CN103338343A - Multi-image seamless splicing method and apparatus taking panoramic image as reference - Google Patents
Multi-image seamless splicing method and apparatus taking panoramic image as reference Download PDFInfo
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Abstract
The invention relates to the multi-video seamless splicing technology. Calibration of a relative position relation between multiple videos is needed. The invention proposes a multi-video seamless splicing method and a splicing panoramic camera apparatus taking a fish-eye panoramic camera as a reference. The apparatus comprises a fish-eye panoramic camera and a camera array formed by a plurality of common cameras. The fish-eye panoramic camera photographs a panoramic image in a 180 DEG view. The camera array photographs common videos which are used for the multi-video splicing. According to the method, all the cameras in the camera array are in registration with the panoramic image, a relative position relation between the camera array and the panoramic camera is established, and the seamless splicing of the multiple videos are conduced according to the relative position relation. The method and the apparatus have the advantages such as low demand for overlapping field of vision, and good robust performance of registration, and solve a problem of poor image splicing effect caused by low image registration precision in a conventional spliced panoramic camera composed of multiple common cameras.
Description
Technical field
The present invention relates to the seamless spliced technology of multi-channel video, being specially a kind of is multi-channel video seamless joint method and the spliced panoramic shooting device of benchmark with the panoramic picture.
Background technology
In current informationized society, video and image exist as the most vivid information carrier the most directly perceived always.Along with the continuous development of microelectric technique and the network communications technology, Digital Video has been applied in multiple fields such as ordinary consumption product, security protection, military project space flight, automotive electronics widely.People also improve day by day to the needs of video camera.In actual applications, common camera is owing to be subjected to the limitation of hardware, and the angle of visibility scope of shooting is smaller, can't photograph complete scene, and this does not conform to the visual custom of human eye yet.In order to solve this contradiction, panoramic camera arises at the historic moment.Modal a kind of panoramic camera is the fish-eye type panoramic camera.Fish-eye type panoramic camera, its advantage are to generate the full-view video image that comprises the 180 ° of scene informations in space, make the user can with more macroscopical and intuitively mode realize panoramic video monitoring.But the fish-eye type panoramic camera also has its shortcoming, at first is that resolution distribution is inhomogeneous, central area resolution height, and non-central zone then is out of shape seriously and is enough not clear; Secondly, be subject to the resolution of imageing sensor, the resolution of the captured image that obtains does not still reach requirement in fields such as video monitoring.Another panoramic camera is spliced panoramic camera.Spliced panoramic camera by a plurality of common camera by certain regularly arranged composition, a plurality of common camera clap video handle through merging algorithm for images and obtain panoramic video.The image splicing mainly is made of 4 steps: the geometric correction of image, image preliminary treatment, image registration, image boundary are sewed up and image co-registration.Wherein image registration is to influence one of key technology of image joining quality.So-called image registration refers to the intersection based on two width of cloth images, thereby utilizes characteristic point between the related algorithm recognition image to determine relativeness between two width of cloth images.On the one hand, the method for image registration requires the registration accuracy height, and robustness is good, can adapt to various scenes; On the other hand, require to simplify and calculate, improve registration speed.Understand easily, image registration requires bigger intersection to be arranged between two width of cloth images and can find out the obvious characteristics point, otherwise will cause the registration failure.When the intersection of two width of cloth images did not have obvious characteristic, when being sky, Bai Qiang, seawater etc. such as intersection, image registration was difficult to accurately, and what the effect of image splicing also will be very is poor.
Summary of the invention
The present invention is not high for the image registration accuracy that the spliced panoramic camera that solves existing a plurality of common camera compositions exists, the problem of guiding image splicing effect difference, and providing a kind of is the multi-channel video seamless joint method of benchmark with the panoramic picture.
The present invention adopts following technical scheme to realize:
A kind of is the multiway images seamless joint method of benchmark with the panoramic picture, comprises the steps:
(1), a fish-eye type panoramic camera is installed on the face of cylinder, with the identical common camera of some focal lengths centered by described fish-eye type panoramic camera, layering is distributed on the described face of cylinder symmetrically and evenly, the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 4～6 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
(2), project to same cylinder after fish eye images that the fish-eye type panoramic camera is captured and the captured normal image that obtains of all common camera are all passed through cylinder orthographic projection module;
(3), project to cylinder after, through the image registration module, with each width of cloth normal image with fish eye images obtained panoramic picture carry out registration respectively after overcorrect, thereby obtain the relativeness between each width of cloth normal image and the panoramic picture;
(4), after the image registration, through searching best suture module, find out only border suture on each bar border, obtain image and splice needed mapping look-up table; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
(5), panoramic picture and the captured normal image that obtains of all common camera that the fish-eye type panoramic camera is captured, through the color correction module, each width of cloth input picture is all done color correction, to eliminate the heterochromia between the different cameras;
(6), the resulting mapping look-up table of step (4) is applied to image behind the color correction that step (5) obtains, by image splicing Fusion Module, with an all images splicing ultrahigh resolution panoramic picture that permeates;
(7), image that step (6) is obtained passes through cylinder back projection module again, obtains re-constructing out the cylinder view space view panoramic picture corresponding with each direction of visual lines.
