CN110428361A - A kind of multiplex image acquisition method based on artificial intelligence - Google Patents
A kind of multiplex image acquisition method based on artificial intelligence Download PDFInfo
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- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
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- H04N5/222—Studio circuitry; Studio devices; Studio equipment
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Abstract
The invention discloses a kind of multiplex image acquisition methods based on artificial intelligence, camera is installed in vehicle front, rear, left and right four direction, in view of the image of four-way CCD camera shooting is finally to be mapped to fixed region, and this region has just been set before all work do not start, the splicing line of a coincidence is certainly existed between adjacent image, and this splicing line is exactly the important evidence of two images splicing.This method makes full use of related geometric knowledge and proportionate relationship, obtain all directions overhead view image to panoramic view corresponding region coordinate position relationship, and the position that splicing line corresponds in two images is calculated by inverse perspective projection counterplot, the transformation relation of two images is calculated, to realize the splicing of two-dimentional panoramic view.It converted, handled and is spliced by four images of this method to synchronization, obtained two dimension of the width centered on vehicle and look around image.
Description
Technical field
The present invention relates to intelligent driving, image procossing, image-pickup methods more particularly to a kind of based on the more of artificial intelligence
Road image-pickup method.
Background technique
Image is a complicated information assembly, the information that it is included not only type very abundant, quantity also ten
It is point huge, therefore it becomes a kind of important way that people carry out information interchange.Simultaneously image information have again reliability, intuitively
The advantages that property, so image capturing and transmitting always is important research contents.In terms of hardware processing platform selection, at present
A variety of image collection processing systems are had now been developed to meet different processing requirements.According to the difference of processing platform, current
Mainstream digital image acquisition processing system can be divided into following a few classes.
Two-dimentional panoramic view based on multi-path camera generate system design flow as shown, first vehicle it is forward and backward,
Left and right four direction installs camera, when installation, the field of view angle of camera lens used is roughly calculated first, selecting can cover substantially
360 ° of lid vehicle periphery of 4 camera installation points, respectively under the rearview mirror of vehicle both sides, above rear seat windscreen and license plate
Top position goes out to place camera.Then, in order to be demarcated to camera, recording camera install when some parameters, than
Such as height, level angle, vertical angle etc..After obtaining four road videos, so that it may using the method for image procossing, to same a period of time
Four images carved are converted, are handled, are spliced, and finally fusion obtains two dimension of the width centered on vehicle and looks around image.
Summary of the invention
In view of the above-mentioned problems, it is an object of the invention to use a kind of multiplex image acquisition side based on artificial intelligence
Method is converted, handled and is spliced by four images of this method to synchronization, and finally fusion obtains a width with vehicle and is
The two dimension at center looks around image.
Method includes the following steps:
Step 1, data acquisition.
Camera is installed in vehicle front, rear, left and right four direction, respectively under the rearview mirror of vehicle both sides, rear seat windscreen
Top and license plate top position go out to place camera.When installation, 360 ° of vehicle periphery of installation point can be covered by selecting.It needs
Some parameters when recording camera is installed, such as height, level angle, vertical angle etc..Obtain vehicle front, rear, left and right four
After the fish-eye image in a direction, using the method for image procossing, four images of synchronization is converted, handled, are spliced,
Finally fusion obtains two dimension of the width centered on vehicle and looks around image (i.e. top view or birds-eye view).
Step 2, perspective transform and inverse perspective mapping
In order to which the four width fish eye images for obtaining four-way CCD camera are fused to the width complete image in plane coordinate system, need
Mapping relations between different camera coordinate systems are calculated from the method for inverse perspective mapping using perspective transform.According to camera
Geometry imaging model, to obtain space object to the coordinate mapping between final image, it is necessary to which correct processing is following several
Transformational relation between kind coordinate system: world coordinate system, camera coordinate system, actual imaging coordinate system, ideal image plane are sat
Mark system and final image coordinate system.
Step 3, multiway images combined calibrating
Due to the installation site of vehicle front, rear, left and right camera and the difference of setting angle, to four width images are spelled
Be connected into as a width two dimension panoramic view, it is necessary to establish every piece image to final panoramic view corresponding region mapping relations.Firstly, building
The coordinate system of the vertical panoramic view centered on vehicle, selects vehicle axis system for conventional coordinates, corresponding ginseng noted earlier
Examine world coordinate system.Then, establish other four roads images under the coordinate system to panoramic view coordinate mapping relations so that four width figures
As that can handle and show in approximately the same plane.Define vehicle axis system are as follows: subpoint of the rear-wheel axis center on ground is to sit
Origin is marked, for wX reference axis, is wY with hind axle center outwardly direction with front direction among vehicle.Perpendicular to ground
Upwardly direction is origin O.
