CN109040565A - Panoramic shooting system - Google Patents
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- CN109040565A CN109040565A CN201811047967.XA CN201811047967A CN109040565A CN 109040565 A CN109040565 A CN 109040565A CN 201811047967 A CN201811047967 A CN 201811047967A CN 109040565 A CN109040565 A CN 109040565A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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Abstract
The invention discloses panoramic shooting system, fish-eye lens group is made of multi-disc lens, and field angle is horizontal 360-degree, 210 degree vertical；360 ° of intake round scenes are conveyed to imaging sensor by fish eye lens, and it is imaged on the target surface of imaging sensor, imaging sensor converts optical signals into analog electrical signal, and the analog electrical signal is converted into digital signal, the digital signal for carrying 360 ° of round scene information is transferred to image processor by signal transmssion line by imaging sensor；Image processor forms rectangle panoramic picture to circle distortion panoramic picture is coordinately transformed, image rectification and drawing expansion are handled using the concentric loop approximate expansion method of correction and the method for image interpolation arithmetic after processing；Image processor gives rectangle panoramic picture to display equipment by cable transfer.The present invention only applies a camera, and can be obtained 360 degree of visual fields around optical axis, high resolution without the mechanical rotation by picture pick-up device and be distorted small.
Description
Technical field
The invention belongs to field of camera technology, more particularly to are related to panoramic imagery and field of image processing, more particularly to
A kind of panoramic shooting system.
Background technique
In more and more field of optical applications, as safety monitoring, panorama are parked, driving recording, vehicle backing backsight, video council
In the fields such as view, people do not require nothing more than very high resolution ratio, while requiring very big visual field.Omnidirectional imaging system can satisfy
This needs, therefore its research has attracted more and more attention from people.
Panoramic imagery is the hemisphere visual field greater than 180 degree obtained in horizontal or vertical direction using special imaging device
Or 360 degree of visual field, it and traditional differing from for imaging detection system can obtain ultra-large vision field.Currently on the market
Existing omnidirectional imaging system is realized generally by way of rotary splicing.Rotary splicing mode generally includes two kinds of approach:
One is being rotated using a common camera around fixing axle and continuously being imaged, to obtain time-series image；One is enclose
The common camera that multiple and different directions are arranged around fixing axle makes it cover all visual fields, these video cameras image simultaneously to obtain
Spatial sequence image.The time of acquisition or spatial sequence image need to be spliced by software to obtain panoramic picture.Rotation
Connecting method is a kind of method of hardware in conjunction with software, by manually manufacturing to obtain panoramic picture.This method presence is very big
Defect.When using the first approach, people can not observe the scenery in 360 degree of visual fields in synchronization；And it is this
Mostly there is scanning servo mechanism in omnidirectional imaging system, the real-time for directly resulting in system reduces, and the structure for increasing system is multiple
Miscellaneous degree and weight, simultaneously as the mechanical equipment faults such as rotation motor can also reduce the reliability of system.When using second of way
When diameter, omnidirectional imaging system needs to image using multiple cameras simultaneously, and this set is likely to result in the presence of blind area, and blind
The presence in area is fatal in certain application fields；Meanwhile this set will greatly improve system cost, wiring complexity
It will greatly improve.On the other hand, rotary splicing mode omnidirectional imaging system, which needs image mosaic and information to merge, could obtain entirely
Scape information, this will increase information processing difficulty, and further reduced system real time.
In recent years, the researcher in panoramic imagery field proposes a kind of new big visual field panoramic imaging techniques of gazing type ---
Fish-eye lens imaging.Fish-eye lens is one kind of bionics optics, it by the front surface of flake and the water surface are constituted one with
Water is that the negative lens of medium extracts, and is evolved into its preposition negative lens to realize horizontal 360-degree, the ultra-wide angle of vertical 180 degree
Imaging.Fish-eye lens disposably includes all image informations all around, does not need image mosaic and information fusion.But
The design complexities of fish-eye lens are higher, and it can generate serious distortion, in addition in image while obtaining big visual field
The scenery of the heart remains unchanged, it is other should scenery horizontally or vertically radiated outward from center in all directions.Since flake is saturating
Mirror structure is more complicated, and distortion correction has certain difficulty；Meanwhile when designing fish-eye lens, the acquisition of big visual field is often
It is to reduce resolution ratio as cost.Therefore fish-eye lens imaging has certain limitation.
