CN101079151A - 360 degree around panorama generation method based on serial static image - Google Patents
360 degree around panorama generation method based on serial static image Download PDFInfo
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Abstract
The invention discloses a full view generating method of a sequence static picture for splicing a group of static pictures to a cylindrical full view picture. A group of static pictures are twelve or more than twelve pictures that the digital camera takes the object or the environment of the needed generating full view picture from the different angle. The method comprises the following steps: taking the sequence pictures; preprocessing the taken pictures; splicing the pictures. The method needs the low hardware device and doesn' t need the expensive hardware investment, which provides the quick resultant velocity, the high intellectual degree, and can display the full view pictures.
Description
Technical field
The present invention relates to 360 ° of generation methods of looking around panoramic picture.
Background technology
Panorama sketch is a kind of important scene method for expressing in virtual reality and the computation vision, and it refers in fixing viewpoint, and at the image views of 360 ° of 180 ° of vertical direction and horizontal directions, simple form can be that fixedly 360 ° on the view plane are looked around view.Usually there is dual mode to obtain panorama sketch: direct mode and image mosaic mode.Preceding a kind of mode is simple, but it need use special equipment such as professional panorama camera, panoramic camera, and these equipment cost an arm and a leg usually and use complexity, and practical application face is narrower, is difficult to popularize.Therefore the application based on the aphorama drawing generating method of image mosaic thought is very extensive.Image mosaic utilizes some discrete topographies as basic data exactly, generates panorama through after a series of image analysis processing.
Panorama sketch generally has three kinds of forms: cube panorama sketch, spherical panorama figure and cylindrical panoramic figure.The cube panorama sketch image obtain with trimming process in can run into very big difficulty.Image in the spherical panorama figure splicing is asked difficulty of friendship, location, and is difficult to find a kind of data structure corresponding with sphere, that be easy to the Computer Storage visit to deposit the sphere view data.Cylindrical panoramic figure obtains simpler than cubic form and sphere form at single image, and expands into a rectangular image easily, can be directly with computing machine picture format storage and visit commonly used.
As number of patent application is 200410015828.0 Chinese invention patent application, discloses a kind of 180 ° big visual field panorama staring imaging methods.It adopts cylinder plane projection method, lens ring with secondary reflection is done imaging for the first time, realize panorama staring imaging with great visual angle, do imaging for the second time with relay lens, obtain real image, meet receipts And with plane photoelectricity image device and show three dimensions, be mainly used in fields such as robot panoramic vision, inner-walls of duct detection, medical science based endoscopic imaging, though proposed a kind of scheme of directly obtaining panoramic picture, but the generation method of panoramic picture is higher to hardware condition and environmental requirement in this scheme, and can not generate complete 360 ° and look around panorama.
As application number is 03115149.3 Chinese invention patent, discloses a kind of panorama generation method based on two fish eye images.This method comprises the fish eye images pre-service, sets up spatial model, the hybrid parameter optimizing, generate four parts of panoramic picture.But can not find the best hybrid parameter of model in actual applications automatically, fast, need the artificial hybrid parameter of adjusting.Especially crucial is, because the present invention requires to treat that the fish eye images of amalgamation must possess complete in theory spatial model, can only adopt two fish eye images, needs camera to assemble expensive fish eye lens, the common plane image can not use, and is difficult to obtain popular popularization and application.
Application number is 03137660.6 Chinese invention patent for another example, disclose a kind of plane picture panorama and rebuild the method for stereo-picture, its process comprises, select plane picture, at the space distribution of plane picture, set up the degree of depth tabulation of each pixel, according to degree of depth tabulation each pixel of plane picture is carried out parallaxial displacement and handle, rebuild whole parallax sequence images, the parallax sequence image is three-dimensional synthetic.Wherein, adopted three-dimensional modeling, image geometry conversion, image parallactic converter technique to realize the reconstruction of stereo-picture.But this method plane picture obtain, handle and location, trimming process in can run into a lot of practical difficulties, and be difficult to handle the big figure of outdoor scene and realize controlled stereoscopic depth.
In addition, application number is 200510087641.6 Chinese invention patent, discloses a kind of digital imaging apparatus and method thereof that is used to create panoramic picture, and wherein, digital imaging apparatus comprises the part of catching that is used for catching continuously a plurality of images; Be used for detecting respectively image information test section from a plurality of images of catching part output; The panoramic picture generating portion that is used for image transitions.By selecting a group from a plurality of image informations of image information test section output, by selected image information is merged conversion, thereby create panoramic picture.But this method actual treatment speed is slower, and can only be used for special-purpose panorama digital imaging apparatus.
