CN101673473A - Omni-directional vision parking auxiliary device based on DSP and method for generating Omni-directional vision image - Google Patents
Omni-directional vision parking auxiliary device based on DSP and method for generating Omni-directional vision image Download PDFInfo
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Abstract
The invention discloses an Omni-directional vision parking auxiliary device based on DSP and a method for generating an omni-directional vision image. The auxiliary device adopts video collectors withwide-angle lenses, an image synchronous processor, a DSP processor, a memory module, a logic controller, an output frame buffer, a video coder and an image display, wherein the video collectors are fixedly arranged at the front, back, left and right outer surfaces of an automobile body respectively; the memory module comprises a flash memory and a DDR2 internal memory which are respectively connected with the DSP processor; the video collector, the image synchronous processor, the DSP processor, the output frame buffer, the video coder and the image display are connected in sequence; and theimage synchronous processor, the DSP processor, the output frame buffer and the video coder are respectively connected with the logic controller. The invention has the advantage of being capable of providing a needed automobile omni-directional vision image for a driver to park, thus eliminating visual fade zone surrounding the automobile and helping the driver park more precisely.
Description
Technical field
The present invention relates to a kind of vision parking assist apparatus, belong to Flame Image Process and computer vision field.
Background technology
When human social development to during as main transport facility, travel safety and comfortableness having been had higher standard-required with automobile.Wherein radar for backing car occurs the earliest.Early stage radar for backing car many with audio frequency as main supplementary means, by the rear object that the sensor on the rear bumper that is installed on vehicle comes detection vehicle, remind the situation of driver's vehicle back by the audio frequency of different rhythm.Radar for backing car is to rely on the Echo Sounding distance and point out with the sound by different frequency, but light does not obviously have vision to come intuitively with auditory tone cues, and also will inevitably have error to the judgement of sound; The real-time video backing system has then appearred, i.e. the reverse image surveillance.Situation when this system allows reversing behind the car is more intuitively visual, is one of very practical configuration for reversing safety.When hanging reverse gear shift, this system can connect the high definition camera that is positioned at the tailstock automatically, be shown in situation behind the car on the LCDs clearly, and on display the pairing vehicle driving route of rotational angle by the synthetic current bearing circle of computer, thereby accurately and intuitively hold situation behind the car.Obviously, the reverse image surveillance is more directly perceived and practical compared with radar for backing car.But only the reversing camera is installed at automobile tail, can only cover the limited zone of motor vehicle environment, and the vision blind area in car both sides and the place ahead has increased the hidden danger of safe driving undoubtedly, and whether not only allow drive to be difficult to understand has barrier to exist, and also improves passenger and pedestrian's danger.
Summary of the invention
The purpose of this invention is to provide a kind of based on DSP the panoramic vision parking assist apparatus and generate the method for panoramic vision image, can handle in real time being collected in around the car video image of scene, generate the virtual panoramic image.
For realizing the object of the invention, the technical solution used in the present invention is: should mainly comprise the video collector that adopts wide-angle lens based on the panoramic vision parking assist apparatus of DSP, the image synchronization processor, dsp processor, memory module, logic controller, the output frame buffer memory, video encoder and image display, described video collector be fixedly mounted on respectively vehicle body before, after, a left side, on the right outside surface, described memory module comprises flash memory, the DDR2 internal memory, flash memory is connected with dsp processor respectively with the DDR2 internal memory, described video collector, the image synchronization processor, dsp processor, the output frame buffer memory, video encoder is connected successively with image display, described image synchronization processor, dsp processor, the output frame buffer memory is connected with logic controller respectively with video encoder.
Further, image synchronization processor of the present invention comprises Video Decoder and frame buffer memory, described video collector, frame buffer memory and logic controller are connected with Video Decoder respectively, and described logic controller is connected with frame buffer memory respectively with dsp processor.