Panoramic imagery be obtained using special imaging device hemisphere visual field in horizontal or vertical direction greater than 180 ° or
The visual field that 360 ° of person, the mode of realization mainly have rotary splicing mode and refraction reflection mode.
Rotary splicing mode, which can be, to be rotated around fixing axle using a general camera and is continuously imaged, and time sequence is obtained
Column image, or multiple cameras formation full fileds towards different directions are set while being imaged around fixing axle and form spatial sequence
Image.The sequence image of acquisition is subjected to splicing by software again and obtains panoramic picture, as shown in Figure 1.Because single photo
Shooting can use traditional central projection method, therefore traditional camera can be used, but which needs to configure moving component
It is just able to achieve with dedicated splicing software.
It is a kind of without can be obtained 360 degree around optical axis by the mechanical rotation of picture pick-up device therefore, it is necessary to design
Visual field, high resolution and the panoramic shooting system for being distorted very little.
Summary of the invention
It is an object of the invention to provide a kind of panoramic shooting systems, without that can be obtained by the mechanical rotation of picture pick-up device
360 degree of visual fields around optical axis, high resolution and distortion very little are obtained, is just not necessarily to moving component using refraction reflection mode, and
It is big with the depth of field, it is not necessary to the advantages that focusing；It can be fully solved in place of above-mentioned the deficiencies in the prior art.
The purpose of the present invention is realized by following technical proposals: a kind of panoramic shooting system comprising fish eye lens, figure
As sensor, signal transmssion line, image processor, show that equipment and cable, fish-eye lens group are made of multi-disc lens,
Field angle is horizontal 360-degree, 210 degree vertical；Fish-eye output end is connected with the input terminal of imaging sensor, fish eye lens
360 ° of intake round scenes are conveyed to imaging sensor, and are imaged on the target surface of imaging sensor, imaging sensor will
Optical signal is converted into analog electrical signal, and the analog electrical signal is converted into digital signal, and imaging sensor will carry 360 °
The digital signal of round scene information is transferred to image processor by signal transmssion line；Image processor is concentric using correction
The method of annulus approximate expansion method and image interpolation arithmetic is coordinately transformed circle distortion panoramic picture, image rectification
And drawing expansion processing, rectangle panoramic picture is formed after processing；Rectangle panoramic picture is passed through cable transfer by image processor
It is shown to display equipment.
One of it is preferred that, described image processor uses DSP or FPGA programming device.
One of it is preferred that, described image sensor uses the ccd image sensor with high-resolution, CCD
ICX445 series can be used in imaging sensor.
One of it is preferred that, described image sensor uses the cmos image sensor with high-resolution,
Cmos image sensor is using MT9D131 series.
One of it is preferred that, concentric loop approximate expansion method are as follows: the panoramic ring image before expansion is regarded as by one
Series of concentric annulus composition completes the expansion of panoramic picture by the way that each concentric loop is unfolded；First by panoramic ring image
Prolong its outermost layer circumference expansion, obtain the top a line of rectangular image, later in a manner of concentric loop from outermost layer inwardly by
Layer expansion.
One of it is preferred that, the algorithm steps of concentric loop approximate expansion method are as follows:
The unit of a length of width of one, panoramic ring image, a height of height, width and height are pixel number,
Then the center point coordinate of the figure is (width/2, height/2), takes radius R=min (width/2, height/2)；
The length of rectangular image after two, expansion should be the outermost circle perimeter L=2 π R of panoramic ring image, by outermost
Circumference is launched into the top a line of rectangular image, and the height of the rectangular image after expansion is R；
In general, usually there are many images and make an uproar in the outermost circumference of panoramic ring image and the part close to the center of circle
Sound, or there are blind areas；Therefore generally expansion processing is not carried out by outermost circumference and close to the part in the center of circle upon deployment；At this time
Settable parameter r1 and r2 (0≤r1 < r2≤R), it is r2's that panoramic ring image outermost to be treated, which is arranged to radius,
Circumference, innermost layer are the circumference that radius is r1；
So the annular section between internal diameter r1 to outer diameter r2 will only be unfolded, the length of rectangular image is radius r2 after expansion
Circumference 1=2 π r2, the height of rectangular image is (r2-r1)；
The parameter that three, obtain above step carries out the expansion of image as known conditions: with the circle of panoramic ring image
The heart is origin, certain point polar coordinates (r, θ) in panoramic ring image is transformed into the coordinate of rectangular coordinate system are as follows:Wherein Ox and Oy is the coordinate in the rectangular coordinate system of the center of circle after deployment, r1≤r≤r2；
Four, using the perimeter of circumference locating for radius r2 as expansion after rectangular image length, using above formula by angle
Degree θ is gradually increased, and so by the first row of the pixel-map on circumference or certain section of circular arc to rectangular image, then reduces radius extremely
R2-1, by the second row of the pixel-map on second circumference to rectangular image, so up to reduced radius to r1；
Five, or more, which are calculated inevitably, occurs that certain points are unable to get pixel value in transformed rectangular image, this is just
It needs to carry out image interpolation arithmetic；High resolution technique and panorama dimension interpolation are combined, using multiple spline interpolation
Method.