The fish-eye novel video camera of a kind of employing that the fish-eye type panoramic camera refers to, its preceding minute surface of fish eye lens outwards protrudes like flake, is that a kind of focal length weak point and the angle of visual field can reach 180 ° camera lens.Fish eye lens cooperates optical imaging system, finally can export the panoramic picture that the horizontal direction angle of visual field reaches 180 °, as shown in Figure 2.Because fish eye lens has the characteristic that field of view angle and image resolution ratio are directly proportional, be example with the image of 4:3, the vertical direction angle of visual field then is 135 °.In actual applications, we can do to proofread and correct usually and handle fish eye images, and the fish-eye type panoramic camera is taken the image that obtains and abbreviated it as fish-eye image, and the image of fish-eye image after overcorrect abbreviates it as panorama sketch.
Common camera is distributed symmetrically to be installed on the face of cylinder.Compare the fish-eye type panoramic camera, the captured angle of visual field of each independent common camera is littler, but it possesses higher resolution, can tell littler details.There are the coincidence visual field about 5 ° each other in level and vertical two adjacent common camera.Utilize stitching algorithm like this, the normal image of all common camera can be synthesized a width of cloth ultrahigh resolution panoramic picture with panoramic picture.
At first, all video cameras are taken the image (comprising all normal image and panoramic picture) of gained through cylinder orthographic projection module, all project on the same cylinder; After the projection, through the image registration module, with each width of cloth normal image and panoramic picture registration, obtain the relativeness between them; After the image registration, on the border of two adjacent width of cloth normal image and normal image and panoramic picture, through searching best suture module, find out only border suture, obtain image and splice needed mapping look-up table; The image of all video cameras shooting gained is all done color correction by the color correction module to each width of cloth input picture simultaneously, to eliminate the heterochromia between the different cameras; Resulting mapping look-up table is applied to image behind the color correction, through image splicing Fusion Module, with an all images splicing image that permeates; Again by cylinder back projection module, cylindrical panoramic figure projection is re-constructed the corresponding view panoramic picture of each direction of visual lines in the cylinder view space at last.
In addition, a kind of is the spliced panoramic shooting device of benchmark with the panoramic picture, comprise the fish-eye type panoramic camera that is installed on the face of cylinder with centered by described fish-eye type panoramic camera, layering is distributed in the identical common camera of some focal lengths on the described face of cylinder symmetrically and evenly, the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 4～6 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
Described fish-eye type panoramic camera and some common camera all with time-division two-way output image to cylinder orthographic projection module and color correction module;
Fish eye images and the captured normal image that obtains of all common camera that described cylinder orthographic projection module is captured with the fish-eye type panoramic camera all project to same cylinder, export panoramic picture and the normal image that will obtain behind the correcting fisheye image respectively and arrive the image registration module;
Described image registration module is carried out registration respectively with each width of cloth normal image and panoramic picture, obtains the relativeness between each width of cloth normal image and the panoramic picture, outputs to search best suture module;
Describedly search best suture module and find out only border suture on each bar border, obtain image and splice needed mapping look-up table, output to image splicing Fusion Module; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
Described color correction module is all done the heterochromia of eliminating behind the color correction between the different cameras to each width of cloth input picture, outputs to image splicing Fusion Module;
Described image splicing Fusion Module is applied to image behind the color correction with described mapping look-up table, with an all images splicing ultrahigh resolution panoramic picture that permeates, outputs to cylinder back projection module;
The module output of described cylinder back projection re-constructs out the cylinder view space view panoramic picture corresponding with each direction of visual lines.
The present invention proposes a kind of is multi-channel video seamless joint method and the device of benchmark with the panoramic picture, novelty fish-eye type panoramic camera and common camera are formed a unified system, can overcome the deficiency of above fish-eye type panoramic camera and existing spliced panoramic camera, and this system is more flexible in actual applications, feasible application is more rich and varied, meets people's demand more.It is not high to have solved the image registration accuracy that spliced panoramic camera that existing a plurality of common camera forms exists, the problem of guiding image splicing effect difference.
