CN100338631C - On-site panoramic imagery method of digital imaging device - Google Patents
On-site panoramic imagery method of digital imaging device Download PDFInfo
- Publication number
- CN100338631C CN100338631C CNB031465080A CN03146508A CN100338631C CN 100338631 C CN100338631 C CN 100338631C CN B031465080 A CNB031465080 A CN B031465080A CN 03146508 A CN03146508 A CN 03146508A CN 100338631 C CN100338631 C CN 100338631C
- Authority
- CN
- China
- Prior art keywords
- image
- digital imaging
- lap position
- obtains
- imaging apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- 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
Abstract
The present invention discloses an on-site panoramic imaging method of digital imaging equipment. Firstly, a dynamic image obtained currently by the digital imaging equipment and a previous image are used and matched by using a multiresolution method or a hill climbing method, and splicing processing is carried out by using a weighted average method according to a matched result to form a panoramic image. The present invention has the main advantages that the defect that the existing digital imaging equipment can not provide a convenient and practical panorama imaging function in real time is compensated, and an image splicing operation of a user is simplified to adapt to on-site imaging requirement. The present invention avoids using any additional mechanical or optical equipment and maintains a usual manual shooting habit, and simultaneously, by using a man-machine matching mode, active viewing, continuous shooting and intelligent splicing are carried out to form a novel practical real-time image processing method. Meanwhile, a convenient means for the spliced image displayed on the digital imaging equipment is provided for the user.
Description
Technical field
The present invention relates to a kind of digital imaging method, be meant especially and a kind ofly utilize removable digital imaging apparatus in real time the continuous background image to be spliced and generate the method for panoramic picture, and, belong to digital image processing techniques to carry out the method that panoramic picture shows based on said method.
Background technology
Digital camera, the mobile phone that is integrated with micro-camera device have convenient small and exquisite, the characteristics that are easy to carry about with one and can take pictures at any time, but the restriction of physical size makes that the image quality of such photographing device is poor, the visual field is little, can not satisfy the expectation of people to taking pictures.
Image quality is poor, the visual field is limited is the problem that general digital camera and the mobile phone that is integrated with micro-camera device all face.At this class problem, people have done many improvement from many-sides such as machinery, optics and digital technologies.
For example, Chinese patent ZL 92215421.X has designed a kind of 360 ° of loop panorama cameras, comprises camera body, camera lens, power-supply controller of electric and camera chassis.Have the imaging surface of a clearance type exposure hole in the middle of the fuselage, be equipped with in the chassis under the fuselage that micromachine is connected with the film trasport rubber roll with speed reduction unit, speed reduction unit shaft and the axle that takes up is differential engagement, pinion wheel on another shaft and the engagement of chassis annular wheel, power-supply controller of electric have the pressure regulator of three retaining control electrical motor gearshifts.This device precision height is fit to take indoor panorama; But for broad painting style scape in field and large-scale group photograph etc., but need to add extra mechanical hook-up and driver part, therefore, be unsuitable for portable use.
Chinese patent application 00802545.2 (publication number CN 1352754) discloses a kind of two reflector systems, and one is hyperboloidal mirror, and another is recessed ellipse or spherical reflector, eliminates optical aberration by optical principle, is used to catch super wide-angle panoramic image.But this system is accurate and huge optical device is unsuitable for being installed on the small and exquisite portable equipment flexibly equally.
Date technology application has greatly promoted the development of imaging technique in recent years, and the largest benefit of digital image-forming technology is to handle accurate and flexible.A photo is digitized as into the digital collection of pixels up to a million, and then to the processing of this photo, can utilize the computing machine of high-speed high capacity to carry out the editor of Pixel-level fully; Therefore, splicing and combining of multiple photos also just is reduced to reorganization and the arrangement that respective pixel is gathered.Have two photos that partially overlap and in computing machine, can carry out content match earlier, orient the lap position, be spliced into a bigger photo continuously by content then.Like this, can not be modified under the picture situation of equipment, reach the purpose that is extended to the picture visual field, improves image quality.
Though above-mentioned method simple economy all is the off-line post processing mode at present: promptly user's mobile phone of using digital camera or being integrated with micro-camera device is taken multiple pictures continuously, is input to the laggard line ordering of computing machine, coupling and splicing then together.So just caused the entire process cycle to grow, operate many inevitably; In addition, if find that when aftertreatment indivedual photos do not meet the requirements, the inefficacy that this will cause whole splicing to be handled, the user need take pictures again and repeat above-mentioned operation.Therefore, if this method is directly used in digital camera or is integrated with the mobile phone of micro-camera device,, but the characteristics such as instant, convenient of these removable shootings have also been lost simultaneously even can obtain high-quality image quality by the processed offline of computing machine.
