CN102510474A - 360-degree panorama monitoring system - Google Patents
360-degree panorama monitoring system Download PDFInfo
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- CN102510474A CN102510474A CN2011103174694A CN201110317469A CN102510474A CN 102510474 A CN102510474 A CN 102510474A CN 2011103174694 A CN2011103174694 A CN 2011103174694A CN 201110317469 A CN201110317469 A CN 201110317469A CN 102510474 A CN102510474 A CN 102510474A
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Abstract
The invention provides a 360-degree panorama monitoring system which comprises a camera module, a video acquisition module, a video processing module and a video display module, wherein the camera module consists of 11 paths of cameras positioned on the surface of a sphere; the 11 paths of cameras are regularly distributed on the upper surface and lower surface of the sphere, and are inter-combined with one another to form a 360-degree panorama monitoring network without dead corners, so that the monitoring system can acquire video information of a panorama, therefore, all-round and high-quality 360-degree panorama monitoring is realized really; and the 360-degree panorama monitoring system is high in application prospect.
Description
Technical field
The present invention relates to the video monitoring technology, particularly a kind of 360 degree overall view monitoring systems in the supervising device.
Background technology
Video camera is a pith of supervisory control system; At present there are problems such as the angle of visual field is little, the blind area is many in common camera, and can carry out adopting the one camera timesharing to take the method for splicing again or wide-angle fisheye camera lens shooting mostly in the system of 360 degree overall view monitorings.But timesharing is taken can't see panoramic picture in real time, and the shooting success rate is not high; Adopt wide-angle fish eye lens photographing panorama picture, its resolution changes along with the angle of visual field and different, and central ring angular resolution height and camera lens edge angle resolution is low causes that to revise the image border, back through distortion often smudgy, is difficult to recognition object.
Monitoring for fear of single camera is not enough, adopts usually a plurality of monitoring heads are installed on the same video camera, realizes 360 degree overall view monitorings; But the camera structure of existing integrated a plurality of monitoring heads is comparatively huge; And cost an arm and a leg, though can realize overall view monitoring, the inside and outside ratio of the picture of taking is different; Be unfavorable for that the supervisor confirms the orientation and the size of monitored object; In addition, this video camera exists can not monitor panorama in real time, handles through splicing also can not reach seamless spliced problem.
Summary of the invention
Technical purpose of the present invention is to the above-mentioned state of the art, and a kind of 360 degree overall view monitoring systems are provided, can be in real time, 360 degree panoramas have ground, dead angle monitored object is realized monitoring.
The present invention realizes that the technical scheme that above-mentioned technical purpose adopts is: a kind of 360 degree overall view monitoring systems; Comprise photographing module, video acquisition module, video processing module and video display module composition; The panoramic video information of described photographing module collection is sent to video processing module and handles after video acquisition module receives, shown by video display module at last; Wherein, photographing module is made up of 11 cameras that are positioned at spherome surface; The central axis of described 11 cameras comes together in the centre of sphere; With centre of sphere place face is the center plane of symmetry; Described spherome surface is divided into spheroid upper surface and spheroid lower surface; Five cameras are positioned at the spheroid upper surface, be the regular pentagon parallel with the center plane of symmetry and distribute, and the central axis of each camera are 26.5 with the center plane of symmetry and spend angles; Five cameras are positioned at the spheroid lower surface, be the regular pentagon parallel with the center plane of symmetry and distribute, and the central axis of each camera are 26.5 with the center plane of symmetry and spend angles; Arbitrary camera in five cameras of described spheroid upper surface is projected in the point midway of spheroid lower surface adjacent two the camera lines corresponding with it; The central axis that the another one camera is positioned at spheroid upper surface, this camera vertically passes the center plane of symmetry centre of sphere; Described spheroid is supported by pole, and described pole axis normal is passed the center plane of symmetry centre of sphere.
The horizontal view angle of described each camera is preferably more than and equals 72 degree, and the vertical angle of view further is preferably each camera horizontal view angle 100 degree, vertical angle of view 76 degree more than or equal to 53 degree.
Described each camera is preferably CCD or CMOS camera lens.
As preferably, described video processing module comprises image demarcating module, image rectification module, image cylindrical surface projecting module and image mosaic module, wherein,
Described image demarcating module is used for confirming video camera confidential reference items and distortion parameter;
Described image rectification module is used for the distortion of correcting image;
Because the imaging plane of each camera is on different plane; To a certain view space; Each camera all topographies that same focal length, same time are taken through described image cylindrical surface projecting module cylindrical surface projecting to unified plane; Make plane picture have depth perception, can intactly reflect whole view space;
Described image mosaic module is carried out seamless spliced to projected image according to the result of image cylindrical surface projecting module, obtain corresponding 360 degree panoramic pictures.