Compared with prior art, the beneficial effects of the present invention are:
1. the present invention using a fish eye lens disposably by the scenery in horizontal 360-degree, vertical 210 degree of field ranges at
Picture makes video monitoring not have the presence of blind area, without later image splicing synthesis；
2. the present invention realizes image processing function using DSP or FPGA programming device, to the circle of fish eye lens intake
Distortion panoramic picture is coordinately transformed, image rectification, drawing expansion processing, is allowed to be converted into the rectangle for being suitable for human eye viewing
Panoramic picture is distorted very little；
3. the present invention only needs to greatly reduce the structure complexity and cost of system using a camera, improve
The real-time and reliability of system reduce construction wiring difficulty, save follow-up maintenance expense；
4. the panoramic shooting system that the present invention obtains can replace traditional camera system completely, meet people's high-resolution,
The demand of big visual field, therefore have wide application in the fields such as safety monitoring, driving recording, vehicle backing backsight, video conference
Prospect.
5. all images that panoramic shooting system of the present invention really can rapidly show scene within the scope of 360 degree
Information brings feeling on the spot in person, in plurality of application scenes, have a clear superiority to viewer, especially in product exhibition
Show, video teaching, audio-visual amusement, virtual reality etc., plays a great role.
Detailed description of the invention
Fig. 1 is the structure principle chart for forming panoramic picture in the way of rotary splicing in the prior art.
Fig. 2 is the structural schematic diagram of panoramic shooting system of the present invention.
Fig. 3 is the panoramic ring image of concentric loop approximate expansion method and the comparison diagram of the rectangular image after expansion.
Fig. 4 is the deformation contrast figure generated when panorama intake.
Fig. 5 is the histogram after Fig. 4 expansion.
In attached drawing 2: fish eye lens -1, imaging sensor -2, signal transmssion line -3, image processor -4 show equipment -5,
Cable -6.
Specific embodiment
The present invention is further illustrated with attached drawing combined with specific embodiments below.
360 ° of imagings of no-raster may be implemented in Panoramic annular imaging system of the present invention, that is, do not need to pass through multiple
The splicing of adjacent image can obtain 360 ° of visual fields around optical axis moment.Therefore, it is regarded in intelligent video monitoring, robot
Feel that the fields such as research, moving object detection and tracking and 3 D scene rebuilding have broad application prospects.
As shown in Fig. 2, a kind of panoramic shooting system, including fish eye lens 1, imaging sensor 2, signal transmssion line 3, image
Processor 4, display equipment 5 and cable 6, fish-eye lens group are made of multi-disc lens, and field angle is horizontal 360-degree, hangs down
Straight 210 degree；Fish-eye output end is connected with the input terminal of imaging sensor, and fish eye lens is by 360 ° of intake round scenes
It is conveyed to imaging sensor, and is imaged on the target surface of imaging sensor, imaging sensor converts optical signals into analog telecommunications
Number, and the analog electrical signal is converted into digital signal, imaging sensor believes the number for carrying 360 ° of round scene information
Number image processor is transferred to by signal transmssion line；Image processor is using the concentric loop approximate expansion method and figure corrected
As the method for interpolation arithmetic, to circle distortion panoramic picture is coordinately transformed, image rectification and drawing expansion are handled, processing
Rectangle panoramic picture is formed afterwards；Image processor shows rectangle panoramic picture by cable transfer to display equipment.
Wherein: described image processor uses DSP or FPGA programming device.
Described image sensor uses the ccd image sensor with high-resolution, and ccd image sensor can be used
ICX445 series.Alternatively, described image sensor uses the cmos image with high-resolution as other selection modes
Sensor, cmos image sensor is using MT9D131 series.