Chinese patent ZL 01230425.5 has designed a kind of digital camera that is used to rotate shooting, and it is to have increased micromotor and whirligig in existing digital camera circuit.Micromotor is under the control of control circuit, and the driven in rotation device rotates camera bellows on base.Angle of the every rotation of image information processing circuit receives a column of figure signal, a synthetic at last width of cloth complete image.This equipment has certain robotization and continuity, but it utilizes extra mechanical hook-up accurately to rotate camera, and image is synthetic to be a fixing splicing, both dumb in actual use, volume is huge again, is not suitable for mobile phone or this portable occasion of taking pictures freely of digital camera; If rotate camera by hand, this method requires the accurately rotation of the necessary mechanization of operator ground, and obviously, this is unpractical.
Summary of the invention
Fundamental purpose of the present invention is to provide the method for the on-the-spot panoramic imagery of a kind of digital imaging apparatus, remedies the shortcoming of shooting mobile phone image quality deficiency, and a kind of mobile phone method for panoramic imaging of convenient practicality is provided, and simplifies user's operation, adapts to the field imaging requirement.
Another object of the present invention is to provide the method for the on-the-spot panoramic imagery of a kind of digital imaging apparatus, avoid adopting any extra mechanical or optical device, keep the common craft custom of taking pictures; Adopt man-machine fit system simultaneously, initiatively find a view, take continuously and intelligent connecting, form a kind of real-time processing method of Nover practical.
A further object of the present invention is to provide a kind of portable digital imaging apparatus effectively to show the display packing of on-the-spot panoramic picture, and roll display large format distant view photograph on the small screen is taken into account complete sum local detail clear of overall content; The content roll display has dynamic effect; Image is steadily clear, is better than video effect.
The object of the present invention is achieved like this:
The method of the on-the-spot panoramic imagery of a kind of digital imaging apparatus comprises at least:
Step 1: a current dynamic image that obtains of digital imaging apparatus and a last image are mated;
Step 2: according to the matching result of step 1, a last image and the current dynamic image that obtains are spliced processing, constitute panoramic picture.
Above-mentioned matching process can adopt the method for the most basic traversal (exhaustive), also can obtain quick scene matching process by optimizing further, and acceleration search is the lap position accurately.Described quick scene matching process comprises two kinds of flow processs described as follows at least:
1, adopt the methods of differentiating more:
Step 11B: set one and be not less than 1 a moving step length and an initial lap position;
Step 12B: calculate a current dynamic image that obtains and a last image similarity in this lap position; With this lap position is the candidate lap position apart from 8 neighborhoods that are moving step length on every side, and calculates the similarity of each candidate lap position;
Step 13B: among calculating each similarity that obtains, choose minimum similarity; And lap position that should minimum similarity correspondence is as new initial lap position;
Step 14B: dwindle moving step length; Execution in step 12B is not more than 1 until moving step length.
2, adopt climbing method to search for:
Step 11C: according to the ratio of setting, set initial lap position, and the setting moving step length is 1;
Step 12C: calculate a current dynamic image that obtains and a last image similarity in this lap position; With 8 neighborhoods around this lap position is the candidate lap position, and calculates the similarity of each candidate lap position;
Step 13C: among calculating each similarity that obtains, choose minimum similarity;
Step 14C: if the similarity of initial lap position is not equal to this minimum similarity, lap position that then should minimum similarity correspondence is as new initial lap position, execution in step 12C; Otherwise coupling finishes.
During stitching image, concrete treatment scheme is:
Step 21: the data storage of a last image that will comprise the overlapping region is in the splicing buffer zone of digital imaging apparatus;
Step 22: the data of from the data of the data of a last image and the current dynamic image that obtains, taking out its overlapping region respectively;
Step 23: after the data of two overlapping regions of taking out in the step 22 are weighted average treatment, the weighted mean data that obtain are stored in the overlapping region of the data of a last image in the splicing buffer zone of digital imaging apparatus;
Step 24: with the data storage that do not comprise the overlapping region in the current dynamic image data that obtains after the overlapping region of splicing buffer zone.
Above-mentioned average weighted purpose is in order to make the image that is spliced can have transition effect preferably in splicing place, therefore, can adopt following mode to be weighted processing:
If P
k CDIn a last image and not in the current dynamic image that obtains, P
k CD=P
k AD
If P
k CDIn the current dynamic image that obtains and not in a last image, P
k CD=P
k BD
If P
k CDIn the overlay region of a last image and the current dynamic image that obtains,
P
k CD=(P
k AD+ P
k BD)/2, perhaps P
k CD=(1-w/L) P
k AD+ w/L * P
k BD
Wherein, A
DBe the image block of a last image in the overlay region, B
DBe the image block of the current dynamic image that obtains in the overlay region, C
DBe the image block of stitching image in the overlay region; And, A
D, B
D, C
DVector form I
AD, I
BDAnd I
CDBe expressed as respectively:
I
AD＝[P
1 AD，P
2 AD，...，P
N AD]′
I
BD＝[P
1 BD，P
2 BD，...，P
N BD]′
I
CD＝[P
1 CD，P
2 CD，...，P
N CD]′
P
k ADBe A
DIn k pixel, P
k BDBe B
DIn k pixel, P
k CDBe C
DIn k pixel;
W is P
k CDIn the overlay region along the level or the vertical range position of stitching direction;
L is the overlay region length along stitching direction.