Preferred as further, described video processing module also comprises the GPU accelerating module, and said GPU accelerating module is used for acceleration such as image rectification module, image cylindrical surface projecting module, image mosaic modules, to improve video processing speed.
As preferably, the present invention's 360 degree overall view monitoring systems also comprise system's expansion module, are used for the system upgrade and the system integration and use, for example anomalous event monitoring, interactive with, many video formats demonstration etc.
Compared with prior art; 360 degree overall view monitoring systems provided by the invention adopt ten one road cameras to combine to form photographing module alternately, and the panorama of having formed 360 degree does not have the monitor network at dead angle, makes supervisory control system can gather the video information of a panorama; Comprehensive, high-quality 360 degree overall view monitorings have really been realized; Have integrated level height, high-resolution, fast imaging, adjust advantages such as image, low-power consumption, wide temperature range automatically, and cost is low, can directly export the analog or digital signal; Therefore convenient the collection have a good application prospect.
Description of drawings
Fig. 1 is the front view of photographing module in the present invention's 360 degree overall view monitoring systems;
Fig. 2 is the top view of photographing module in the present invention's 360 degree overall view monitoring systems;
Fig. 3 is the spheroid lower surface stereogram of photographing module in the present invention's 360 degree overall view monitoring systems;
Fig. 4 is the spheroid lower surface cutaway view of photographing module in the present invention's 360 degree overall view monitoring systems;
Fig. 5 is the system schematic of 360 degree overall view monitoring systems in the embodiment of the invention;
Fig. 6 is the systems soft ware flow chart of the present invention's 360 degree overall view monitoring systems.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail, it is pointed out that the following stated embodiment is intended to be convenient to understanding of the present invention, and it is not played any qualification effect.
Fig. 5 is the system schematic of 360 degree overall view monitoring systems in the present embodiment.As shown in Figure 5,360 degree overall view monitoring systems comprise: photographing module, video acquisition module, video processing module, video display module and system extension module that ten one road cameras are formed.
Wherein, photographing module is made up of ten one road cameras that are positioned at spherome surface, and its position distribution such as Fig. 1 are to shown in Figure 4.
Fig. 1 is the front view of photographing module in this 360 degree overall view monitoring system; As shown in Figure 1, ten one road cameras are distributed in spherome surface, and the central axis of these ten one road cameras comes together in the centre of sphere; With centre of sphere place face is the center plane of symmetry; This spherome surface is divided into spheroid upper surface and spheroid lower surface, and spheroid is supported by pole, and the pole axis normal is passed the centre of sphere on the plane of symmetry of center.
Fig. 2 is the top view of photographing module in this 360 degree overall view monitoring system; As shown in Figure 2; Five cameras are positioned at the spheroid upper surface, are the regular pentagon parallel with the center plane of symmetry and distribute, and the angle between the line of promptly adjacent two cameras and this regular pentagon central point is 72 degree; The central axis that camera is positioned at spheroid upper surface, this camera vertically passes the center plane of symmetry centre of sphere.
Fig. 3 and Fig. 4 are respectively the stereogram and the cutaway view of the spheroid lower surface of photographing module in the present invention's 360 degree overall view monitoring systems.As shown in Figure 3; Spheroid lower surface regular distribution all the other five cameras; Its distributed architecture is similar with the spheroid upper surface, and five cameras are the regular pentagon parallel with the center plane of symmetry and distribute, and the angle between the line of promptly adjacent two cameras and this regular pentagon central point is 72 degree.As shown in Figure 4, the angle between the central axis of each camera in five cameras of spheroid lower surface and the center plane of symmetry of this spheroid is 26.5 degree.Corresponding with it, the angle between the central axis of each camera in five cameras of spheroid upper surface and the center plane of symmetry of this spheroid also is 26.5 degree.And the arbitrary camera in five cameras of spheroid upper surface is projected in the point midway of spheroid lower surface adjacent two the camera lines corresponding with it.
Above-mentioned photographing module has integrated level height, high-resolution, fast imaging, adjusts advantages such as image, low-power consumption, wide temperature range automatically, and cost is low, can directly export the analog or digital signal, the convenient collection.And the panorama that ten one road cameras have combined to form 360 degree does not alternately have the monitor network at dead angle, makes the supervisory control system can gather the video information of a panorama.
