CN102142138A - Image processing method and subsystem in vehicle assisted system - Google Patents
Image processing method and subsystem in vehicle assisted system Download PDFInfo
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Abstract
The invention provides an image processing method in a vehicle assisted system, which comprises the following steps of: acquiring a first source image and a second source image; splicing the first source image and the second source image, and acquiring an overlap region of the first source image and the second source image; assessing a first weighting coefficient from a pixel point in the overlap region to the first source image and a second weighting coefficient from the pixel point to the second source image; and recalculating the pixel value of the pixel point in the overlap region according to the first weighting coefficient and the second weighting coefficient. By the method, a subsystem and a device provided by the embodiment, the images in the image spliced overlap region can be processed, and the processed images have natural transition and are convenient for a user to use.
Description
Technical field
The present invention relates to vehicle backup system field, relate in particular to the image processing method in a kind of vehicle backup system.
Background technology
The panorama auxiliary parking system that uses on the automobile, the a plurality of wide-angle imaging heads of general employing, respectively around the vehicle body of She Zhiing, gather vehicle body image on every side respectively, system to each camera collection to image handle, be spliced into the general view in a width of cloth car week, can increase driver's the visual field so effectively, eliminate blind angle, improve driving safety.
The panoramic picture of present most of panorama parking system has just been done the splicing of image, promptly be exactly that the image that will collect synthesizes piece image through certain processing splicing, but between each ingredient particularly borderline region have tangible splicing slit, be unfavorable for user's use.
Summary of the invention
The invention provides the image processing method in a kind of vehicle backup system, can merge the multiple image splicing.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
Image processing method in a kind of vehicle backup system comprises:
Obtain first source images and second source images;
Splice described first source images and second source images;
Obtain the overlapping region of described first source images and second source images;
Assess pixel in the described overlapping region to first weight coefficient of first source images and second weight coefficient to second source images;
Recomputate the pixel value of the pixel of overlapping region according to described first weight coefficient and second weight coefficient.
Image processing subsystem in a kind of vehicle backup system comprises:
Image acquiring device is used to obtain first source images and second source images;
Splicing apparatus is used to splice described first source images and second source images, obtains the overlapping region of described first source images and second source images;
Apparatus for evaluating, the pixel that is used for assessing described overlapping region is to first weight coefficient of first source images and second weight coefficient to second source images;
Recomputate device, be used for recomputating the pixel value of the pixel of overlapping region according to described first weight coefficient and second weight coefficient.
Panoramic picture generating apparatus in a kind of panorama parking assisting system, it is characterized in that, comprise: four cameras, overlapping region deriving means, boundary line deriving means, apart from deriving means, weight coefficient calculation element, fusing device and output unit, wherein:
Before four cameras lay respectively at the car of vehicle body, behind the car, a car left side, the right position of car, be used for obtaining the image around the vehicle body;
The overlapping region deriving means is used for the image that described four cameras obtain being spliced the overlapping region that produces when obtaining splicing;
The boundary line deriving means is used to obtain the boundary line of described overlapping region;
Apart from deriving means, be used for obtaining the pixel of described overlapping region and the distance of boundary line;
The weight coefficient calculation element is used for according to this pixel of distance calculation of described pixel and each boundary line weight coefficient to its each image of place;
Fusing device is used for recomputating according to described weight coefficient the pixel value of the pixel of overlapping region;
Output unit is used to export the panoramic picture of the overlapping region that has comprised that described fusing device was handled.
The method, subsystem and the device that propose by the embodiment of the invention, the image of the overlapping region in the time of can be with image mosaic carries out fusion treatment, and the image transition nature after the processing is user-friendly.
Description of drawings
Fig. 1 is the process flow diagram of an embodiment of the image processing method in a kind of vehicle backup system of the present invention;
Fig. 2 is the source images synoptic diagram in four camera examples of the image processing method in a kind of vehicle backup system of the present invention;
Position when Fig. 3 merges for each source images in four camera examples of the image processing method in a kind of vehicle backup system of the present invention concerns synoptic diagram;
The effect synoptic diagram of Fig. 4 after for the fusion in four camera examples of the image processing method in a kind of vehicle backup system of the present invention;
Fig. 5 is the module map of an embodiment of the image processing subsystem in a kind of vehicle backup system of the present invention.
Embodiment
In conjunction with the accompanying drawings the present invention is described in further detail below by embodiment.