Need to prove: above-mentioned method of weighting is linear, also can adopt nonlinear method of weighting, and these methods are concrete algorithm, can directly quote, and do not repeat them here.
In the actual operating process, digital imaging apparatus is actually constantly shooting state is detected, after the user takes current photo, and the just operation that can splice; Otherwise, according to method of the present invention, proceed real-time matching operation, calculate the deviation value of current overlay region and default recommendation lap position, give the user with the signal feedback of the prompting of finding a view, wait for user's adjustment and shooting operation.When the quantity of image mosaic reaches predetermined value or user key-press and stops splicing, stop the pan-shot state.
After adopting above-mentioned method to obtain a panoramic picture, because the display device of described digital imaging apparatus itself can not once show whole images fully, so, need show described picture roll, concrete display packing is: the panoramic picture display command according to user's input will the panorama image displayed data be sent in the display buffer of digital imaging apparatus continuously; Display process module by described digital imaging apparatus reads and outputs to display interface, forms the roll display effect of panorama.
According to above-mentioned technical scheme as can be known: major advantage of the present invention has been to remedy the defective that existing digital imaging apparatus can not provide a kind of panoramic imagery function of convenient practicality in real time, has simplified the operation of user's stitching image, has adapted to the field imaging requirement; The present invention has avoided adopting any extra mechanical or optical device, the craft that the has kept common custom of taking pictures; Simultaneously, by adopting man-machine fit system, initiatively find a view, take continuously and intelligent connecting, formed a kind of real time image processing of Nover practical.Simultaneously also means are easily provided for user's image of display splicing on digital imaging apparatus.
Description of drawings
Fig. 1 is the process flow diagram of the present invention with specific embodiment;
Fig. 2 mates the embodiment process flow diagrams of differentiating search in the flow process for the present invention more;
Fig. 3 mates the embodiment process flow diagram of climbing method search in the flow process for the present invention.
Embodiment
The present invention is described in further detail below in conjunction with specific embodiment:
The present invention is at first mated a current dynamic image that obtains of digital imaging apparatus and a last image; Then, according to matching result, a last image and the current dynamic image that obtains are spliced processing, constitute panoramic picture.
Wherein, the purpose of previous step is that the scene of a current dynamic image that obtains and a last image is carried out matching treatment, therefrom finds the similarity maximum region; Generate in the processing at concrete digital panoramic,, need handle through following step for the photo that the two above-mentioned width of cloth are taken continuously:
Step 1: at a current dynamic image that obtains of digital imaging apparatus and a last image, set a possibility lap position, calculate the content similarity measure value of two width of cloth images under this lap position;
Step 2: search for all candidate lap positions, select minimum content similarity measure value, the lap position of its correspondence is two width of cloth images content lap position the most accurately.
Referring to Fig. 1, below be the instantiation of realizing said method:
At first, at a current dynamic image that obtains and a last image, set an initial lap position;
Secondly, calculate current dynamic image that obtains and the similarity of a last image under this lap position;
Then, move described lap position, repeat the rapid calculating of previous step, up to the similarity that calculates under all lap positions;
At last, selecting the pairing lap position of minimum similarity is final accurate lap position.
In above-mentioned step,
Current dynamic image that obtains and the similarity of a last image under the lap position are specifically calculated according to following formula (1) or formula (2):
Wherein, A
DBe the image block of a last image in the overlay region, B
DBe the image block of the current dynamic image that obtains in the overlay region; And, A
D, B
DVector form I
ADAnd I
BDBe expressed as respectively:
I
AD＝[P
1 AD，P
2 AD，...，P
N AD]′I
BD＝[P
1 BD，P
2 BD，...，P
N BD]′
P
k ADBe A
DIn k pixel, P
k BDBe B
DIn k pixel;
S
DMean square deviation for the mean value or formula (2) the overlay region interior pixel of formula (1) overlay region interior pixel absolute difference;
N is the total number of the pixel in the overlay region.
Should be noted that: the minimum similarity in the above-mentioned steps is the S in the above-mentioned formula
D, S
DValue more little, illustrate that the similarity of this value The corresponding area, registration are big more, be final accurate lap position so select the pairing lap position of minimum similarity in the above-mentioned final step.
