CN102510474B - 360-degree panorama monitoring system - Google Patents
360-degree panorama monitoring system Download PDFInfo
- Publication number
- CN102510474B CN102510474B CN 201110317469 CN201110317469A CN102510474B CN 102510474 B CN102510474 B CN 102510474B CN 201110317469 CN201110317469 CN 201110317469 CN 201110317469 A CN201110317469 A CN 201110317469A CN 102510474 B CN102510474 B CN 102510474B
- Authority
- CN
- China
- Prior art keywords
- module
- camera
- image
- degree
- overall view
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
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 Video Supervision Technique, particularly a kind of 360 degree overall view monitoring systems in supervising device.
Background technology
Video camera is a pith of supervisory control system, there are the problems such as the angle of visual field is little, blind area is many in common camera at present, and can carry out the method that in the system of 360 degree overall view monitorings, splicing again or wide-angle fisheye camera lens shooting are taken in the timesharing of employing one camera mostly.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 the central ring angular resolution is high and the lens edge angular resolution is low, causes after the distortion correction image border often smudgy, is difficult to recognition object.
Monitoring deficiency for fear of single camera, usually adopt on same video camera a plurality of monitoring heads are installed, realize 360 degree overall view monitorings, but the camera structure of existing integrated a plurality of monitoring heads is comparatively huge, and expensive, although can realize overall view monitoring, but the inside and outside ratio difference of the picture of taking, be unfavorable for that the supervisor determines orientation and the size of monitored object, in addition, this video camera exists can not monitor panorama in real time, by splicing, also processes and can not reach seamless spliced problem.
Summary of the invention
Technical purpose of the present invention is for 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 realize monitoring without ground, dead angle to monitored object.
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 that photographing module, video acquisition module, video processing module and video display module form, the panoramic video information of described photographing module collection is sent to video processing module and processes after video acquisition module receives, and finally by video display module, is shown; Wherein, photographing module is comprised of 11 cameras that are positioned at spherome surface; The central axis of described 11 cameras comes together in the centre of sphere; The plane of symmetry centered by the face of centre of sphere place, 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 Central Symmetry face and distribute, and the central axis of each camera and Central Symmetry face are 26.5 degree angles; Five cameras are positioned at the spheroid lower surface, be the regular pentagon parallel with the Central Symmetry face and distribute, and the central axis of each camera and Central Symmetry face are 26.5 degree angles; Arbitrary camera in five cameras of described spheroid upper surface is projected in the point midway of adjacent two camera lines that the spheroid lower surface is corresponding with it; The another one camera is positioned at the central axis of spheroid upper surface, this camera vertically through the Central Symmetry face centre of sphere; Described spheroid is supported by pole, and described rod axis is vertically through the Central Symmetry face centre of sphere.
The horizontal view angle of described each camera is preferably more than and equals 72 degree, and vertical angle of view is more than or equal to 53 degree, more preferably each 100Du, vertical angle of view, camera horizontal view angle 76 degree.
Described each camera is preferably CCD or CMOS camera lens.
As preferably, described video processing module comprises image calibration module, image rectification module, image cylindrical surface projecting module and Image Mosaics module, wherein,
Described image calibration module is for determining video camera internal reference and distortion parameter;
Described image rectification module is for the distortion of correcting image;
Due to the imaging plane of each camera on different planes, for a certain view space, all topographies that each camera is taken at same focal length, same time by described image cylindrical surface projecting module cylindrical surface projecting to unified plane, make plane picture there is depth perception, can intactly reflect whole view space;
Described Image Mosaics 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.
As further preferred, described video processing module also comprises the GPU accelerating module, and described GPU accelerating module is used for acceleration such as image rectification module, image cylindrical surface projecting module, Image Mosaics modules, to improve video processing speed.
As preferably, the present invention's 360 degree overall view monitoring systems also comprise system expansion module, for system upgrade and the system integration, use, such as 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 11 road cameras mutual in conjunction with forming photographing module, formed the monitor network of the panorama of 360 degree without dead angle, make supervisory control system can gather the video information of a panorama, comprehensive, high-quality 360 degree overall view monitorings have really been realized, have that integrated level is high, high-resolution, fast imaging, automatically adjust the advantages such as image, low-power consumption, wide temperature range, and cost is low, can directly export the analog or digital signal, the convenient collection, therefore have a good application prospect.
The accompanying drawing explanation
The front view that Fig. 1 is photographing module in the present invention's 360 degree overall view monitoring systems;
The top view that Fig. 2 is photographing module in the present invention's 360 degree overall view monitoring systems;
The spheroid lower surface stereogram that Fig. 3 is photographing module in the present invention's 360 degree overall view monitoring systems;
The spheroid lower surface cutaway view that Fig. 4 is photographing module in the present invention's 360 degree overall view monitoring systems;
The system schematic that Fig. 5 is 360 degree overall view monitoring systems in the embodiment of the present invention;
The software flow figure that Fig. 6 is 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 the understanding of the present invention, and it is not played to any restriction 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 11 road cameras form.