The shortcoming that existing panorama image generation method exists is: 1, if adopt the method that directly generates panoramic picture, then hardware device is had relatively high expectations, cost an arm and a leg, be difficult to popularization and application; 2, the existing method that generates panoramic picture by image amalgamation technology, need special-purpose fish eye lens equipment, realize that difficulty, intelligent degree are low, can't use image request height, location and correction difficulty, general camera photo, processing speed waits more slowly, even final synthetic panorama sketch effect is also relatively poor.
Summary of the invention
In order to overcome the shortcoming and defect that existing panorama image generation method exists, the invention provides a kind of (only needing ordinary digital camera or common plane photo) low for equipment requirements, practical cheap, realize easy, intelligent degree height, processing speed is fast, panorama sketch is clear, strong sense of reality, applicability are wide, be easy to popularize look around panorama generation method based on 360 ° of serial static image.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of based on serial static image 360 ° are looked around panorama generation method, and this method comprises the steps:
(1) takes required sequence image with camera;
(2) sequence image is carried out pre-service: adopt medium filtering to carry out denoising, histogram equalization is handled;
(3) splicing of sequence image: by with being spliced to form 360 ° and looking around panoramic picture of adjacent front and back image, may further comprise the steps:
(3.1) picture shot is projected to 360 ° of horizontal cylinders by conversion;
(3.2) in the preceding piece image of two width of cloth adjacent images that read in, select all suitable image in a block size and position as template, determine the hunting zone in the piece image of back, obtain the best match position l of adjacent two width of cloth images
i, obtain in the sequence image best match position of every adjacent two width of cloth images successively;
(3.3), each pixel of its correspondence is synthesized to new image by certain weights at the overlapping region S and the T of two width of cloth adjacent images.The weights computing formula of each pixel on each image is as follows:
W in the formula
ValueThe expression weights, (x
0, y
0) be the center of intersection, (x y) is pixel coordinates; The overlapping region S of adjacent image and each pixel value of T correspondence are synthesized new image by certain weight; The pixel value of intersection can be expressed as:
I
N′＝I
N×W
Value1+I
N+1×W
Value2 (2)
Wherein, I
NAnd I
N+1The pixel value of pixel in original image separately of representing certain corresponding lap position of two adjacent images respectively, W
Value1And W
Value2The weights that are this pixels of calculating according to formula (1) on image separately, its span is (0,1), and and is 1.
As preferred a kind of scheme: in described (2), adopt histogram equalization to handle transforming function transformation function:
Wherein, n is the sum total of pixel in the image, n
kBe that gray level is r
kThe pixel number, L is a number of greyscale levels possible in the image, general value is 256;
Is r by formula (3) with gray level in the input picture
kPixel to be mapped as the output image gray level be s
kCorresponding pixel.
As preferred another kind of scheme: in described (3.1), 360 ° of horizontal cylinder projective transformation formula are:
Wherein,
(x, y) be on the input picture more arbitrarily, (x
1, y
1) be the coordinate figure of this o'clock after through 360 ° of horizontal cylinder projective transformations, θ is a projection angle, and W is the width of image, and H is the height of image.
As preferred another scheme: in described (3.2), the absolute error function of definition image is:
Wherein,
T is a template, and S is searched figure, s
I, jBe subgraph, that block search figure under promptly template covers, i, j are the coordinate of subgraph top left pixel point in S, M is the wide and high of template.
With the horizontal range of the vertical center line of template center and place image, note is made x
1Afterwards, all picture elements in the subimage of traversal template image and first position calculate ε (i, j, the m of corresponding picture element
k, n
k) and add up after with its initial value T as threshold value
0
ε (i, j, the m of corresponding picture element in calculation template image and the next position subimage again
k, n
k) and add up, note is made T, compares T and T in the process of calculating and adding up
0Size, if before the picture element that travels through template image and subimage fully, obtain T 〉=T
0, then stop to calculate, and subimage is moved to next position, restart the calculating of a new round; If after traveling through the picture element of template image and subimage fully, obtain T＜T
0, then upgrade threshold value T
0, and will this moment the coordinate position of subimage center pixel point (i j) notes, and obtains the horizontal range of i value and searched image vertical center line, remembers and makes x
2, get x
1With x
2Mean value as the best match position l of adjacent two width of cloth images
i, i.e. l
i=(x
1+ x
2)/2.