The method of using panoramic vision parking assist apparatus of the present invention to generate the virtual panoramic image mainly may further comprise the steps:
(1) video collector is gathered a two field picture, after the image synchronization processor processing, dsp processor with image storage in the DDR2 internal memory;
(2) dsp processor will be pre-stored in virtual panoramic image in the flash memory and search tabulation and be read in the dsp processor;
(3) dsp processor behind the pixel of taking-up correspondence, sends to the output frame buffer memory with described pixel successively according to the parameter of searching in the tabulation from the DDR2 internal memory;
(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the pixels of searching the whole correspondences of parameter general in the tabulation, be circulated to step (1) and begin to gather a new two field picture, logic controller sends to video encoder with content stored in the output frame buffer memory simultaneously, through after the video encoder encodes, show the virtual panoramic image by image display.
Further, the virtual panoramic image of the present invention acquisition of searching tabulation may further comprise the steps:
1) obtains the inner parameter K and the percentage distortion k of the used wide-angle lens of each video collector on the front, rear, left and right outside surface that is installed in vehicle body respectively
i=[k
1, k
2, k
3, k
4, k
5], k wherein
1, k
2, k
3Be radial distortion coefficient, k
4, k
5Be tangential percentage distortion;
2) with automobile parking on smooth ground, in the overlapping region at adjacent video collector visual angle, place the trellis label, by described each video collector smooth ground is taken, obtain one group of original image;
3) with step 2) body portion in the original image that obtains removes and only keeps face portion flatly, obtains the location parameter that described original image removes each the pixel coordinate point after the distortion according to following relational expression, thus the image after obtaining correcting;
x′＝x+(x-x
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/x+2x)
y′＝y+(y-y
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/y+2y)
Wherein, (x ', y ', 1) removes coordinate after the distortion for pixel; (x, y, 1) is the original image pixels point coordinate; (x
0, y
0, 1) and camera lens projection centre coordinate;
4) set the virtual view of car roof top, with each image after correcting multiply by respectively this virtual view with respect to each video collector position homography matrix, corresponding obtaining with this virtual view is the vertical view of each image after the rectification of true origin;
5) by described each vertical view of translation, the lines of the image that described adjacent video collector is collected at same trellis label splice and obtain complete trellis label image, obtain the virtual panoramic image thus, the original image that each pixel was subordinate in record virtual panoramic image this moment;
6) for each pixel of described virtual panoramic image, according to the original image that each pixel was subordinate in the virtual panoramic image that obtains in the step 5), successively set by step 4), 3) carry out inverse operation, obtain each pixel of virtual vision panoramic picture of this moment and the corresponding relation of video collector institute images acquired pixel.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention proposes a kind of based on DSP the panoramic vision parking assist apparatus and generate the method for panoramic vision image, can offer driver's needed auto-panorama image of parking in real time, thereby eliminated the vision blind area around the car, helped the driver and park more accurately; Panoramic vision parking assist apparatus based on DSP of the present invention comprises video collector, image synchronization processor, dsp processor, memory module, logic controller, output frame buffer memory, video encoder and image display; The process that generates the virtual panoramic image is mainly searched the parameter of tabulation and is carried out addressing and obtain according to leaving virtual panoramic image in the flash memory in advance in by dsp processor, so computation complexity is low, and can requirement of real time.
Description of drawings
Fig. 1 is the structural representation block diagram of apparatus of the present invention.
Fig. 2 is the installation site and the shooting area synoptic diagram of video collector of the present invention.
Fig. 3 is image synchronization processor internal relations figure of the present invention.
Fig. 4 is the placement location synoptic diagram of trellis label of the present invention.
Fig. 5 is image rectification effect synoptic diagram among the present invention.
Fig. 6 generates panoramic vision image process flow diagram for this device.
Fig. 7 is the hardware connection diagram of a kind of embodiment of apparatus of the present invention.