Description of drawings
Fig. 1 is the structural representation of spliced panoramic shooting device.
Fig. 2 is the imaging schematic diagram of fish-eye type panoramic camera.
Fig. 3 is the joining method FB(flow block) of panoramic picture and normal image.
Fig. 4 is cylinder orthographic projection schematic diagram.
Fig. 5 is the horizontal direction visual field viewing angle distribution schematic diagram of common camera.
Fig. 6 is the output visual field schematic diagram of fish-eye type panoramic camera.
Fig. 7 is the output visual field schematic diagram of common camera.
Fig. 8 is that the splicing of panoramic picture and normal image concerns schematic diagram.
Among the figure, 1-fish-eye type panoramic camera, 2～11-common camera, 1 '-the output visual field of fish-eye type panoramic camera, 2 '～11 '-the output visual field of common camera.
Embodiment
Below in conjunction with accompanying drawing specific embodiments of the invention are elaborated.
Embodiment 1
A kind of is the multiway images seamless joint method of benchmark with the panoramic picture, comprises the steps:
(1), a fish-eye type panoramic camera is installed on the face of cylinder, the common camera that some focal lengths are identical centered by described fish-eye type panoramic camera, layering is distributed in (focal length of fish-eye type panoramic camera can be different with the focal length of common camera) on the described face of cylinder symmetrically and evenly, the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 5 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
During concrete enforcement, the visual angle, level of significance visual field of described fish-eye type panoramic camera is 180 °, and resolution is 5,000,000 pixels (2560 * 1920), and according to the character of fish eye images, its vertical visual angle is 135 °.Common camera adopts the arrangement mode symmetry of 2 row 5 row to be installed on the face of cylinder, and the visual angle, level of significance visual field of each common camera is that 40 °, vertical field of view visual angle are 30 °.Like this, the captured horizontal field of view visual angle that obtains the intersection of image of common camera array also is 180 °, vertically the visual angle, visual field is about 55 °.
For major applications, what relatively pay close attention to is the central area, and scene top is sky normally, and the scene bottom normally bigly.Therefore consider from the angle of cost and actual demand, take the central area with ten tunnel common camera usually, then monitor with the fish-eye type panoramic camera for the part of inferior concern.The resolution of each road common camera is 1920 * 1080, and adjacent two common figure have the intersection about 5 °, and the intersection pixel count is about 240.Can obtain like this, be about 8k * 2k by the spliced resolution of the captured image of 10 tunnel common camera, this can satisfy most application demand.
(2), project to same cylinder after panoramic picture that the fish-eye type panoramic camera is captured and the captured normal image that obtains of all common camera are all passed through cylinder orthographic projection module;
Specific as follows:
Cylinder orthographic projection module is that the normal image that shooting angle is different all projects to the focal length of camera is on the face of cylinder of radius.If the real scene image I that common camera is taken, P (x, y) be any one pixel on the real scene image I, if its subpoint on the face of cylinder is Q (x', y'), with reference to " virtual reality system " (Zhang Mao army work, Science Press, in September, 2003) the 5th chapter the 4th joint, then just like drawing a conclusion:
Wherein, W and H are respectively width and the height of real scene image I, and f is the pixel focal length of video camera, also is the radius on the face of cylinder.
Equally, the fish eye images that the fish-eye type panoramic camera is taken also need be carried out projection to this face of cylinder.If 1 M (x on the fish eye images
f, y
f), the subpoint on the face of cylinder is N (x'
f, y'
f), according to the flake imaging model, just like drawing a conclusion:
Wherein:
Here c
fBe fish-eye equivalent focal length, the width of establishing fish eye images is W
f, the horizontal field of view angle is
, then:
(3), project to cylinder after, through the image registration module, each width of cloth normal image and panoramic picture are carried out registration respectively, thereby obtain the relativeness between each width of cloth normal image and the panoramic picture;
Image registration is one of key technology of image splicing, is by the overlay information between the identification matching image, and draws correlation between the image by overlay information.The most frequently used image matching algorithm is based on the image registration algorithm of characteristic matching at present.Feature request can be abstract the description image information, feature commonly used comprises a feature, edge feature (as Sobel edge detection operator etc.), provincial characteristics etc.Feature extraction algorithm commonly used at present has KLT algorithm, SURF algorithm, SIFT algorithm, Harris algorithm etc.After the feature point extraction, the characteristic point of two width of cloth images is mated, thereby obtain correlation between two width of cloth images.Because we each common figure can both find the zone with its coupling in panorama sketch, therefore it is bigger to overlap the zone, validity feature point is more, can the quicker more accurate image registration of finishing, and between two adjacent common figure, compare existing spliced panoramic camera, can allow the littler overlapping ken.