Further, at the delegation of the relevant position of whenever adding up or ε (i, j, the m of row
k, n
k) afterwards, with T and T
0Carry out size relatively.
Further again, in described (3.3),, be not directly to get I for spliced image
N 'Value, but introduce a threshold k, at first calculate this gray-scale value before level and smooth and the difference of weighted mean value, if this is worth less than threshold value, then get I
N 'Be the gray-scale value of this point, otherwise the sliding preceding gray-scale value of then making even is the gray-scale value of this point.
Further, in described step (1), the number of sequence image is no less than 12, and adjacent two width of cloth images must have lap, and lap is between 30% to 50%.
In described step (1), to take complete 360 degree look around the outdoor scene panorama or only the part visual angle look around the outdoor scene scene, a fixed position, horizontally rotate shooting by equal angles clockwise or counterclockwise.
In described step (1), the virtual shooting that 360 ° of three-dimensional contourings are showed for physical entity is placed on physical entity on equatorial telescope or the band scale rotating disk, and counterclockwise or clockwise direction equal angles ground rotation loading instrument dish is taken.
Technical conceive of the present invention is: the present invention proposes a kind of camera that utilizes and obtains one group of partly overlapping image sequence, generates panoramic picture by the pre-service of image, the splicing and the blending algorithm of image.Use general camera just can finish 360 ° of collecting works of looking around panorama sketch virtual scene structure required image, convenient and practical, be easy to popularize.Look around panorama sketch and realize fast, easy in view of 360 °, do not influence the authenticity that panoramic picture is browsed again; Therefore and only need 360 ° to look around for some scenes, look around panorama sketch very extensive applicability is just arranged for 360 °.
Beneficial effect of the present invention mainly shows: low for equipment requirements, general camera photo gets final product, with low cost, realize easy, intelligent degree height, processing speed is fast, panorama sketch is clear, need not complete space, strong sense of reality, applicability are wide, is easy to popularize and have extensive applicability.
Description of drawings
Fig. 1 is that 360 ° of the method for the invention generation are looked around panorama sketch sample image example.
Fig. 2 is by 2D image to 360 ° horizontal cylinder projective transformation synoptic diagram among the present invention.
Fig. 3 is the process flow diagram of merging algorithm for images.
Fig. 4 is 360 ° of generative process synoptic diagram of looking around panorama sketch.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 4, a kind of based on serial static image 360 ° are looked around panorama generation method, and may further comprise the steps: (1) takes required sequence image with camera; (2) pre-service of sequence image; (3) splicing of sequence image.
Take required sequence image and be meant employing general camera camera lens, different scenes is adopted different one group of captured sequence images of image pickup method, every group of image is no less than 12 and adjacent two width of cloth images must have certain lap, and lap is between 30% to 50%.To take complete 360 degree look around the outdoor scene panorama or only the part visual angle look around the outdoor scene scene, a fixed position, horizontally rotate shooting by equal angles clockwise or counterclockwise.The virtual shooting that 360 ° of three-dimensional contourings are showed for physical entity is placed on physical entity on equatorial telescope or the band scale rotating disk, and counterclockwise or clockwise direction equal angles ground rotation loading instrument dish is taken.
In order to obtain effect panoramic picture preferably, present embodiment had proposed before image mosaic, to sequence image adopt medium filtering to carry out denoising, histogram equalization is handled, the influence that brings with balance illumination condition difference.We adopt following histogram equalization to handle transforming function transformation function:
Wherein, n is the sum of pixel in the image, n
kBe that gray level is r
kThe pixel number, L is a number of greyscale levels possible in the image, general value is 256.Is r by formula (3) with gray level in the input picture
kPixel to be mapped as the output image gray level be s
kCorresponding pixel.
After the pre-service of finishing image, thereby we finish by three steps and the splicing of 12 width of cloth images is finished one 360 ° look around the panorama map generalization, and these three steps are: the 1. conversion of image; 2. the coupling of image; 3. the smoothing processing of image.Method of the present invention at first will be carried out 360 ° of horizontal cylinder projective transformations to sequence image, the superimposed images of each projection plane is mapped to a standard projection promptly obtains 360 ° of horizontal cylinder projected images on 360 ° of horizontal cylindrical surface projectings.In the plane perspective projection, for a fixing viewpoint, the perspective transform on any two 2D planes can be finished by matrix multiple:
Wherein, (x y) represents the pixel coordinates of first width of cloth image, (x ', y ') be (x, the y) respective coordinates on second width of cloth image at first project to 360 ° of horizontal cylinders of standard to picture shot by conversion, and the respective projection transformation for mula is:
Wherein,
(x, y) be on the input picture more arbitrarily, (x
1, y
1) being the coordinate figure after this some process cylindrical surface projecting conversion, θ is a projection angle, and W is the width of image, and H is the height of image.