Panoramic picture method of deploying mainly has optical path tracking coordinate reflection method, concentric loop approximate expansion method and expansion of tabling look-up
Method etc..Wherein, optical path tracking coordinate reflection method is to complete the exhibition of panoramic picture by tracking and analyzing the propagation trajectories of light
It opens.Precision of expansion is higher and deformation is smaller, but operand is very big.The method of development of tabling look-up is to accurately calculate expansion front and back in advance
The mapping relations of pixel coordinate between panoramic picture simultaneously save in a look-up table.When expansion by table look-up can quickly into
Row.But there is a problem of that entire lookup table data is very big.Basic concentric loop approximate expansion method is the panorama ring before expansion
Shape image is regarded as to be made of a series of concentric loops.The expansion of panoramic picture is completed by the way that each concentric loop is unfolded.The party
Method calculation amount is small, development rate is fast, but there are the precision of expansion histogram low, after expansion of the basic deployment algorithm before not correcting
As there is the problems such as deformation.It is comprehensive to consider the contradiction for taking into account the speed and precision of image procossing referring to above various methods, this
Invention is using the concentric loop approximate expansion method corrected.
In the present invention, concentric loop approximate expansion method method particularly includes: the panoramic ring image before expansion regarded as
It is made of a series of concentric loops, completes the expansion of panoramic picture by the way that each concentric loop is unfolded；First by panoramic ring
Image prolong its outermost layer circumference expansion, obtain the top a line of rectangular image, later in a manner of concentric loop from outermost layer to
Interior layer-by-layer expansion.
Specifically in the present embodiment:
During carrying out panoramic imagery, the mapping from three-dimensional cylinder to two-dimentional annulus has produced the change of image
Shape.Therefore, by panoramic ring image spread be common rectangular image when be also that can not reappear true scenery completely.And
It is the object of straight line or plane configuration originally by panoramic shooting and exhibition since there are nonlinear operations when expansion
It will become curve or curved surface after opening.
Firstly, panoramic ring image is prolonged the expansion of its outermost layer circumference, the top a line of rectangular image is obtained.Because most
Excircle has highest resolution, therefore first it is unfolded.Inwardly successively it is unfolded in a manner of concentric loop from outermost layer later, such as
Shown in Fig. 3, the left side a image of Fig. 3 is panoramic ring image, and right side b image is the rectangular image after expansion.
Take internal diameter r1With outer diameter r2Between circular panoramic picture be effective information be unfolded.For b figure on the right side of Fig. 3
Any point P ' as ino(X′o, Y 'o), the corresponding points P in the left side a image of Fig. 3oCoordinate (Xo, Yo) following formula can be used
It calculates:Wherein θ=X 'o/(r+Y′o)。
Since outermost layer has most pixels in panorama sketch, the pixel number of internal layer concentric loop successively reduced, but by annulus
It must keep identical with outermost layer pixel number to guarantee to obtain rectangular image after expansion again, therefore the image being unfolded needs radial draw
It stretches.
Most extreme situation is, if panoramic ring figure is fully deployed rectangular image, a line bottom of histogram
All pixels value be all that the pixel value of central point of panoramic ring figure (takes r1=0).
Furthermore can there are deformation, square shown in a image on the left of Fig. 4 when actual object is carried out panorama intake
Deformation can be generated when carrying out panorama intake.And far from center, its deformation extent is bigger.Fig. 5 is by panorama sketch 4
Histogram after the b image spread on right side, it is seen that true former scape can not be restored.
For the deficiency of basic deployment algorithm, the algorithm steps that the present invention uses are as follows:
1. a length of width of panoramic ring image, a height of height.The unit of width and height is pixel number.Then
The center point coordinate of the figure is (width/2, height/2), takes radius R=min (width/2, height/2).
2. the length of the rectangular image after expansion should be the outermost circle perimeter L=2 π R of panoramic ring image, by outermost circle
It is launched into the top a line of rectangular image week, the height of the rectangular image after expansion is R.
In general, usually there are many images and make an uproar in the outermost circumference of panoramic ring image and the part close to the center of circle
Sound, or there are blind areas.Therefore generally expansion processing is not carried out by outermost circumference and close to the part in the center of circle upon deployment.At this time
Settable parameter r1And r2(0≤r1< r2≤ R), it is r that panoramic ring image outermost to be treated, which is arranged to radius,2Circle
Week, innermost layer are that radius is r1Circumference.