Above-mentioned method is the method for the most basic traversal (exhaustive), in fact, adopts this method to find out best lap position, and calculated amount is big, and time-consuming length is not easy to the real-time calculating of portable equipment.For this reason, can obtain the described quick scene matching process of following embodiment by optimizing further, acceleration search is the lap position accurately.
Referring to Fig. 2:
1, differentiate searched for more: at first, set one and be not less than 1 moving step length, for example 16 and one initial lap position;
Secondly, calculate a current dynamic image that obtains and a last image similarity in this lap position; With this lap position is the candidate lap position apart from 8 neighborhoods that are moving step length on every side, and calculates the similarity of each candidate lap position;
Then, among calculating each similarity that obtains, choose minimum similarity; And lap position that should minimum similarity correspondence is as new initial lap position;
At last, dwindle moving step length, for example, get original moving step length value half or 1/3; Repeat calculating, be not more than 1 until moving step length.
What obtained this moment is final accurate lap position.
Adopt above-mentioned method, digital picture for 320 * 240, need carry out the similarity measurement of 76800 possibility lap positions with the traversal method, only need to measure for 332 times with the above-mentioned searching methods (is 16 coarse resolution traversal and the gradually fine searching strategy that reduces by half of step-length thereafter as step-length) of differentiating, calculated amount is original 1/231 more.
Referring to Fig. 3:
2, climbing method search:
In fact, if the constraint user leaves the overlapping of basic fixed size when taking, above-mentioned scene matching algorithm there is no need to carry out the match search of full width face, but carries out local heuristic search in the setting district.Concrete method is:
At first, according to the overlapping ratio of setting, for example 1/5 picture size is set initial lap position, and the setting moving step length is 1;
Secondly, calculate a current dynamic image that obtains and a last image similarity in this lap position; With 8 neighborhoods around this lap position is the candidate lap position, and calculates the similarity of each candidate lap position;
Then, among calculating each similarity that obtains, choose minimum similarity;
At last, if the similarity of initial lap position is not equal to this minimum similarity, double counting is carried out as new initial lap position in the position of similarity correspondence that then should minimum; Otherwise coupling finishes.
At this moment the lap position that obtains is a best match position.
Above-mentioned climbing method according to the complexity of picture material and user's shooting error, generally can find locally optimal solution in 16 to 240 times, can reduce calculated amount widely.
According to above-mentioned matching result, when the user determines splicing, for example: after the user of digital camera presses the shutter of taking pictures and implements to take pictures, two above-mentioned images are spliced processing, constitute panoramic picture.
Change reconfiguring and Rankine-Hugoniot relations of two width of cloth image pixels, just can reach the purpose of image mosaic, but the quality of splicing is influenced to some extent in the selection of overlay region interior pixel.
The present invention utilizes that the weighted mean of respective pixel improves joining quality in the overlay region.Suppose that a last image A and the current dynamic image B that obtains are overlapping at position D place, A
DAnd B
DBe respectively image A and the B image block in the overlay region, for the panoramic picture C of new splicing, C
DBe the image block of stitching image in the overlay region; And, A
D, B
D, C
DVector form I
AD, I
BDAnd I
CDBe expressed as respectively:
I
AD＝[P
1 AD，P
2 AD，...，P
N AD]′
I
BD＝[P
1 BD，P
2 BD，...，P
N BD]′
I
CD＝[P
1 CD，P
2 CD，...，P
N CD]′
Wherein, P
k CD=w1 * P
k AD+ w1 * P
k BD, and w1 and w2 be weighting coefficient, itself and be 1;
P
k ADBe A
DIn k pixel, P
k BDBe B
DIn k pixel, P
k CDBe C
DIn k pixel.
Concrete splicing step is:
Step 21: the data storage of a last image A that will comprise the overlapping region is in the splicing buffer zone C of digital imaging apparatus;
Step 22: the data A that from the data of the data of a last image A and the current dynamic image B that obtains, takes out its overlapping region respectively
D, B
D
Step 23: to two overlapping region A that take out in the step 22
D, B
DThe The data method of average or after the linear weighted function method of average handles, the weighted mean data that obtain are stored in the overlapping region A of the data of a last image A among the splicing buffer zone C of digital imaging apparatus
DIn;
Step 24: will not comprise the overlapping region C of the data storage of overlapping region in the current dynamic image B data of obtaining to splicing buffer zone C
DAfterwards.
When adopting the average weighted method, according to the data P in the following rule acquisition overlay region
k CD:
If P
k CDIn a last image and not in the current dynamic image that obtains, P
k CD=P
k AD
If P
k CDIn the current dynamic image that obtains and not in a last image, P
k CD=P
k BD
If P
k CDIn the overlay region of a last image and the current dynamic image that obtains, P then
k CD=(P
k AD+ P
k BD)/2.
Adopt the method for average, used the information of two original images in the overlay region simultaneously, therefore the border of having avoided causing owing to picture material is not quite identical obviously suddenlys change, and makes the overlapping region energy nature and the Non-overlapping Domain of spliced image seamlessly transit.