Referring to Fig. 2, the core of 360 ° of horizontal cylinder projective transformations is projective transformation formula, at first will set up coordinate system, all camera motions of supposition all occur in the X-Z plane shown in Fig. 2 (a), are the Z axle with the direction of observation of original input figure correspondence, view plane with original input picture place is the XY plane, the coordinate round dot is exactly the intersection point of the optical axis and the plane of delineation, and original input picture demarcation is I, and the cylindrical surface projecting image is demarcated and is J, the projection cylinder is demarcated and is that it is O (projection centre) that K, observation point demarcate.Be to observe the projection image J of image I on cylinder K at the O point now.
Fig. 2 (b) and Fig. 2 (c) are respectively the cylindrical surface projecting synoptic diagram of transverse observation direction (X-Z plane) and longitudinal 2 observation direction (Y-Z plane), demarcated two corresponding point M on original input picture and the cylindrical surface projecting image and the mutual alignment relation of N among the figure, and the situation of projection column radius surface, transverse observation angle α and longitudinal 2 observation angle β.
Sequential Similarity Detection Algorithm (the SSDA of a kind of adaptive thresholding value sequence that present embodiment proposes, Sequential Similarity Detection Algorithms), comprise size, template position and the hunting zone of determining the choosing of threshold value, template in this algorithm.At first, the absolute error function of definition image is:
Wherein,
T is a template, and S is searched figure, s
I, jBe subgraph, that block search figure under promptly template covers, i, j are the coordinate of subgraph top left pixel point in S, M is the wide and high of template.
With reference to Fig. 3, in the preceding piece image of two width of cloth adjacent images that read in, all suitable image in a selected block size and position is as template, the horizontal range of the vertical center line of template center and place image remembered made x
1Afterwards, determine in the hunting zone (be the traversal scope of subgraph) of back in the piece image.All picture elements in the subimage of traversal template image and first position calculate ε (i, j, the m of corresponding picture element
k, n
k) and add up after with its initial value T as threshold value
0ε (i, j, the m of corresponding picture element in calculation template image and the next position subimage again
k, n
k) and add up, note is made T, compares T and T in the process of calculating and adding up
0Size.In order to accelerate to mate splicing speed, the delegation of relevant position or ε (i, j, the m of row add up whenever
k, n
k) afterwards, with T and T
0Carry out size relatively.For a certain position,, obtain T 〉=T if before the picture element that travels through template image and subimage fully
0, then stop to calculate, and subimage is moved to next position, restart the calculating of a new round.If after traveling through the picture element of template image and subimage fully, obtain T＜T
0, then upgrade threshold value T
0, and will this moment the coordinate position of subimage center pixel point (i j) notes, and obtains the horizontal range of i value and searched image vertical center line, remembers and makes x
2Threshold value T
0Press the following formula value:
In the hunting zone, travel through subimage like this, can find x
2Get x
1With x
2Mean value as the best match position l of adjacent two width of cloth images
i, i.e. l
i=(x
1+ x
2)/2.In like manner can try to achieve the best match position of every adjacent two width of cloth images in the sequence image.
Present embodiment is in order to make spliced image effect better, have more associative perception, propose the method that a kind of improved cum rights sews up and carry out spliced seamlessly transitting,, each pixel of its correspondence is synthesized to new image according to certain weights at the overlay region S and the T of two width of cloth adjacent images.The weights computing formula of each pixel on each image is as follows:
W in the formula
ValueThe expression weights, (x
0, y
0) be the center of intersection, (x y) is pixel coordinates.The overlapping region S of adjacent image and each pixel value of T correspondence are synthesized new image by certain weight.
The pixel value of intersection can be expressed as:
I
N′＝I
N×W
Value1+I
N+1×W
Value2 (2)
Wherein, I
NAnd I
N+1Represent the pixel value of the corresponding overlapping pixel of certain of two adjacent images in original image separately respectively, W
Value1And W
Value2The weights that are this pixels of calculating according to formula (1) on image separately, its span is (0,1), and and is 1.