At first, the present invention is described, is illustrated in figure 1 as the process flow diagram of the image processing method in a kind of vehicle backup system of the embodiment of the invention, comprising with the example that is spliced into of two width of cloth images:
Step 101, obtain image;
The image that obtains simultaneously from different cameras normally, obtaining two width of cloth source images with two cameras in this example is that example describes, and is designated as first source images and second source images respectively;
Step 103, stitching image;
Described first source images and second source images are spliced, obtain their overlapping region;
Step 105, assessment weight coefficient;
After splicing has obtained the overlapping region, need how to show the overlapping region and handle, at first just need make assessment to the importance of each pixel of overlapping region, described importance specifically embodies with weight coefficient in embodiments of the present invention, specifically in the present embodiment, we use the assessment factor of the distance of pixel and two width of cloth images as described importance.
At first, we will obtain to characterize the data of the distance between pixel and the source images, and concrete grammar has a variety of, below illustrates:
Method one, the distance of pixel and boundary line thought the distance of pixel and source images; Said herein boundary line promptly is exactly two lines that two source images intersect, (this boundary line is generally the part in the sideline of second source images wherein to be called first boundary line in the boundary line of the first source images inside, it is again in first source images), be called second boundary line (this boundary line is generally the part in the sideline of first source images, and it is again in second source images) in the boundary line of the second source images inside; Obtain the distance of the pixel and first boundary line, be designated as first distance; Obtain the distance of the pixel and second boundary line, be designated as second distance;
The distance that calculating pixel is put the boundary line can adopt the Euclidean distance formula that a little arrives straight line.
Method two, the distance of pixel and source images unique point is thought the distance of pixel and source images, obtain the distance of pixel and source images unique point; Said herein unique point is the point of token image position, for example geometric center of image etc.; Obtain the distance of the pixel and the first source images unique point, be designated as first distance; Obtain the distance of the pixel and the second source images unique point, be designated as second distance.
Secondly, after the data that obtained pixel and source images distance, then can further calculate weight coefficient, concrete grammar has a variety of, illustrates herein:
Suppose to have obtained first distance and second distance, can obtain this pixel so, be respectively to first weight coefficient of first source images and second weight coefficient to second source images with dual mode mentioned above:
First weight coefficient=second distance/(the first distance+second distance);
Second weight coefficient=first distance/(the first distance+second distance).
Also can use other computing method, for example can first distance be multiply by COEFFICIENT K 1, second distance be multiply by COEFFICIENT K 2, calculate weight coefficient again, be respectively described first distance that obtains and second distance weighting:
First weight coefficient=K1* second distance/(the K1* first distance+K2* second distance);
Second weight coefficient=K2* first distance/(the K1* first distance+K2* second distance);
Weighting coefficient K1, K2 can be by the experience settings, usually and image itself certain relation is arranged, by this coefficient can be to a certain degree the inherent shortcoming of correction image.
Method also has a lot, does not enumerate one by one herein.
Step 107, image co-registration;
Behind the weight coefficient of the pixel that has obtained the overlapping region, then need to recomputate the pixel value of pixel according to described weight coefficient, concrete account form can be: suppose that the pixel value of pixel in first source images is I1 (X) in the overlapping region, pixel value in second source images is I2 (X), pixel value I (X)=I1 (X) * W1 (X)+I2 (X) the * W2 (X) after then merging.Certainly, other account forms also can, for example: I (X)=K3*I1 (X) * W1 (X)+K4*I2 (X) * W2 (X), wherein weighting coefficient K3, K4 can be by the experience settings.Method also has a lot, does not enumerate one by one herein.
After the pixel value of the pixel of overlapping region recomputated, just can combine and show panoramic picture with other parts of source images.
Image after the fusion is owing to having carried out the correction of pixel value at the position characteristics of overlapping region pixel, and revised pixel value is more suitable for the user and uses, and has overcome the defective of splicing regions display effect difference of the prior art.
The foregoing description has illustrated the image processing method in a kind of vehicle backup system of the present invention, describes below in conjunction with automobile with four cameras in the example:
1, as shown in Figure 2, the source images that four width of cloth of input need merge is respectively P1, P2, P3, P4, be respectively in the panorama parking assisting system before the car, behind the car, the vertical view on a car left side, the car right side.
2, as shown in Figure 3, the overlapping region of P1 and P3 is S13, and the overlapping region of P1 and P4 is S14, and the overlapping region of P2 and P3 is S23, and the overlapping region of P2 and P4 is S24.
3, as shown in Figure 3, two boundary lines of overlapping region S13 are respectively O1-A13, O1-B13, two boundary lines of overlapping region S14 are respectively O2-A14, O2-B14, two boundary lines of overlapping region S23 are respectively O3-A23, O3-B23, and two boundary lines of overlapping region S24 are respectively O4-A24, O4-B24.
4, adopt point to calculate pixel in the overlapping region respectively to the distance of boundary line to the Euclidean distance formula of straight line.