(4), after the image registration, through searching best suture module, find out only border suture on each bar border, obtain image and splice needed mapping look-up table; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
If direct splicing then can be because of the details difference of the splicing boundary of two width of cloth images and tangible splicing seams occurs.For addressing this problem, people have proposed to search best sutural way.Its target is to find a line in the coincidence zone of two width of cloth images, on this line, and the gray difference between two width of cloth images and color distortion minimum, this just is called as best suture.At present commonly usedly search the employing dynamic programming method that best sutural algorithm has Efros etc. to propose, the method for the Graph cut of propositions such as Kwatra also has wider application.
(5), panoramic picture and the captured normal image that obtains of all common camera that the fish-eye type panoramic camera is captured, through the color correction module, each width of cloth input picture is all done color correction, to eliminate the heterochromia between the different cameras;
Because the fine difference of video camera photo-sensitive cell performance, may there be tiny difference in the image that photographs between a plurality of video cameras on color, if not to the color of image proofread and correct and directly be used for splicing, then can there be tangible piece in spliced image because of the color distortion of adjacent two width of cloth images.In order to address this problem, must before splicing, utilize specific color of image correcting algorithm that each number of sub images is carried out color correction, thereby the color of splicing figure is reached unanimity.The color correction algorithm has a variety of, such as the color correction algorithm that merges based on color, based on color correction algorithm of color histogram etc.
(6), the resulting mapping look-up table of step (4) is applied to image behind the color correction that step (5) obtains, by image splicing Fusion Module, with an all images splicing ultrahigh resolution panoramic picture that permeates;
(7), image that step (6) is obtained passes through cylinder back projection module again, obtains re-constructing out the cylinder view space view panoramic picture corresponding with each direction of visual lines;
The subject matter that the cylinder backprojection algorithm solves is: re-construct out the cylinder view space view corresponding with each direction of visual lines from cylinder panoramic image.If any one pixel Q on the cylinder panoramic image (x', y'), its corresponding points on back projection's image at direction of visual lines θ place are P (x, y), with reference to " virtual reality system " (Zhang Mao army work, Science Press, in September, 2003) the 5th chapter the 4th joint, just like drawing a conclusion:
As shown in Figure 1, a kind of is the spliced panoramic shooting device of benchmark with the panoramic picture, comprise the fish-eye type panoramic camera 1 that is installed on the face of cylinder with centered by described fish-eye type panoramic camera, layering is distributed in the focal length of the identical common camera 2～11(fish-eye type panoramic camera of 10 focal lengths on the described face of cylinder symmetrically and evenly can be different with the focal length of common camera), the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 4～6 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
Described fish-eye type panoramic camera and some common camera all with time-division two-way output image to cylinder orthographic projection module and color correction module;
Fish eye images and the captured normal image that obtains of all common camera that described cylinder orthographic projection module is captured with the fish-eye type panoramic camera all project to same cylinder, export panoramic picture and the normal image that will obtain behind the correcting fisheye image respectively and arrive the image registration module;
Described image registration module is carried out registration respectively with each width of cloth normal image and panoramic picture, obtains the relativeness between each width of cloth normal image and the panoramic picture, outputs to search best suture module;
Describedly search best suture module and find out only border suture on each bar border, obtain image and splice needed mapping look-up table, output to image splicing Fusion Module; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
Described color correction module is all done the heterochromia of eliminating behind the color correction between the different cameras to each width of cloth input picture, outputs to image splicing Fusion Module;
Described image splicing Fusion Module is applied to image behind the color correction with described mapping look-up table, with an all images splicing ultrahigh resolution panoramic picture that permeates, outputs to cylinder back projection module;
The module output of described cylinder back projection re-constructs out the cylinder view space view panoramic picture corresponding with each direction of visual lines.
During concrete enforcement, the visual angle, level of significance visual field of described fish-eye type panoramic camera is 180 °, vertically the visual angle, visual field is 135 °, common camera adopts the arrangement mode symmetry of 2 row 5 row to be installed on the face of cylinder, and the visual angle, level of significance visual field of each common camera is that 40 °, vertical field of view visual angle are 30 °; Described level and vertically the output visual field of two adjacent common camera have 5 ° coincidence visual field each other.
Proposing a kind of is the seamless spliced formula panoramic shooting of the multi-channel video device of benchmark with the panoramic picture, cleverly fish-eye type panoramic camera and common camera are formed a unified system, for seamless spliced formula high definition panorama video camera provides a perfect solution, overcome the deficiency of former fish-eye type panoramic camera and spliced panoramic camera, and this system is more flexible in actual applications, can satisfy people's various demands more.