Embodiment
As one embodiment of the present invention, apparatus of the present invention are core with the TMS320DM643 processor of TI (Texas instrumentsincorporated) company, TMS320DM643 is the special dsp processor towards multimedia application of a new generation of TI company issue, because the real-time operation ability of its high speed and special video port and abundant expansion interface have obtained in the multimedia field to use widely.
Fig. 1 is the structural representation block diagram of apparatus of the present invention.As shown in Figure 1, it comprises video collector, image synchronization processor, dsp processor, memory module, logic controller, output frame buffer memory, video encoder and image display.Video collector is fixedly mounted on respectively on the front, rear, left and right outside surface of vehicle body; The camera lens of video collector adopts wide-angle lens, gathers the real-time pictures in four zones, vehicle body front, rear, left and right respectively, and can make the visual angle of adjacent in twos video collector have certain overlapping region.Heat radiation grid top, car bonnet upper end, back and left and right sides outside rear-view mirror lower end before video collector can be installed in, as shown in Figure 2, wherein C1～C4 is a video collector, the P point is a virtual view, and four overlapping regions 1 at adjacent video collector visual angle.The picture signal that video collector collects can be an analog video signal, also can be data image signal, and video collector is sent to the picture signal that collects in the image synchronization processor.When the signal of gathering was analog video signal, the image synchronization processor that video collector connected comprised Video Decoder and frame buffer memory (FIFO), connected as shown in Figure 3; This moment, Video Decoder changed analog video signal into dsp processor manageable digital signal, left in the frame buffer memory (FIFO).When the signal of gathering was digital signal, then video collector directly was connected with frame buffer memory (FIFO).The image synchronization processor is connected with dsp processor, and dsp processor reads in image from the frame buffer memory of image synchronization processor under the control of logic controller CPLD, and the image that obtains is left in the DDR2 internal memory of memory module.The memory module that dsp processor connected comprises flash memory, DDR2 internal memory, and wherein flash memory is used for depositing the program code of dsp processor, is written into the program space in the sheet when powering on; In flash memory, also deposited the virtual panoramic image in addition and searched tabulation and automobile body overhead view image, used for generating the virtual panoramic image; The DDR2 internal memory is mainly used to deposit the digital signal that receives from the image synchronization processor.Dsp processor also is connected with the output frame buffer memory.The major function of output frame buffer memory is to receive and the temporary virtual panoramic image that is come by the dsp processor transmission.The output frame buffer memory is connected with video encoder, and they change analog video signal with data image signal under the control of logic controller CPLD, shows the virtual panoramic image by image display.
Wherein leaving virtual panoramic image in the flash memory in searches tabulation and can be obtained by following steps:
1) obtains the inner parameter K and the percentage distortion k of the used wide-angle lens of each video collector on the front, rear, left and right outside surface that is installed in vehicle body respectively
i=[k
1, k
2, k
3, k
4, k
5], k wherein
1, k
2, k
3Be radial distortion coefficient, k
4, k
5Be tangential percentage distortion;
ZHANG, Z.Y:A flexible new technique for camera calibration.IEEETransaction on Pattern Analysis and Machine Intelligence22 (11), 1330-1334 (2000) discloses a kind of scaling method of lens parameters, utilizes this method can obtain the inner parameter K and the percentage distortion k of camera lens
i=[k
1, k
2, k
3, k
4, k
5].The present invention also can use this scaling method to obtain the inner parameter K and the percentage distortion k of the used wide-angle lens of each video collector on the front, rear, left and right outside surface that is installed in vehicle body respectively
i=[k
1, k
2, k
3, k
4, k
5].
