, and generating a brightness adjustment coefficient for leveling out a difference in brightness represented by the brightness magnification ratio; an image synthesis step of generating a synthesized panoramic image by adjusting the luminance difference between the divided images using the coordinate table, the luminance adjustment coefficient, and the divided images; A panoramic image generating method.

6. A panoramic image generating program for causing a computer to function as the panoramic image generating device according to any one of claims 1 to 4.

Images