When adopting the linear weighted function method of average, according to the data P in the following rule acquisition overlay region
k CD:
If P
k CDIn a last image and not in the current dynamic image that obtains, P
k CD=P
k AD
If P
k CDIn the current dynamic image that obtains and not in a last image, P
k CD=P
k BD
If P
k CDIn the overlay region of a last image and the current dynamic image that obtains, P then
k CD=(1-w/L) P
k AD+ w/L * P
k BD
Adopt the linear weighted function method of average, can make the content in the splicing overlay region carry out the transition to image B from image A smoothly gradually, can improve final joining quality more effectively.
In above-mentioned splicing, except the method that adopts above-mentioned linear weighted function, can also adopt the method for nonlinear weight to improve or improve the image quality of stitching image in the overlapping region, concrete weighting algorithm is not enumerated one by one at this.
Specifically at digital imaging apparatus, for example: digital camera, have the mobile phone of camera function etc., when carrying out on-the-spot panoramic imagery, after above-mentioned matching process is finished, described digital imaging apparatus also will detect shooting state, after detecting the user and taking current photo, promptly the user presses soon behind the door, then carries out concatenation; Otherwise described digital imaging apparatus at the shooting operation of waiting for the user simultaneously, also will proceed above-mentioned real-time coupling, calculate the deviation value of the recommendation lap position of current overlay region and systemic presupposition, give the user, wait for user's adjustment and shooting operation with the signal feedback of the prompting of finding a view.When the quantity of image mosaic reaches system's predetermined value or user key-press termination splicing, stop the pan-shot state.
The scene as a result of above-mentioned real-time coupling feeds back to the user, and guides user is found a view effectively, guarantees joining quality, and for example, default is splicing from left to right, and for guaranteeing splicing efficient and quality of match, system recommendation 1/5 picture size is best lap position.After the user had taken last photo, a little to angle of right rotation camera, system caught current new scene and last photo coupling in real time, if be 1/2 by the lap position that calculates, system then points out the user to continue to right rotation; If the lap position that calculates is 1/8, system then points out the user to anticlockwise.In like manner, for the pattern of the splicing of level from left to right, the user is if depart from up and down too much, and system-computed goes out to go up lower deviation, and sends prompting with the signal that crosses the border up and down to the user.
Because above-mentioned digital imaging apparatus is generally portable product, the screen size that this series products is used to show is limited, therefore the panoramic picture of its display interface after can't complete display splicing, need panoramic picture to be shown on described digital imaging apparatus: at first by following processing for this reason, receive the panoramic picture display command (this order can be arranged on corresponding button realization on the digital imaging apparatus by pressing) of user's input, then, will the panorama image displayed data be sent in the display buffer of digital imaging apparatus; Concrete order analysis and treatment step comprise:
The display command of analysis user input; If described display command is not the image movement directive, do not do the operation that the demonstration panoramic picture moves demonstration; Otherwise, according to the moving direction parameter in the movement directive, and be benchmark with the present displayed content, further analyze the image that is shown and whether arrived corresponding border; If then the display process module by described digital imaging apparatus reads and outputs to display interface; If not, with the present displayed content benchmark then, according to the moving direction parameter, from the panoramic picture data, constantly take out new displaying contents, and this displaying contents is outputed in the display buffer; Display process module by described digital imaging apparatus reads and outputs to display interface, finally forms the roll display of panoramic picture.For further increasing the dirigibility of control, the real time monitoring user of system presses the duration of directionkeys, and the duration is long more, and the speed of Gun Donging is fast more in the direction.
In sum, function of the present invention is exactly to utilize pattern-recognition and digital processing technology to improve the imaging visual field and the shooting effect of digital photographing device effectively easily, can be widely used in shooting mobile phone, digital camera and other portable digital video taking apparatus.The present invention is directed to digital photographing device requirement characteristics easily in real time, take one, splice one in real time, omitted processes such as ordering, transmission in the prior art, shooting finishes, and panoramic picture just can generate then and there; The present invention uses intelligent identification technology, utilizes microprocessor accurately to calculate the lap position of adjacent two photos, and then has realized continuous seamless spliced of content; Traditional image split-joint method is post processing mode, splices at the one group of photo that has taken, if there is invalid photo, whole splicing will be failed, so joining quality can't guarantee.The present invention carries out images match in real time in user's shooting process, guide the user rationally to find a view according to last photo, usually the indication user preserves the overlapping region of entire image 1/5 when finding a view, can guarantee like this when keeping enough image mosaic information, reduced the workload of calculation of equipments, feasible coupling can be carried out fast, has guaranteed the real-time and the validity of coupling, and final image mosaic quality also is guaranteed.