2) with automobile parking on smooth ground, in four overlapping regions 1 at as shown in Figure 2 each adjacent video collector visual angle, place trellis label 2 respectively; As shown in Figure 4, this trellis label 2 is taken smooth ground by described each video collector just like the grid of checkerboard, obtains one group of original image I
i(i=1,2,3,4);
3) with step 2) the original image I that obtains
iIn body portion remove and only to keep face portion flatly, obtain described original image I according to following relational expression
iRemove the location parameter of each the pixel coordinate point after the distortion, thus the image U after obtaining correcting
i(i=1,2,3,4), rectification effect is as shown in Figure 5;
x′＝x+(x-x
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/x+2x)
y′＝y+(y-y
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/y+2y)
Wherein, (x ', y ', 1) removes coordinate after the distortion for pixel; (x, y, 1) is the original image pixels point coordinate; (x
0, y
0, 1) and camera lens projection centre coordinate;
4) virtual view of setting car roof top is with each the image U after correcting
iMultiply by the homography matrix H of this virtual view respectively with respect to each video collector position
i(i=1,2,3,4), corresponding to obtain with this virtual view be each image U after the rectification of true origin
iVertical view F
i(i=1,2,3,4);
5) by the described vertical view F of translation
iThe lines of the image that described adjacent video collector is collected at same trellis label splice and obtain complete trellis label image, obtain the virtual panoramic image thus, and according to the splicing seaming position, the original image sequence number i that each pixel was subordinate in the record virtual panoramic image;
6) for each pixel of described virtual panoramic image, successively set by step 4), 3) carry out inverse operation, promptly for each pixel (x of virtual panoramic image
0", y
0", 1), integrating step 5) original image sequence number i that each pixel of virtual panoramic image of gained is subordinate to, multiply by H
i -1Matrix, (H
i -1Be H
iInverse matrix) result (x that will obtain
0" ', y
0" ', 1) be brought into the described relational expression of step 3), make (x ', y ', 1)=(x
0" ', y
0" ', 1), calculate the value of (x, y, 1), obtain each pixel of virtual vision panoramic picture and the corresponding relation of the original image pixels point that video collector is gathered thus.
Owing in step 3), removed the car body part, make in the virtual panoramic image that obtains in the step 5) and have white space, can use virtual car body overhead view image as filling, virtual car body overhead view image can leave in the memory module in advance, as flash memory.In the above processing procedure, the pixel of the non-virtual vehicle body part of virtual panoramic image all is the original image I that gathered by video collector
iIn certain pixel obtain through a series of spatial alternations, and with the content of this pixel be its brightness or color information are irrelevant, and for the camera lens of stationkeeping, its inner parameter and percentage distortion and be constant for the homography matrix of a certain position.So we write down the point correspondence of this original image to the virtual panoramic image, save as listings format, when the scene of gathering when video collector changes, still handle, generate the virtual panoramic image with the point correspondence of above-mentioned original image that obtains and virtual panoramic image.This tabulation is left in the flash memory.Each pixel parameter of this listings format can be expressed as (n, x, y), n=1 wherein, 2,3,4,5; 1 represents I
1, 2 represent I
2, 3 represent I
3, 4 represent I
4, the virtual automobile body overhead view image of 5 representatives, x and y represent this horizontal ordinate and ordinate at the corresponding original image in each place.For example first pixel parameter is (1,4,5), and the pixel of promptly representing virtual panoramic image first row first row is corresponding to original image I
1Horizontal ordinate be that 4 ordinates are 5 pixel.
It is initial pixel (leaving first position of tabulation in) with the upper left corner of virtual panoramic image that the virtual panoramic image is searched row, carry out by left-to-right, discharge from top to bottom.The parameter of virtual panoramic image the 3rd row the 4th row pixel for example is recorded on the position of (2 * total columns+4) of tabulation.