Internal diameter r so will only be unfolded1To outer diameter r2Between annular section.The length of rectangular image is radius r after expansion2
Circumference 1=2 π r2, the height of rectangular image is (r2-r1)。
3. the parameter that above step is obtained carries out the expansion of image: as known conditions with the circle of panoramic ring image
The heart is origin, certain point polar coordinates (r, θ) in panoramic ring image is transformed into the coordinate of rectangular coordinate system are as follows:Wherein OxAnd OyFor the coordinate in the rectangular coordinate system of the center of circle after deployment, r1≤r≤r2。
4. with radius r2Length of the perimeter of locating circumference as the rectangular image after expansion, using above formula by angle
θ is gradually increased (0 ° → 360 °, or take certain section of angular interval), so by the pixel-map on circumference or certain section of circular arc to rectangle
The first row of image.Then radius is reduced to r2- 1, by the second row of the pixel-map on second circumference to rectangular image, such as
This is up to reduced radius to r1。
5. or more calculate inevitably and occur that certain points are unable to get pixel value in transformed rectangular image, this is just needed
Carry out image interpolation arithmetic；High resolution technique and panorama dimension interpolation are combined, using multiple spline method.
By above 5 step, original panoramic annular image is unfolded, rectangular image is obtained.With original panoramic circular chart
As being compared, it is seen that there is very big change.
Various parameters and data when table 1 is panoramic ring image spread:
Front is handled both for still image, and practical we frequently encounter is carried out to dynamic image sequence
Processing.Dynamic image sequence is handled, intelligent video monitoring is carried out and moving target is detected and is tracked.Due to
Panoramic ring image has 360o or the visual field close to 360o, therefore is searching particular persons or object (region of
Interest, ROI) when, imaging system may not necessarily be moved or be rotated and can be taken in the almost comprehensive scene in front
Come in, so as to detect whether that there are ROI immediately.
Workflow of the invention is: fish eye lens 1 is fixed together with imaging sensor 2, what fish eye lens 1 absorbed
360 degree of scenes enter in imaging sensor 2, and are imaged on the target surface of imaging sensor 2, while imaging sensor 2 believes light
Number it is converted into electric signal, and analog electrical signal is converted to digital signal.The digital signal of image information is carried from image sensing
The output port of device 2 is transferred to the input port of image processor 4 by signal transmssion line 3.Image processor 4 using DSP or
FPGA programming device, using software programming, using the concentric loop approximate expansion method of correction and the side of image interpolation arithmetic
Method, to circle distortion panoramic picture be coordinately transformed, image rectification, drawing expansion etc. processing, be corrected to and be suitable for people
The lesser rectangle panoramic picture of distortion of eye viewing；Image processor also passes through the function that virtual PTZ is realized in software programming, can be with
Image is arbitrarily moved, is rotated, amplified and reduced.Processed digital signal is transmitted to display equipment 5 by cable 6
In, in 360 degree of field ranges of optical axis, high resolution is shown from display equipment 5 and is distorted the scene image of very little.
The working principle of the invention is: the present invention combines panoramic imagery with image procossing, the fish obtained using design
Glasses head, disposably by horizontal 360-degree, Scenery Imaging in vertical 210 degree of field ranges makes video monitoring not have depositing for blind area
, and imaging definition is high.Image processing function is realized using DSP or FPGA programming device again, to fish eye lens intake
Circle distortion panoramic picture be coordinately transformed, image rectification, drawing expansion etc. processing, provide it is in 360 degree of field ranges, point
Resolution is high and is suitable for the lesser rectangle panoramic picture of distortion of human eye viewing.Virtual PTZ can also be realized by software programming
Function, so that image is arbitrarily moved, is rotated, amplified and be reduced.
Application Example:
1. fish-eye selection: selecting the lens group that is made of multi-disc lens, it is disposably by 360 ° of level, vertical
Scenery Imaging in 210 ° of field ranges, and there is high-resolution.
2. ccd image sensor or cmos image sensor are selected in the selection of imaging sensor.In the present embodiment, it selects
With ccd image sensor, ccd image sensor has small in size, light-weight, high resolution, high sensitivity, wide dynamic range, light
The geometric accuracy of quick member is high, spectral response range is wide, operating voltage is low, small power consumption, service life are long, shock resistance and good impact resistance,
Not by the series of advantages such as the interference of electromagnetic field and reliability height.