For spliced image, be not directly to get I
N 'Value, but introduce a threshold k, at first calculate this gray-scale value before level and smooth and the difference of weighted mean value, if this is worth less than threshold value, then get I
N 'Be the gray-scale value of this point, otherwise the sliding preceding gray-scale value of then making even is the gray-scale value of this point.
As shown in Figure 4, be whole 360 ° of generative processes of looking around panoramic picture.At first different according to the different choice of captured scene styles of shooting is taken sequence image according to 401.To take complete 360 degree look around the outdoor scene panorama or only the part visual angle look around the outdoor scene scene, a fixed position, horizontally rotate shooting by equal angles clockwise or counterclockwise; The virtual shooting that 360 ° of three-dimensional contourings are showed for physical entity is placed on physical entity on equatorial telescope or the band scale rotating disk, and counterclockwise or clockwise direction equal angles ground rotation loading instrument dish is taken.Adjacent two width of cloth images will have certain overlappingly during shooting, and the number of Same Scene image are no less than 12.402 pairs of sequence images carry out image pre-service such as medium filtering denoising, histogram equalization processing, with the influence that balance illumination condition difference is brought, adopt histogram equalization to handle transforming function transformation function:
Wherein, n is the sum of pixel in the image, n
kBe that gray level is r
kThe pixel number, L is a number of greyscale levels possible in the image, general value is 256.Is r by formula (3) with gray level in the input picture
kPixel to be mapped as the output image gray level be s
kCorresponding pixel.
403 are mapped to a standard projection by 360 ° of horizontal cylinder projective transformation formula with the superimposed images of each projection plane promptly obtains 360 ° of horizontal cylindrical pictures on 360 ° of horizontal cylindrical surface projectings, and corresponding transformation for mula is:
Wherein,
(x, y) be on the input picture more arbitrarily, (x
1, y
1) be the coordinate figure of this o'clock after through 360 ° of horizontal cylinder projective transformations, θ is a projection angle, and W is the width of image, and H is the height of image.
404 adopt the sequential Similarity Detection Algorithm of a kind of adaptive thresholding value sequence (SSDA), finish the amalgamation of adjacent two width of cloth images earlier, finally finish the amalgamation of one group of sequence image by same method.
405 is to eliminate vestige to adopt the method for improved cum rights stitching to carry out spliced seamlessly transitting, be not directly to adopt to be synthesized to new image in this step according to certain weights, but introduce a threshold value before, at first calculate this gray-scale value before level and smooth and the difference of weighted mean value, if this value is less than threshold value, then that this point is corresponding pixel is synthesized to new image by certain weights, otherwise the sliding preceding gray-scale value of then making even is the gray-scale value of this point.The panorama of finally finishing sequence image generates.
Claims (10)
1, a kind of based on serial static image 360 ° are looked around panorama generation method, and it is characterized in that: this method comprises the steps:
(1) takes required sequence image with camera;
(2) sequence image is carried out pre-service: adopt medium filtering to carry out denoising, histogram equalization is handled;
(3) splicing of sequence image: by with being spliced to form 360 ° and looking around panoramic picture of adjacent front and back image, may further comprise the steps:
(3.1) picture shot is projected to 360 ° of horizontal cylinders by conversion;
(3.2) in the preceding piece image of two width of cloth adjacent images that read in, select all suitable image in a block size and position as template, determine the hunting zone in the piece image of back, obtain the best match position l of adjacent two width of cloth images
i, obtain in the sequence image best match position of every adjacent two width of cloth images successively;
(3.3), each pixel of its correspondence is synthesized to new image by certain weights at the overlapping region S and the T of two width of cloth adjacent images.The weights computing formula of each pixel on each image is as follows:
W in the formula
ValueThe expression weights, (x
0, y
0) be the center of intersection, (x y) is pixel coordinates;
The overlapping region S of adjacent image and each pixel value of T correspondence are synthesized new image by certain weight, and the pixel value of intersection can be expressed as:
I
N′＝I
N×W
Value1+I
N+1×W
Value2 (2)
Wherein, I
NAnd I
N+1The pixel value of pixel in original image separately of representing certain corresponding lap position of two adjacent images respectively, W
Value1And W
Value2The weights that are this pixels of calculating according to formula (1) on image separately, its span is (0,1), and and is 1.