By the way that camera lens to be fixed on to the surrounding of vehicle, the ring of four direction when vehicle driving can be obtained in shooting process
Border information.But since four cameras are all towards captured direction, so obtained image is also all side view video figure
Picture, the design requirement of this method finally need to obtain the overhead view image of a width uniform coordinate plane, i.e., clap original camera side
The image taken the photograph is converted to the image shot vertically downward.The side view video image of whole front, rear, left and right four direction
Corresponding vehicle four regions all around should be transformed into figure, this just needs each side view being also transformed into top view
Picture, mapping mode therein overlook transformation.
Step 4, multiway images splicing are generated with two-dimentional panoramic view
The image in four orientation in vehicle front, rear, left and right establishes the mapping relations of top view by the processing of front.
But look around image to obtain 360 ° preferably centered on vehicle, in addition to image superposition, it is also necessary to four width images into
Row splicing.Therefore, it is obtained final with the method for image mosaic by the way that four width video images are carried out splicing fusion
Look-around impression achievees the purpose that dead zone-eliminating and dead angle.
In view of the image of four-way CCD camera shooting is finally to be mapped to fixed region, and this region is in a cutting
It has just been set before not starting, so the splicing line of a coincidence is certainly existed between adjacent image, and this is spelled
Wiring is exactly the important evidence of two images splicing.So this method makes full use of related geometric knowledge and proportionate relationship, obtain
All directions overhead view image to panoramic view corresponding region coordinate position relationship, and pass through inverse perspective projection counterplot calculate splicing line pair
The transformation relation of two images should be calculated in the position in two images, to realize the splicing of two-dimentional panoramic view.
Detailed description of the invention
Fig. 1 is the flow chart that this method is implemented.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in detail.
Example:
Step 1, data acquisition.
Camera is installed in vehicle front, rear, left and right four direction, respectively under the rearview mirror of vehicle both sides, rear seat windscreen
Top and license plate top position go out to place camera.When installation, 360 ° of vehicle periphery of installation point can be covered substantially by selecting.
Some parameters when recording camera being needed to install, such as height, level angle, vertical angle etc..After obtaining four road videos,
Using the methods of image procossing, four images of synchronization are converted, handled, are spliced, finally fusion obtain a width with
Two dimension centered on vehicle looks around image.
Step 2, perspective transform and inverse perspective mapping
In order to which the four width fish eye images for obtaining four-way CCD camera are fused to the width complete image in plane coordinate system, need
The mapping relations between different camera coordinate systems are calculated first, using the method for perspective transform and inverse perspective mapping.According to
The geometry imaging model of camera is known, to obtain space object to the coordinate mapping between final image, it is necessary to correct
Handle the transformational relation between following several coordinate systems: world coordinate system, camera coordinate system, actual imaging coordinate system, ideal
Imaging plane coordinate system and final image coordinate system.
Step 3, multiway images combined calibrating
Due to the installation site of vehicle front, rear, left and right camera and the difference of setting angle, to four width images are spelled
Be connected into as a width two dimension panoramic view, it is necessary to establish every piece image to final panoramic view corresponding region mapping relations.Firstly, building
The coordinate system of the vertical panoramic view centered on vehicle, selects vehicle axis system for conventional coordinates, corresponding ginseng noted earlier
Examine world coordinate system.Then, establish other four roads images under the vehicle axis system to panoramic view coordinate mapping relations so that four
Width image can be handled and be shown in approximately the same plane.Define vehicle axis system are as follows: subpoint of the rear-wheel axis center on ground
It is X with front direction among vehicle for coordinate originwReference axis is Y with hind axle center outwardly directionw.With perpendicular to
Ground upwardly direction is Zw。
By the way that camera lens to be fixed on to the surrounding of vehicle, the ring of four direction when can be obtained by vehicle driving in shooting process
Border information.But since four cameras are all towards captured direction, so obtained image is also all side view video figure
Picture finally needs to obtain the overhead view image of a width uniform coordinate plane according to the requirement of system design of this method, i.e., will take the photograph originally
As the image that head side is shot is converted to the image shot vertically downward.The side view of whole front, rear, left and right four direction
Video image should be transformed into figure corresponding vehicle four regions all around, this just needs for each side view to be also transformed into
Overhead view image, mapping mode therein overlook transformation.