It should be noted that at last: above embodiment only in order to the explanation the present invention and and unrestricted technical scheme described in the invention; Therefore, although this instructions has been described in detail the present invention with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the present invention; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of the present invention, and it all should be encompassed in the middle of the claim scope of the present invention.
Claims (11)
1, the method for the on-the-spot panoramic imagery of a kind of digital imaging apparatus, it is characterized in that: this method comprises following step at least:
Step 1: a current dynamic image that obtains of digital imaging apparatus and a last image are mated;
Step 2: according to the matching result of step 1, a last image and the current dynamic image that obtains are spliced processing, constitute panoramic picture.
2, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1, it is characterized in that: described step 1 specifically comprises:
Step 11A:, set an initial lap position at a current dynamic image that obtains and a last image;
Step 12A: calculate current dynamic image that obtains and the similarity of a last image under this lap position;
Step 13A: move described lap position, execution in step 12A is up to the similarity that calculates under all lap positions;
Step 14A: selecting the pairing lap position of minimum similarity is final accurate lap position.
3, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1, it is characterized in that: described step 1 specifically comprises:
Step 11B: set one and be not less than 1 a moving step length and an initial lap position;
Step 12B: calculate a current dynamic image that obtains and a last image similarity in this lap position; With this lap position is the candidate lap position apart from 8 neighborhoods that are moving step length on every side, and calculates the similarity of each candidate lap position;
Step 13B: among calculating each similarity that obtains, choose minimum similarity; And lap position that should minimum similarity correspondence is as new initial lap position;
Step 14B: dwindle moving step length; Execution in step 12B is not more than 1 until moving step length and finishes coupling.
4, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1, it is characterized in that: described step 1 specifically comprises:
Step 11C: according to the ratio of setting, set initial lap position, and the setting moving step length is 1;
Step 12C: calculate a current dynamic image that obtains and a last image similarity in this lap position; With 8 neighborhoods around this lap position is the candidate lap position, and calculates the similarity of each candidate lap position;
Step 13C: among calculating each similarity that obtains, choose minimum similarity;
Step 14C: if the similarity of initial lap position is not equal to this minimum similarity, lap position that then should minimum similarity correspondence is as new initial lap position, execution in step 12C; Otherwise coupling finishes.
5, according to the method for claim 2 or the on-the-spot panoramic imagery of 3 or 4 described digital imaging apparatus, it is characterized in that: current dynamic image that obtains and the similarity of a last image under the lap position are specifically calculated according to following formula (1) or formula (2):
Wherein, A
DBe the image block of a last image in the overlay region, B
DBe the image block of the current dynamic image that obtains in the overlay region; And, A
D, B
DVector form I
ADAnd I
BDBe expressed as respectively:
I
AD＝[P
1 AD，P
2 AD，...，P
N AD]′ I
BD＝[P
1 BD，P
2 BD，...，P
N BD]′
P
k ADBe A
DIn k pixel, P
k BDBe B
DIn k pixel;
S
DMean square deviation for the mean value or formula (2) the overlay region interior pixel of formula (1) overlay region interior pixel absolute difference;
N is the total number of the pixel in the overlay region.
6, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1, it is characterized in that: described step 2 specifically comprises:
Step 21: the data storage of a last image that will comprise the overlapping region is in the splicing buffer zone of digital imaging apparatus;
Step 22: the data of from the data of the data of a last image and the current dynamic image that obtains, taking out its overlapping region respectively;
Step 23: after the data of two overlapping regions of taking out in the step 22 are weighted average treatment, the weighted mean data that obtain are stored in the overlapping region of the data of a last image in the splicing buffer zone of digital imaging apparatus;
Step 24: with the data storage that do not comprise the overlapping region in the current dynamic image data that obtains after the overlapping region of splicing buffer zone.
7, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 6 is characterized in that: described weighted mean is handled and is observed following rule:
If P
k CDIn a last image and not in the current dynamic image that obtains, P
k CD=P
k AD
If P
k CDIn the current dynamic image that obtains and not in a last image, P
k CD=P
k BD
If P
k CDIn the overlay region of a last image and the current dynamic image that obtains,
P
k CD=(P
k AD+ P
k BD)/2, perhaps P
k CD=(1-w/L) P
k AD+ w/L * P
k BD
Wherein, A
DBe the image block of a last image in the overlay region, B
DBe the image block of the current dynamic image that obtains in the overlay region, C
DBe the image block of stitching image in the overlay region; And, A
D, B
D, C
DVector form I
AD, I
BDAnd I
CDBe expressed as respectively:
I
AD＝[P
1 AD，P
2 AD，...，P
N AD]′
I
BD＝[P
1 BD，P
2 BD，...，P
N BD]′
I
CD＝[P
1 CD，P
2 CD，...，P
N CD]′
P
k ADBe A
DIn k pixel, P
k BDBe B
DIn k pixel, P
k CDBe C
DIn k pixel;
W is P
k CDIn the overlay region along the level or the vertical range position of stitching direction;
L is the overlay region length along stitching direction.
8, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1 is characterized in that: also further comprised before step 2:
Step 1A: to the step that shooting state detects, after the user took current photo, then execution in step 2; Otherwise continue to wait for user's shooting operation.
9, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 8 is characterized in that: after step 1A, also further comprise before the step 2:
Step 1B: the matching result of analytical procedure 1, if default recommendation lap position is departed from current overlay region, described digital imaging apparatus calculates current overlay region and the deviation of recommending the overlay region, and gives the user with the signal feedback of the prompting of finding a view.
10, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 1, it is characterized in that: this method further comprises:
Step 3: the panoramic picture display command according to user's input will the panorama image displayed data be sent in the display buffer of digital imaging apparatus;
Step 4: the display process module by described digital imaging apparatus reads and outputs to display interface.
11, the method for the on-the-spot panoramic imagery of digital imaging apparatus according to claim 10, it is characterized in that: described step 3 specifically comprises:
Step 31: the display command of analysis user input;
Step 32:, then do not do the operation that panoramic picture moves demonstration if described display command is not the image movement directive;
Step 33: otherwise, according to the moving direction parameter in the movement directive, and be benchmark with the present displayed content, further analyze the image that is shown and whether arrived corresponding border; It is execution in step 4 then;
Step 34: with the present displayed content is benchmark, according to the moving direction parameter, takes out new displaying contents from the panoramic picture data, and this displaying contents is outputed in the display buffer; Execution in step 4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031465080A CN100338631C (en) | 2003-07-03 | 2003-07-03 | On-site panoramic imagery method of digital imaging device |
| PCT/CN2004/000754 WO2005003857A1 (en) | 2003-07-03 | 2004-07-05 | A method of digital imaging device’s scene panoramic imagery and display method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031465080A CN100338631C (en) | 2003-07-03 | 2003-07-03 | On-site panoramic imagery method of digital imaging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1567376A CN1567376A (en) | 2005-01-19 |
| CN100338631C true CN100338631C (en) | 2007-09-19 |
Family
ID=33557739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031465080A Expired - Fee Related CN100338631C (en) | 2003-07-03 | 2003-07-03 | On-site panoramic imagery method of digital imaging device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100338631C (en) |
| WO (1) | WO2005003857A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101254120B (en) * | 2008-03-17 | 2010-09-08 | 北京好望角图像技术有限公司 | Real time ultrasonic wild eyeshot imaging method |
| CN102596035A (en) * | 2009-10-09 | 2012-07-18 | 株式会社日立医疗器械 | Medical image processing device, x-ray image capturing device, medical image processing program, and medical image processing method |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4356689B2 (en) * | 2005-12-08 | 2009-11-04 | ソニー株式会社 | CAMERA SYSTEM, CAMERA CONTROL DEVICE, PANORAMA IMAGE CREATION METHOD, AND COMPUTER PROGRAM |
| KR100790887B1 (en) * | 2006-09-22 | 2008-01-02 | 삼성전자주식회사 | Apparatus and method for processing image |
| KR100866230B1 (en) * | 2007-04-12 | 2008-10-30 | 삼성전자주식회사 | Method for photographing panorama picture |
| CN101388961B (en) * | 2007-09-14 | 2013-05-08 | 台湾新力国际股份有限公司 | Advanced dynamic image connecting method for multi-lens camera system |
| CN101600095B (en) * | 2009-07-02 | 2012-12-19 | 谢佳亮 | Video monitoring method and video monitoring system |
| CN102074001B (en) * | 2010-11-25 | 2012-12-05 | 上海合合信息科技发展有限公司 | Method and system for stitching text images |
| US9608308B2 (en) | 2011-10-19 | 2017-03-28 | Hewlett-Packard Development Company, L.P. | Material including signal passing and signal blocking strands |
| CN102881006A (en) * | 2012-08-03 | 2013-01-16 | 吉林禹硕动漫游戏科技股份有限公司 | Method for splicing and fusing image in multi-projection display system |
| CN104732485B (en) * | 2015-04-21 | 2017-10-27 | 深圳市深图医学影像设备有限公司 | The joining method and system of a kind of digital X-ray image |
| CN106547505B (en) * | 2015-09-22 | 2021-02-05 | 同方威视技术股份有限公司 | Method and system for real-time sliding display of scanned image |
| CN107305682B (en) * | 2016-04-22 | 2020-12-15 | 富士通株式会社 | Method and device for splicing images |
| CN106339981A (en) * | 2016-08-25 | 2017-01-18 | 安徽协创物联网技术有限公司 | Panorama stitching method |