The workflow diagram of apparatus of the present invention as shown in Figure 6, the method that generates the virtual panoramic image may further comprise the steps:
(1) video collector is gathered a two field picture, (when the image of video collector collection is the analog video signal image, also need the Video Decoder in the image synchronization processor to carry out the A/D conversion, convert data image signal to) be deposited into frame buffer memory, after each frame buffer memory is filled with a two field picture, open frame buffer memory output enable end by logic controller, by dsp processor synchronous read in data image signal, then dsp processor with image storage in the DDR2 internal memory;
(2) dsp processor will be pre-stored in virtual panoramic image in the flash memory and search tabulation and be read in the dsp processor;
(3) dsp processor behind the pixel of taking-up correspondence, sends to the output frame buffer memory with described pixel successively according to the parameter of searching in the tabulation from the DDR2 internal memory;
(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the pixels of searching the whole correspondences of parameter general in the tabulation, be circulated to step (1) and begin to gather a new two field picture, logic controller sends to video encoder with content stored in the output frame buffer memory simultaneously, through after the video encoder encodes, show the virtual panoramic image by image display.
Particularly, gathering analog video signal with video collector is example, at a time starts video collector, and 4 video collector begin images acquired and the analog video signal that collects is sent to the image synchronization processor.Video decoding chip in the image synchronization processor can be selected 9 digital video demoder SAA7115 of Philips company for use.SAA7115 programmes to its I2C bus by logic controller (CPLD).SAA7115 can connect all main synthetic video standards, for example NTSC, PAL and SECAM, and these standards all can be provided with by the internal register programming of demoder.Because this device is had relatively high expectations to real-time, so SAA7115 is configured to: adopt the 4:2:2YUV signaling mechanism, only get Y (brightness) signal.Frame buffer memory and output frame buffer memory can adopt the AL4V8M440 chip of AVERLOGIC company, and the storage area is 8M size (1024k x8-bit), has mutually independently input/output port, can accept different I/O read-write speed; Maximum read or write speed reaches 80MHz.The 8 bit parallel delivery outlet Y[9:2 of SAA7115] with the data-in port DI[7:0 of frame buffer reservoir AL4V8M440] link to each other.
The capable field sync signal of SAA7115 output at first is transferred to logic controller (CPLD), as the frame synchronization logic control signal.When image began to gather, 4 nonsynchronous field sync signals were input among the CPLD, were connected to the WE mouth (writing the enable port) of its corresponding frame buffer memory AL4V8M440 that connects again by CPLD, and a frame signal is imported.4 AL4V8M440 data-out port DO[7:0] be connected respectively among two Channel separately of the VP1 of DSP and VP2.After 4 AL4V8M440 had all stored a two field picture, CPLD was changed to the enable signal RE that reads of 4 AL4V8M440 to allow to read simultaneously, allowed the VP port of dsp processor to read a two field picture from AL4V8M440.It is in the fifo registers of 5120 bytes that view data at first writes the interior size of DSP, when DSP is applied under the dual channel mode, the passage that it is 2560 bytes that fifo registers splits into two sizes automatically, each passage can respectively be provided with an enhancement mode direct memory access (being EDMA) and move.The image that EDMA collects 4 video collector leaves in the DDR2 internal memory.
After each two field picture of 4 video collector collections is stored into the DDR2 internal memory, dsp processor reads in the virtual panoramic image from flash memory Flash searches tabulation, dsp processor is according to the parameter of searching in the tabulation, from the DDR2 internal memory, take out corresponding pixel, afterwards this pixel is sent to the output frame buffer memory; After dsp processor sends to the output frame buffer memory according to the pixels of searching the whole correspondences of parameter general in the tabulation, produce the clock signal of output frame buffer memory and the capable field sync signal of video coding chip by CPLD, content delivery stored in the output frame buffer memory is arrived in the video encoder (as the video coding chip SAA7105 of NXP company), convert vision signal to, be transferred to lcd screen by video line and demonstrate the virtual panoramic image, video collector begins to gather a new two field picture simultaneously.The hardware connection diagram as shown in Figure 7 in this example.
Because this device generates the process of virtual panoramic image and mainly realizes by the DSP addressing, so computation complexity is low, can requirement of real time.