In order to obtain per image all the way to the transformation for looking around image coordinate system, 6 control points now are used to each image, if
Coordinate in corresponding vehicle axis system and to be overlooked transformed ideal image coordinate be respectively (Xi,Yi, l) and (ui,vi,
L), i=1,2 ..., 6, according to the equation of the available 6 groups of solution transformation matrixs of transformation for mula, asked followed by least square method
The optimal solution for obtaining inverse perspective mapping matrix parameter, then just can determine that ideal plane image coordinate system overhead view image coordinate system to ring
The mapping relations of view coordinate system.
Coordinate system in experiment with reference to image after the correction of front camera is that standard looks around coordinate system, thus only need to it is left,
Right, rear three directional images carry out looking around transformation:
S1, the region for needing to be transformed to look around image is chosen to image after a vertical view transformation to be transformed；
S2, definition simultaneously initialize transformed image, determine the length and width for generating image；
S3, transformation matrix is overlooked using corresponding, a pixel (x', y') in selected areas is carried out to look around coordinate change
It changes, obtains transformed coordinate (x, y)；
S4, image interpolation method is used if coordinate value is not integer to transformed image coordinate progress pixel grey scale assignment
Calculate the corresponding gray value of the pixel；
S5, judge whether point all in region has all converted, if not having, return to S3 and repeat, if transformation is complete,
Then complete the transformation of looking around of the image, input results image.
Step 4, multiway images splicing are generated with two-dimentional panoramic view
In view of the image of four-way CCD camera shooting is finally to be mapped to fixed region, and this region is in a cutting
It has just been set before not starting, so the splicing line of a coincidence is certainly existed between adjacent image, and this is spelled
Wiring is exactly the important evidence of two images splicing.So this method makes full use of related geometric knowledge and proportionate relationship, obtain
All directions overhead view image to panoramic view corresponding region coordinate position relationship, and pass through inverse perspective projection counterplot calculate splicing line pair
The transformation relation of two images should be calculated in the position in two images, to realize the splicing of two-dimentional panoramic view.
(1) splice point coordinate calculates
It is located in panoramic view, vehicle a length of C, wide K, schemes width H1；It is located in overhead view image, the high H of image2, wide W1。
Look around two o'clock P in image top view0, P1The P of corresponding real image top viewl0, Pl1, then according to coordinate relationship, ring
A point P (x, y) in visible image, coordinate (x ', y ') relationship in image top view are as follows:
Due to overhead view image to look around between image corresponding region be it is proportional, further according between image ratio close
System, while simultaneous above formula obtain the coordinate value R (R in corresponding overhead view imagex,Ry) are as follows:
Then, splice point P in top viewl0, Pl1Coordinate can be by P in panoramic view0, P1Coordinate representation.
Similarly, front overhead view image can be found out on the overhead view image of front to the mapping graph of panoramic view with similar method
Splice point Pf0, Pf1Coordinate it is as follows by looking around corresponding coordinate representation in top view image:
Wherein h/tan (δ) is to convert to obtain according to perspective image；H is picture altitude, h be distortion factor, δ is original graph
The depth-width ratio factor of picture.
(2) image looks around splicing
Due to the synteny of straight line be to maintain in mapping transformation it is constant, so know in panoramic view left side top view with
The splicing line of frontside plan view correspond to left overhead view image and front overhead view image line segment be exactly two images splicing seams.Root
Left top view and front top view can be completed according to the splicing seams to map to looking around in image, then reduce extra part
Fall, this completes the splicings of this two images.