The panoramic video information of photographing module collection receives through video acquisition module, and video acquisition module can adopt the common video capture card to accomplish, and need not to have video compression functionality, and is with low cost.
Video acquisition module is sent to the video processing module processing after receiving this panoramic video information; Video processing module is the software kernels place of native system; Its kernel software flow chart is as shown in Figure 6, and software flow mainly is made up of image demarcating module, image rectification module, image cylindrical surface projecting module, image mosaic module, GPU accelerating module.
Wherein, the image demarcating module is used for confirming camera confidential reference items and distortion parameter; The image rectification module is used for the distortion of correcting image; Image cylindrical surface projecting module be used for each camera same focal length, same time to same view space captured, imaging at topography's cylindrical surface projecting of Different Plane to unified plane; Make plane picture have depth perception;, can intactly reflect whole view space; The image mosaic module is carried out seamless spliced to projected image according to the result of image cylindrical surface projecting module, make to obtain corresponding panoramic picture; The GPU accelerating module is used for acceleration such as image rectification module, image cylindrical surface projecting module, image mosaic modules, to improve video processing speed.
Panoramic video information via video processing module is finished dealing with after video display module shows, and this video information is stored by the software Real Time Compression.
The upgrading of system and the system integration were used after system expansion module was used for, for example anomalous event monitoring, interactively follow, many video formats demonstration etc.
Above-described embodiment specifies technical scheme of the present invention and beneficial effect; Be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; The all any modifications in principle scope of the present invention, made and improvement etc. all should be included within protection scope of the present invention.
Claims (7)
1. a degree overall view monitoring system comprises photographing module, video acquisition module, video processing module and video display module, and it is characterized in that: photographing module is made up of 11 cameras that are positioned at spherome surface; The central axis of described 11 cameras comes together in the centre of sphere; With centre of sphere place face is the center plane of symmetry; Described spherome surface is divided into spheroid upper surface and spheroid lower surface; Five cameras are positioned at the spheroid upper surface, be the regular pentagon parallel with the center plane of symmetry and distribute, and the central axis of each camera are 26.5 with the center plane of symmetry and spend angles; Five cameras are positioned at the spheroid lower surface, be the regular pentagon parallel with the center plane of symmetry and distribute, and the central axis of each camera are 26.5 with the center plane of symmetry and spend angles; Arbitrary camera in five cameras of described spheroid upper surface is projected in the point midway of spheroid lower surface adjacent two the camera lines corresponding with it; The central axis that the another one camera is positioned at spheroid upper surface, this camera vertically passes the center plane of symmetry centre of sphere; Described spheroid is supported by pole, and described pole axis normal is passed the center plane of symmetry centre of sphere.
2. 360 degree overall view monitoring systems according to claim 1 is characterized in that: the horizontal view angle of described each camera is more than or equal to 72 degree, and the vertical angle of view is more than or equal to 53 degree.
3. 360 degree overall view monitoring systems according to claim 2 is characterized in that: the horizontal view angle of described each camera is 100 degree, and the vertical angle of view is 76 degree.
4. 360 degree overall view monitoring systems according to claim 1, it is characterized in that: described each camera is CCD or CMOS camera lens.
5. 360 degree overall view monitoring systems according to claim 1, it is characterized in that: described video processing module comprises image demarcating module, image rectification module, image cylindrical surface projecting module and image mosaic module; Wherein, described image demarcating module is used for confirming video camera confidential reference items and distortion parameter; Described image rectification module is used for the distortion of correcting image; Described image cylindrical surface projecting module be used for each camera same focal length, same time to same view space captured, imaging at topography's cylindrical surface projecting of Different Plane to unified plane; Described image mosaic module is carried out seamless spliced to projected image according to the result of said image cylindrical surface projecting module, obtain corresponding 360 degree panoramic pictures.
6. 360 degree overall view monitoring systems according to claim 1; It is characterized in that: described video processing module also comprises the GPU accelerating module; Be used for accelerogram as rectification module, image cylindrical surface projecting module and image mosaic module, to improve video processing speed.
7. 360 degree overall view monitoring systems according to claim 1 is characterized in that: described 360 degree overall view monitoring systems also comprise the system's expansion module that is used for the system upgrade and the system integration.
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| CN103607567A (en) * | 2013-11-20 | 2014-02-26 | 宁波市镇海环视信息科技有限公司 | Low-code stream 360-degree panorama high-definition one-body monitoring camera |
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