| CN107424140A (en) * | 2017-03-02 | 2017-12-01 | 平顶山天安煤业股份有限公司 | One kind is based on panorama remote viewing imaging and drilling track Measurement and Control System |
| CN107529017A (en) * | 2017-10-12 | 2017-12-29 | 长沙全度影像科技有限公司 | A kind of system and method for more Splicing models of panorama camera |
| CN112097744B (en) * | 2020-09-16 | 2022-08-30 | 上海遥程信息科技有限公司 | Image scanning method, device, equipment and storage medium for vertical face |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10164563A (en) * | 1996-11-28 | 1998-06-19 | Canon Inc | Device and method for processing information, storage medium and communication system |
| US6466262B1 (en) * | 1997-06-11 | 2002-10-15 | Hitachi, Ltd. | Digital wide camera |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6549681B1 (en) * | 1995-09-26 | 2003-04-15 | Canon Kabushiki Kaisha | Image synthesization method |
| US5982951A (en) * | 1996-05-28 | 1999-11-09 | Canon Kabushiki Kaisha | Apparatus and method for combining a plurality of images |
| CN1074223C (en) * | 1996-08-26 | 2001-10-31 | 孙海翔 | Method for splicing split images |
| TW461800B (en) * | 1999-12-03 | 2001-11-01 | Shimano Kk | Spinning reel spool |
| US6978051B2 (en) * | 2000-03-06 | 2005-12-20 | Sony Corporation | System and method for capturing adjacent images by utilizing a panorama mode |
-
2003
- 2003-07-03 CN CNB031465080A patent/CN100338631C/en not_active Expired - Fee Related
-
2004
- 2004-07-05 WO PCT/CN2004/000754 patent/WO2005003857A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10164563A (en) * | 1996-11-28 | 1998-06-19 | Canon Inc | Device and method for processing information, storage medium and communication system |
| US6466262B1 (en) * | 1997-06-11 | 2002-10-15 | Hitachi, Ltd. | Digital wide camera |
Non-Patent Citations (3)
| Title |
|---|
| 全景图像生成算法的研究与实现 张辉等，计算机工程，第28卷第6期 2003 * |
| 分块扫描图像的计算机拼接技术 谷伟等，青岛大学学报，第14卷第2期 1999 * |
| 边缘重叠图像拼接中的特征块选取 王玉珍，西北师范大学学报，第38卷第1期 2002 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101254120B (en) * | 2008-03-17 | 2010-09-08 | 北京好望角图像技术有限公司 | Real time ultrasonic wild eyeshot imaging method |
| CN102596035A (en) * | 2009-10-09 | 2012-07-18 | 株式会社日立医疗器械 | Medical image processing device, x-ray image capturing device, medical image processing program, and medical image processing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1567376A (en) | 2005-01-19 |
| WO2005003857A1 (en) | 2005-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100338631C (en) | On-site panoramic imagery method of digital imaging device | |
| CN1851555A (en) | Method for realizing two-dimensional panoramic true imaging | |
| US9679394B2 (en) | Composition determination device, composition determination method, and program | |
| CN107529011B (en) | A kind of motorized zoom lens control method | |
| US10999529B2 (en) | Terminal having camera and method of processing images at different focal lengths by single image capture request | |
| CN105894451B (en) | Panorama Mosaic method and apparatus | |
| EP2849148B1 (en) | Three-dimensional printing system and method for three-dimensional printing | |
| KR101455018B1 (en) | Image capturing apparatus, image capturing method, and computer-readable recording medium | |
| CN1278279C (en) | Omni-bearing visual system, image processing method, control program and readable recording medium | |
| CN101082766A (en) | Device and method rapid capturing panoramic view image | |
| CN101046623A (en) | Apparatus and method for taking panoramic photograph | |
| CN1933554A (en) | Anti-fluttering method and apparatus for hand-held digital camera equipment | |
| CN101494737A (en) | Integrated camera device and self-adapting automatic focus method | |
| CN1831479A (en) | Driving support system | |
| CN1725808A (en) | Image pick-up apparatus and image restoration method | |
| JPWO2015049899A1 (en) | Image display device and image display method | |
| US20170111574A1 (en) | Imaging apparatus and imaging method | |
| CN103852243A (en) | Method for detecting optical center of wide-angle lens and optical center detecting device | |
| TW201941103A (en) | Shooting method, device and intelligent equipment | |
| JP5874626B2 (en) | Display control apparatus, display control system, display control method, and program | |
| CN104853105A (en) | Three-dimensional rapid automatic focusing method based on photographing device capable of controlling inclination of lens | |
| CN105959534B (en) | Image processing method, device and electronic equipment | |
| CN1700738A (en) | Image input device | |
| US9648242B2 (en) | Display control apparatus, display control method, program, and image pickup apparatus for assisting a user | |
| CN107403437A (en) | The method, apparatus and robot of robotic tracking's object |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070919 Termination date: 20180703 |