Claims (4)
1. one kind is the multiway images seamless joint method of benchmark with the panoramic picture, it is characterized in that: comprise the steps:
(1), a fish-eye type panoramic camera is installed on the face of cylinder, the common camera that some focal lengths are identical centered by described fish-eye type panoramic camera, layering is distributed on the described face of cylinder symmetrically and evenly, the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 4～6 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
(2), project to same cylinder after fish eye images that the fish-eye type panoramic camera is captured and the captured normal image that obtains of all common camera are all passed through cylinder orthographic projection module;
(3), project to cylinder after, through the image registration module, each width of cloth normal image and the panoramic picture that fish eye images is obtained after overcorrect are carried out registration respectively, thereby obtain the relativeness between each width of cloth normal image and the panoramic picture;
(4), after the image registration, through searching best suture module, find out only border suture on each bar border, obtain image and splice needed mapping look-up table; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
(5), panoramic picture and the captured normal image that obtains of all common camera that the fish-eye type panoramic camera is captured, through the color correction module, each width of cloth input picture is all done color correction, to eliminate the heterochromia between the different cameras;
(6), the resulting mapping look-up table of step (4) is applied to image behind the color correction that step (5) obtains, by image splicing Fusion Module, with an all images splicing ultrahigh resolution panoramic picture that permeates;
(7), image that step (6) is obtained passes through cylinder back projection module again, obtains re-constructing out the cylinder view space view panoramic picture corresponding with each direction of visual lines.
2. according to claim 1 is the multiway images seamless joint method of benchmark with the panoramic picture, it is characterized in that: in the step (1): the visual angle, level of significance visual field of described fish-eye type panoramic camera is 180 °, vertically the visual angle, visual field is 135 °, common camera adopts the arrangement mode symmetry of 2 row 5 row to be installed on the face of cylinder, and the visual angle, level of significance visual field of each common camera is that 40 °, vertical field of view visual angle are 30 °; Described level and vertically the output visual field of two adjacent common camera have 5 ° coincidence visual field each other.
3. one kind is the spliced panoramic shooting device of benchmark with the panoramic picture, it is characterized in that: comprise the fish-eye type panoramic camera that is installed on the face of cylinder with centered by described fish-eye type panoramic camera, layering is distributed in the identical common camera of some focal lengths on the described face of cylinder symmetrically and evenly, the shooting direction of described fish-eye type panoramic camera and common camera is all vertical with its residing face of cylinder; Described level and vertically the output visual field of two adjacent common camera have 4～6 ° coincidence visual field each other; The output visual field of described all common camera is dropped in the output field range of described fish-eye type panoramic camera;
Described fish-eye type panoramic camera and some common camera all with time-division two-way output image to cylinder orthographic projection module and color correction module;
Fish eye images and the captured normal image that obtains of all common camera that described cylinder orthographic projection module is captured with the fish-eye type panoramic camera all project to same cylinder, export panoramic picture and the normal image that will obtain behind the correcting fisheye image respectively and arrive the image registration module;
Described image registration module is carried out registration respectively with each width of cloth normal image and panoramic picture, obtains the relativeness between each width of cloth normal image and the panoramic picture, outputs to search best suture module;
Describedly search best suture module and find out only border suture on each bar border, obtain image and splice needed mapping look-up table, output to image splicing Fusion Module; Described border comprises the coincidence boundary of two adjacent arbitrarily width of cloth normal image and the coincidence boundary of normal image and panorama sketch;
Described color correction module is all done the heterochromia of eliminating behind the color correction between the different cameras to each width of cloth input picture, outputs to image splicing Fusion Module;
Described image splicing Fusion Module is applied to image behind the color correction with described mapping look-up table, with an all images splicing ultrahigh resolution panoramic picture that permeates, outputs to cylinder back projection module;
The module output of described cylinder back projection re-constructs out the cylinder view space view panoramic picture corresponding with each direction of visual lines.
4. according to claim 3 is the spliced panoramic shooting device of benchmark with the panoramic picture, it is characterized in that: the visual angle, level of significance visual field of described fish-eye type panoramic camera is 180 °, vertically the visual angle, visual field is 135 °, common camera adopts the arrangement mode symmetry of 2 row 5 row to be installed on the face of cylinder, and the visual angle, level of significance visual field of each common camera is that 40 °, vertical field of view visual angle are 30 °; Described level and vertically the output visual field of two adjacent common camera have 5 ° coincidence visual field each other.
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