Claims (4)
1. panoramic vision parking assist apparatus based on DSP, it is characterized in that: it comprises the video collector that adopts wide-angle lens, the image synchronization processor, dsp processor, memory module, logic controller, the output frame buffer memory, video encoder and image display, described video collector be fixedly mounted on respectively vehicle body before, after, a left side, on the right outside surface, described memory module comprises flash memory, the DDR2 internal memory, flash memory is connected with dsp processor respectively with the DDR2 internal memory, described video collector, the image synchronization processor, dsp processor, the output frame buffer memory, video encoder is connected successively with image display, described image synchronization processor, dsp processor, the output frame buffer memory is connected with logic controller respectively with video encoder.
2. the panoramic vision parking assist apparatus based on DSP according to claim 1, it is characterized in that: described image synchronization processor comprises Video Decoder and frame buffer memory, described video collector, frame buffer memory and logic controller are connected with Video Decoder respectively, and described logic controller is connected with frame buffer memory respectively with dsp processor.
3. a panoramic vision parking assist apparatus that uses claim 1 generates the method for virtual panoramic image, it is characterized in that may further comprise the steps:
(1) video collector is gathered a two field picture, after the image synchronization processor processing, dsp processor with image storage in the DDR2 internal memory;
(2) dsp processor will be pre-stored in virtual panoramic image in the flash memory and search tabulation and be read in the dsp processor;
(3) dsp processor behind the pixel of taking-up correspondence, sends to the output frame buffer memory with described pixel successively according to the parameter of searching in the tabulation from the DDR2 internal memory;
(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the pixels of searching the whole correspondences of parameter general in the tabulation, be circulated to step (1) and begin to gather a new two field picture, logic controller sends to video encoder with content stored in the output frame buffer memory simultaneously, through after the video encoder encodes, show the virtual panoramic image by image display.
4. panoramic vision parking assist apparatus according to claim 3 generates the method for panoramic vision image, it is characterized in that the acquisition that described virtual panoramic image is searched tabulation may further comprise the steps:
1) obtains the inner parameter K and the percentage distortion k of the used wide-angle lens of each video collector on the front, rear, left and right outside surface that is installed in vehicle body respectively
i=[k
1, k
2, k
3, k
4, k
5], k wherein
1, k
2, k
3Be radial distortion coefficient, k
4, k
5Be tangential percentage distortion;
2) with automobile parking on smooth ground, in the overlapping region at adjacent video collector visual angle, place the trellis label, by described each video collector smooth ground is taken, obtain one group of original image;
3) with step 2) body portion in the original image that obtains removes and only keeps face portion flatly, obtains the location parameter that described original image removes each the pixel coordinate point after the distortion according to following relational expression, thus the image after obtaining correcting;
x′＝x+(x-x
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/x+2x)
y′＝y+(y-y
0)[k
1r
2+k
2r
4+k
3r
6+k
4(r
2/y+2y)
Wherein, (x ', y ', 1) removes coordinate after the distortion for pixel; (x, y, 1) is the original image pixels point coordinate; (x
0, y
0, 1) and camera lens projection centre coordinate;
4) set the virtual view of car roof top, with each image after correcting multiply by respectively this virtual view with respect to each video collector position homography matrix, corresponding obtaining with this virtual view is the vertical view of each image after the rectification of true origin;
5) by described each vertical view of translation, the lines of the image that described adjacent video collector is collected at same trellis label splice and obtain complete trellis label image, obtain the virtual panoramic image thus, the original image that each pixel was subordinate in record virtual panoramic image this moment;
6) for each pixel of described virtual panoramic image, according to the original image that each pixel was subordinate in the virtual panoramic image that obtains in the step 5), successively set by step 4), 3) carry out inverse operation, obtain each pixel of virtual vision panoramic picture of this moment and the corresponding relation of video collector institute images acquired pixel.
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2009
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