3. image processor: using DSP or FPGA programming device.In the present embodiment, FPGA programming device is selected, is belonged to
In the commercially available product in market.
In addition, image processor also passes through the function that virtual PTZ is realized in software programming, image can arbitrarily be moved
Dynamic, rotation, amplification and diminution.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of panoramic shooting system, including fish eye lens, imaging sensor, signal transmssion line, image processor, display equipment
And cable, it is characterised in that: fish-eye lens group is made of multi-disc lens, and field angle is horizontal 360-degree, 210 degree vertical；
Fish-eye output end is connected with the input terminal of imaging sensor, and 360 ° of intake round scenes are conveyed to figure by fish eye lens
It as sensor, and is imaged on the target surface of imaging sensor, imaging sensor converts optical signals into analog electrical signal, and should
Analog electrical signal is converted into digital signal, and the digital signal for carrying 360 ° of round scene information is passed through signal by imaging sensor
Transmission line is to image processor；Image processor is using the concentric loop approximate expansion method and image interpolation arithmetic corrected
Method, to circle distortion panoramic picture be coordinately transformed, image rectification and drawing expansion handle, form rectangle after processing
Panoramic picture；Image processor shows rectangle panoramic picture by cable transfer to display equipment.
2. panoramic shooting system according to claim 1, it is characterised in that: described image processor uses DSP or FPGA
Programming device.
3. panoramic shooting system according to claim 1, it is characterised in that: described image sensor, which uses, to be had compared with high score
ICX445 series can be used in the ccd image sensor of resolution, ccd image sensor.
4. panoramic shooting system according to claim 1, it is characterised in that: described image sensor, which uses, to be had compared with high score
The cmos image sensor of resolution, cmos image sensor is using MT9D131 series.
5. panoramic shooting system according to claim 1, it is characterised in that: concentric loop approximate expansion method are as follows: expansion
Preceding panoramic ring image is regarded as to be made of a series of concentric loops, completes panoramic picture by the way that each concentric loop is unfolded
Expansion；Panoramic ring image is prolonged into the expansion of its outermost layer circumference first, the top a line of rectangular image is obtained, later with concentric
Circular fashion is inwardly successively unfolded from outermost layer.
6. panoramic shooting system according to claim 1, it is characterised in that: the algorithm steps of concentric loop approximate expansion method
It is as follows:
The unit of a length of width of one, panoramic ring image, a height of height, width and height are pixel number, then should
The center point coordinate of figure is (width/2, height/2), takes radius R=min (width/2, height/2)；
The length of rectangular image after two, expansion should be the outermost circle perimeter L=2 π R of panoramic ring image, by outermost circumference
It is launched into the top a line of rectangular image, the height of the rectangular image after expansion is R；
In general, the outermost circumference of panoramic ring image and usually there are many picture noises close to the part in the center of circle,
Or there are blind areas；Therefore generally expansion processing is not carried out by outermost circumference and close to the part in the center of circle upon deployment；At this time may be used
It is arranged parameter r1 and r2 (O≤r1 < r2≤R), panoramic ring image outermost to be treated is arranged to the circle that radius is r2
Week, innermost layer are the circumference that radius is r1；
The annular section between internal diameter r1 to outer diameter r2 will only be unfolded, the length of rectangular image is the circumference 1 of radius r2 after expansion
=2 π r2, the height of rectangular image are (r2-r1)；
The parameter that three, obtain above step carries out the expansion of image as known conditions: the center of circle with panoramic ring image is
Certain point polar coordinates (r, θ) in panoramic ring image is transformed into the coordinate of rectangular coordinate system by origin are as follows:Wherein Ox and Oy is the coordinate in the rectangular coordinate system of the center of circle after deployment, r1≤r≤r2；
Four, using the perimeter of circumference locating for radius r2 as expansion after rectangular image length, using above formula by angle, θ by
It is cumulative big, so by the first row of the pixel-map on circumference or certain section of circular arc to rectangular image, then reduction radius to r2-1,
By the second row of the pixel-map on second circumference to rectangular image, so up to reduced radius to r1；
Five, or more, which are calculated inevitably, occurs that certain points are unable to get pixel value in transformed rectangular image, this is just needed
Carry out image interpolation arithmetic；High resolution technique and panorama dimension interpolation are combined, using multiple spline method.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109391802A (en) * | 2018-12-20 | 2019-02-26 | 北京伊神华虹系统工程技术有限公司 | A kind of method and apparatus for realizing real-time VR function |
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