Claims (3)
1. a kind of multiplex image acquisition method based on artificial intelligence, it is characterised in that: by this method to the four of synchronization
It opens image to be converted, handled and spliced, finally fusion obtains two dimension of the width centered on vehicle and looks around image；
Method includes the following steps:
Step 1, data acquisition；
Camera is installed in vehicle front, rear, left and right four direction, respectively under the rearview mirror of vehicle both sides, above rear seat windscreen
And license plate top position goes out to place camera；When installation, 360 ° of vehicle periphery of installation point can be covered by selecting；It needs to record
Height, level angle and vertical angle when camera is installed；Obtain vehicle front, rear, left and right four direction fish-eye image it
Afterwards, using the method for image procossing, four images of synchronization is converted, handled, are spliced, finally fusion obtains a width
Two dimension centered on vehicle looks around image；
Step 2, perspective transform and inverse perspective mapping
In order to which the four width fish eye images for obtaining four-way CCD camera are fused to the width complete image in plane coordinate system, using saturating
Depending on converting the mapping relations calculated between different camera coordinate systems from the method for inverse perspective mapping；According to the geometry of camera at
As model, to obtain space object to the coordinate mapping between final image, it is necessary to handle between following several coordinate systems
Transformational relation: world coordinate system, camera coordinate system, actual imaging coordinate system, ideal image plane coordinate system and final
Image coordinate system；
Step 3, multiway images combined calibrating
Due to the installation site of vehicle front, rear, left and right camera and the difference of setting angle, to by four width image mosaics at
For a width two dimension panoramic view, it is necessary to establish every piece image to final panoramic view corresponding region mapping relations；Firstly, establish with
The coordinate system of panoramic view centered on vehicle selects vehicle axis system for conventional coordinates, corresponding noted earlier with reference to generation
Boundary's coordinate system；Then, other four roads images are established under the coordinate system to the coordinate mapping relations of panoramic view, enable four width images
Enough processing in approximately the same plane and displaying；Define vehicle axis system are as follows: subpoint of the rear-wheel axis center on ground is that coordinate is former
Point, for wX reference axis, is wY with hind axle center outwardly direction with front direction among vehicle；To face upward perpendicular to ground
Direction be origin O；
By the way that camera lens to be fixed on to the surrounding of vehicle, the environment letter of four direction when vehicle driving can be obtained in shooting process
Breath；But since four cameras are all towards captured direction, so obtained image is also all side view video image, originally
The design requirement of method finally needs to obtain the overhead view image of a width uniform coordinate plane, i.e., shoots original camera side
To image be converted to the image shot vertically downward；The side view video image of whole front, rear, left and right four direction should
Corresponding vehicle four regions all around are transformed into figure, this just needs each side view being also transformed into overhead view image,
In mapping mode i.e. overlook transformation；
Step 4, multiway images splicing are generated with two-dimentional panoramic view
The image in four orientation in vehicle front, rear, left and right establishes the mapping relations of top view by the processing of front；But
It is image to be looked around to obtain 360 ° preferably centered on vehicle, in addition to image superposition, it is also necessary to which four width images are carried out
Splicing；Therefore, final ring is obtained by the way that four width video images are carried out splicing fusion with the method for image mosaic
Visual effect fruit, achievees the purpose that dead zone-eliminating and dead angle.
2. a kind of multiplex image acquisition method based on artificial intelligence according to claim 1, it is characterised in that: before reference
The coordinate system of image is that standard looks around coordinate system, therefore only needs to carry out left and right, rear three directional images after square camera correction
Look around transformation:
S1, the region for needing to be transformed to look around image is chosen to image after a vertical view transformation to be transformed；
S2, definition simultaneously initialize transformed image, determine the length and width for generating image；
S3, transformation matrix is overlooked using corresponding, a pixel (x', y') in selected areas is carried out looking around coordinate transform,
Obtain transformed coordinate (x, y)；
S4, transformed image coordinate progress pixel grey scale assignment is calculated if coordinate value is not integer using image interpolation method
The corresponding gray value of the pixel；
S5, judge whether point all in region has all converted, if not having, return to S3 and repeat, it is complete if transformation is complete
At the transformation of looking around of the image, input results image.
3. a kind of multiplex image acquisition method based on artificial intelligence according to claim 1, it is characterised in that: two-dimentional ring
The splicing of view is as follows,
(1) splice point coordinate calculates
It is located in panoramic view, vehicle a length of C, wide K, schemes width H1；It is located in overhead view image, the high H of image2, wide W1；
Look around two o'clock P in image top view0, P1The P of corresponding real image top viewl0, Pl1, then according to coordinate relationship, panoramic view
A point P (x, y) as in, coordinate (x ', y ') relationship in image top view are as follows:
Due to overhead view image to look around between image corresponding region be it is proportional, further according to the proportionate relationship between image, together
Shi Lianli above formula obtains the coordinate value R (R in corresponding overhead view imagex,Ry) are as follows:
Then, splice point P in top viewl0, Pl1Coordinate can be by P in panoramic view0, P1Coordinate representation；
Similarly, front overhead view image can find out the spelling on the overhead view image of front with similar method to the mapping graph of panoramic view
Contact Pf0, Pf1Coordinate it is as follows by looking around corresponding coordinate representation in top view image:
Wherein h/tan (δ) is to convert to obtain according to perspective image；H is picture altitude, h be distortion factor, δ is original image
The depth-width ratio factor；
(2) image looks around splicing
Due to the synteny of straight line be to maintain in mapping transformation it is constant, so knowing in panoramic view left side top view and front side
The splicing line of top view correspond to left overhead view image and front overhead view image line segment be exactly two images splicing seams；According to this
Splicing seams can complete left top view and front top view and map to looking around in image, then reduce i.e. by extra part
Can, this completes the splicings of this two images.
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