5, calculate the weight coefficient of the pixel in the overlapping region, computing method are as follows: with a pixel among the S13 of overlapping region is that example describes, for this pixel among the S13 of overlapping region, obtain this point and boundary line O1-A13 distance D 1 (X), with the distance D 2 (X) of boundary line O1-B13, then this pixel is W1 (X)=D1 (X)/(D1 (X)+D2 (X)) to the weight coefficient of P1 image, and this pixel is W2 (X)=D2 (X)/(D1 (X)+D2 (X)) to the weight coefficient of P3 image.
Other overlapping region pixels are similar to the weight coefficient computing method of two corresponding boundary lines.
6, the overlapping region is merged, computing method are as follows: be that example describes with the pixel among the S13 of overlapping region still, after having obtained weight coefficient W1 (X), W2 (X), pixel value I (X) after then merging is: I (X)=I1 (X) * W1 (X)+I2 (X) * W2 (X), wherein, I1 (X) is the pixel value of this pixel in P1, and I2 (X) is the pixel value of this pixel in P3.
The computing method that merge other overlapping regions are similar.After panoramic picture merges as shown in Figure 4.
The invention allows for the image processing subsystem in a kind of vehicle backup system, as shown in Figure 5, this system comprises:
Splicing apparatus 503 is used to splice described first source images and second source images, obtains the overlapping region of described first source images and second source images;
Apparatus for evaluating 505, the pixel that is used for assessing described overlapping region is to first weight coefficient of first source images and second weight coefficient to second source images;
Wherein, described apparatus for evaluating specifically is used for:
Obtain the boundary line of described overlapping region, wherein be called first boundary line, be called second boundary line in the boundary line of the second source images inside in the boundary line of the first source images inside;
Calculating pixel o'clock is designated as first distance to the distance of first boundary line;
Calculating pixel o'clock is designated as second distance to the distance of second frontier point;
Calculate first weight coefficient, first weight coefficient=second distance/(the first distance+second distance);
Calculate second weight coefficient, second weight coefficient=first distance/(the first distance+second distance).
Wherein, the another kind of concrete application mode of described apparatus for evaluating is:
Obtain the distance of the unique point of the pixel and first source images, be designated as first distance, described unique point is the point of image center or other token image position features;
Obtain the distance of the unique point of the pixel and second source images, be designated as second distance, described unique point is the point of image center or other token image position features;
Calculate first weight coefficient, first weight coefficient=second distance/(the first distance+second distance);
Calculate second weight coefficient, second weight coefficient=first distance/(the first distance+second distance).
Wherein, the described device that recomputates specifically is used for:
Calculate I (X),
I(X)＝I1(X)＊W1(X)+I2(X)＊W2(X)；
In the above-mentioned formula:
I (X) is the pixel value of this pixel after recomputating;
I1 (X) is the pixel value of this pixel in first source images;
W1 (X) is first weight coefficient;
The pixel value of this pixel of I2 (X) in second source images;
W2 (X) is second weight coefficient.
The invention allows for the panoramic picture generating apparatus in a kind of panorama parking assisting system, it is characterized in that, comprise: four cameras, overlapping region deriving means, boundary line deriving means, apart from deriving means, weight coefficient calculation element, fusing device and output unit, wherein:
Before four cameras lay respectively at the car of vehicle body, behind the car, a car left side, the right position of car, be used for obtaining the image around the vehicle body;
The overlapping region deriving means is used for the image that described four cameras obtain being spliced the overlapping region that produces when obtaining splicing;
The boundary line deriving means is used to obtain the boundary line of described overlapping region;
Apart from deriving means, be used for obtaining the pixel of described overlapping region and the distance of boundary line;
The weight coefficient calculation element is used for according to this pixel of distance calculation of described pixel and each boundary line weight coefficient to its each image of place;
Fusing device is used for recomputating according to described weight coefficient the pixel value of the pixel of overlapping region;
Output unit is used to export the panoramic picture of the overlapping region that has comprised that described fusing device was handled.
Image after the fusion is owing to having carried out the correction of pixel value at the position characteristics of overlapping region pixel, and revised pixel value is more suitable for the user and uses, and has overcome the defective of splicing regions display effect difference of the prior art.
Above content be in conjunction with concrete embodiment to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. the image processing method in the vehicle backup system is characterized in that, comprising:
Obtain first source images and second source images;
Splice described first source images and second source images;
Obtain the overlapping region of described first source images and second source images;
Assess pixel in the described overlapping region to first weight coefficient of first source images and second weight coefficient to second source images;
Recomputate the pixel value of the pixel of overlapping region according to described first weight coefficient and second weight coefficient.