2, a kind of based on serial static image 360 ° as claimed in claim 1 are looked around panorama generation method, it is characterized in that: in described (2), adopt histogram equalization to handle transforming function transformation function:
Wherein, n is the sum of pixel in the image, n
kBe that gray level is r
kThe pixel number, L is a number of greyscale levels possible in the image, general value is 256;
Is r by formula (3) with gray level in the input picture
kPixel to be mapped as the output image gray level be s
kCorresponding pixel.
3, a kind of based on serial static image 360 ° as claimed in claim 1 are looked around panorama generation method, and it is characterized in that: in described (3.1), 360 ° of horizontal cylinder projective transformation formula are:
Wherein,
(x, y) be on the input picture more arbitrarily, (x
1, y
1) being the coordinate figure after this some process cylindrical surface projecting conversion, θ is a projection angle, and W is the width of image, and H is the height of image.
4, look around panorama generation method as described a kind of based on serial static image 360 ° of one of claim 1-3, it is characterized in that: in described (3.2), the absolute error function of definition image is:
Wherein,
T is a template, and S is searched figure, s
I, jBe subgraph, that block search figure under promptly template covers, i, j are the coordinate of subgraph top left pixel point in S, M is the wide and high of template.
The horizontal range note of the vertical center line of template center and place image is made x
iAfterwards, all picture elements in the subimage of traversal template image and first position calculate ε (i, j, the m of corresponding picture element
k, n
k) and add up after with its initial value T as threshold value
0
ε (i, j, the m of corresponding picture element in calculation template image and the next position subimage again
k, n
k) and add up, note is made T, compares T and T in the process of calculating and adding up
0Size, if before the picture element that travels through template image and subimage fully, obtain T 〉=T
0, then stop to calculate, and subimage is moved to next position, restart the calculating of a new round; If after traveling through the picture element of template image and subimage fully, obtain T＜T
0, then upgrade threshold value T
0, and will this moment the coordinate position of subimage center pixel point (i j) notes, and obtains the horizontal range of i value and searched image vertical center line, remembers and makes x
2, get x
1With x
2Mean value as the best match position l of adjacent two width of cloth images
i, i.e. l
i=(x
1+ x
2)/2.
5, a kind of based on serial static image 360 ° as claimed in claim 4 are looked around panorama generation method, and it is characterized in that: the delegation of relevant position or ε (i, j, the m of row add up whenever
k, n
k) afterwards, with T and T
0Carry out size relatively.
6, a kind of based on serial static image 360 ° as claimed in claim 5 are looked around panorama generation method, it is characterized in that: in described (3.3), for spliced image, be not directly to get I
N 'Value, but introduce a threshold k, at first calculate this gray-scale value before level and smooth and the difference of weighted mean value, if this is worth less than threshold value, then get I
N 'Be the gray-scale value of this point, otherwise the sliding preceding gray-scale value of then making even is the gray-scale value of this point.
7, look around panorama generation method as described a kind of based on serial static image 360 ° of one of claim 1-3, it is characterized in that: in described (1), the number of sequence image is no less than 12, and adjacent two width of cloth images must have lap, and lap is between 30% to 50%.
8, a kind of based on serial static image 360 ° as claimed in claim 4 are looked around panorama generation method, it is characterized in that: in described (1), the number of one group of sequence image is no less than 12, and adjacent two width of cloth images must have lap, and lap is between 30% to 50%.
9, a kind of based on serial static image 360 ° as claimed in claim 8 are looked around panorama generation method, it is characterized in that: in described (1), to take complete 360 degree look around the outdoor scene panorama or only the part visual angle look around the outdoor scene scene, a fixed position, horizontally rotate shooting by clockwise or counter clockwise direction equal angles.
10, a kind of based on serial static image 360 ° as claimed in claim 8 are looked around panorama generation method, it is characterized in that: in described (1), the virtual shooting that 360 ° of three-dimensional contourings are showed for physical entity, physical entity is placed on equatorial telescope or the band scale rotating disk, and counterclockwise or clockwise direction equal angles ground rotation loading instrument dish is taken.
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| CN101984463A (en) * | 2010-11-02 | 2011-03-09 | 中兴通讯股份有限公司 | Method and device for synthesizing panoramic image |
| CN102013110A (en) * | 2010-11-23 | 2011-04-13 | 李建成 | Three-dimensional panoramic image generation method and system |
| CN101540046B (en) * | 2009-04-10 | 2011-07-27 | 凌阳电通科技股份有限公司 | Panoramagram montage method and device based on image characteristics |
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