2. the image processing method in the vehicle backup system as claimed in claim 1 is characterized in that:
Pixel in the described assessment overlapping region comprises to first weight coefficient of first source images and step to second weight coefficient of second source images:
Obtain the boundary line of described overlapping region, wherein be called first boundary line in the boundary line of the first source images inside,
Be called second boundary line in the boundary line of the second source images inside;
Calculating pixel o'clock is designated as first distance to the distance of first boundary line;
Calculating pixel o'clock is designated as second distance to the distance of second frontier point;
First weight coefficient=second distance/(the first distance+second distance);
Second weight coefficient=first distance/(the first distance+second distance).
3. the image processing method in the vehicle backup system as claimed in claim 1 is characterized in that:
Pixel in the described assessment overlapping region comprises to first weight coefficient of first source images and step to second weight coefficient of second source images:
Obtain the distance of the unique point of the pixel and first source images, be designated as first distance, described unique point is the point of image center or other token image position features;
Obtain the distance of the unique point of the pixel and second source images, be designated as second distance, described unique point is the point of image center or other token image position features;
First weight coefficient=second distance/(the first distance+second distance);
Second weight coefficient=first distance/(the first distance+second distance).
4. the image processing method in the vehicle backup system as claimed in claim 1 is characterized in that:
The method of the pixel value of the described pixel that calculates the overlapping region according to first weight coefficient and second weight system is specially:
I(X)＝I1(X)＊W1(X)+I2(X)＊W2(X)
Wherein, I (X) is the pixel value of this pixel after recomputating;
I1 (X) is the pixel value of this pixel in first source images;
W1 (X) first weight coefficient;
The pixel value of this pixel of I2 (X) in second source images;
W2 (X) second weight coefficient.
5. the image processing subsystem in the vehicle backup system is characterized in that, comprising:
Image acquiring device is used to obtain first source images and second source images;
Splicing apparatus is used to splice described first source images and second source images, obtains the overlapping region of described first source images and second source images;
Apparatus for evaluating, the pixel that is used for assessing described overlapping region is to first weight coefficient of first source images and second weight coefficient to second source images;
Recomputate device, be used for recomputating the pixel value of the pixel of overlapping region according to described first weight coefficient and second weight coefficient.
6. the image processing subsystem in the vehicle backup system as claimed in claim 5 is characterized in that:
Described apparatus for evaluating specifically is used for:
Obtain the boundary line of described overlapping region, wherein be called first boundary line in the boundary line of the first source images inside,
Be called second boundary line in the boundary line of the second source images inside;
Calculating pixel o'clock is designated as first distance to the distance of first boundary line;
Calculating pixel o'clock is designated as second distance to the distance of second frontier point;
Calculate first weight coefficient, first weight coefficient=second distance/(the first distance+second distance);
Calculate second weight coefficient, second weight coefficient=first distance/(the first distance+second distance).
7. the image processing subsystem in the vehicle backup system as claimed in claim 5 is characterized in that: described apparatus for evaluating specifically is used for:
Obtain the distance of the unique point of the pixel and first source images, be designated as first distance, described unique point is the point of image center or other token image position features;
Obtain the distance of the unique point of the pixel and second source images, be designated as second distance, described unique point is the point of image center or other token image position features;
Calculate first weight coefficient, first weight coefficient=second distance/(the first distance+second distance);
Calculate second weight coefficient, second weight coefficient=first distance/(the first distance+second distance).
8. the image processing subsystem in the vehicle backup system as claimed in claim 5 is characterized in that:
The described device that recomputates specifically is used for:
Calculate I (X),
I(X)＝I1(X)＊W1(X)+I2(X)＊W2(X)；
Wherein, I (X) is the pixel value of this pixel after recomputating;
I1 (X) is the pixel value of this pixel in first source images;
W1 (X) is first weight coefficient;
The pixel value of this pixel of I2 (X) in second source images;
W2 (X) is second weight coefficient.
9. a vehicle backup system is characterized in that, comprises claim 5,6,7 or 8 each described image processing subsystems.
10. the panoramic picture generating apparatus in the panorama parking assisting system, it is characterized in that, comprise: four cameras, overlapping region deriving means, boundary line deriving means, apart from deriving means, weight coefficient calculation element, fusing device and output unit, wherein:
Before four cameras lay respectively at the car of vehicle body, behind the car, a car left side, the right position of car, be used for obtaining the image around the vehicle body;
The overlapping region deriving means is used for the image that described four cameras obtain being spliced the overlapping region that produces when obtaining splicing;
The boundary line deriving means is used to obtain the boundary line of described overlapping region;
Apart from deriving means, be used for obtaining the pixel of described overlapping region and the distance of boundary line;
The weight coefficient calculation element is used for according to this pixel of distance calculation of described pixel and each boundary line weight coefficient to its each image of place;
Fusing device is used for recomputating according to described weight coefficient the pixel value of the pixel of overlapping region;
Output unit is used to export the panoramic picture of the overlapping region that has comprised that described fusing device was handled.
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