Wherein, photographing module forms by being positioned at spherome surface Shi mono-road camera, and its position distribution as shown in Figures 1 to 4.
Fig. 1 is the front view of photographing module in this 360 degree overall view monitoring system, as shown in Figure 1,11 road cameras are distributed in spherome surface, and the central axis of Gai Shi mono-road camera comes together in the centre of sphere, the plane of symmetry centered by the face of centre of sphere place, this spherome surface is divided into spheroid upper surface and spheroid lower surface, and spheroid is supported by pole, and a rod axis is vertically through the centre of sphere on the Central Symmetry face.
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 Central Symmetry face and distribute, and the angle between the line of adjacent two cameras and this regular pentagon central point is 72 degree; A camera is positioned at the central axis of spheroid upper surface, this camera vertically through the Central Symmetry face centre of sphere.
Fig. 3 and Fig. 4 are respectively 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 to the spheroid upper surface, and five cameras are the regular pentagon parallel with the Central Symmetry face and distribute, and the angle between the line of adjacent two cameras and this regular pentagon central point is 72 degree.As shown in Figure 4, the angle between the Central Symmetry face of the central axis of each camera in five of the spheroid lower surface cameras and this spheroid is 26.5 degree.Corresponding thereto, the angle between the Central Symmetry face of the central axis of each camera in five of the spheroid upper surface cameras and 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 adjacent two camera lines that the spheroid lower surface is corresponding with it.
Above-mentioned photographing module has that integrated level is high, high-resolution, fast imaging, automatically adjust the advantages such as image, low-power consumption, wide temperature range, and cost is low, can directly export the analog or digital signal, the convenient collection.And the mutual panorama in conjunction with having formed 360 degree of 11 road cameras, without the monitor network at dead angle, makes 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 common video frequency collection card to complete, without with video compression functionality, 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, as shown in Figure 6, software flow mainly is comprised of image calibration module, image rectification module, image cylindrical surface projecting module, Image Mosaics module, GPU accelerating module its kernel software flow chart.
Wherein, the image calibration module is for determining camera internal reference and distortion parameter; The image rectification module is for the distortion of correcting image; Image cylindrical surface projecting module for by each camera same focal length, same time captured to same view space, imaging at topography's cylindrical surface projecting of Different Plane to unified plane, make plane picture there is depth perception,, can intactly reflect whole view space; The Image Mosaics module is carried out seamless spliced to projected image according to the result of image cylindrical surface projecting module, make and can obtain corresponding panoramic picture; The GPU accelerating module is used for acceleration such as image rectification module, image cylindrical surface projecting module, Image Mosaics modules, to improve video processing speed.
Panoramic video information is finished dealing with and is shown by video display module through video processing module, and this video information is stored by the software Real Time Compression.
System expansion module is used for upgrading and the system integration of later system, such as anomalous event monitoring, interactive with, many video formats demonstration etc.
Above-described embodiment has been described in detail technical scheme of the present invention and beneficial effect; be understood that and the foregoing is only specific embodiments of the invention; be not limited to the present invention; all any modifications of making in principle scope of the present invention and improvement etc., within all should being included in protection scope of the present invention.
Claims (7)
1. a degree overall view monitoring system, comprise photographing module, video acquisition module, video processing module and video display module, and it is characterized in that: photographing module is comprised of 11 cameras that are positioned at spherome surface; The central axis of described 11 cameras comes together in the centre of sphere; The plane of symmetry centered by the face of centre of sphere place, 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 Central Symmetry face and distribute, and the central axis of each camera and Central Symmetry face are 26.5 degree angles; Five cameras are positioned at the spheroid lower surface, be the regular pentagon parallel with the Central Symmetry face and distribute, and the central axis of each camera and Central Symmetry face are 26.5 degree angles; Arbitrary camera in five cameras of described spheroid upper surface is projected in the point midway of adjacent two camera lines that the spheroid lower surface is corresponding with it; The another one camera is positioned at the central axis of spheroid upper surface, this camera vertically through the Central Symmetry face centre of sphere; Described spheroid is supported by pole, and described rod axis is vertically through the Central Symmetry face centre of sphere.
2. according to claim 1 360 spend overall view monitoring systems, and it is characterized in that: the horizontal view angle of described each camera is more than or equal to 72 degree, and vertical angle of view is more than or equal to 53 degree.
3. according to claim 2 360 spend overall view monitoring systems, and it is characterized in that: the horizontal view angle of described each camera is 100 degree, and vertical angle of view is 76 degree.
4. according to claim 1 360 spend overall view monitoring systems, and it is characterized in that: described each camera is CCD or CMOS camera lens.
5. according to claim 1 360 spend overall view monitoring systems, and it is characterized in that: described video processing module comprises image calibration module, image rectification module, image cylindrical surface projecting module and Image Mosaics module; Wherein, described image calibration module is for determining video camera internal reference and distortion parameter; Described image rectification module is for the distortion of correcting image; Described image cylindrical surface projecting module for by each camera same focal length, same time captured to same view space, imaging at topography's cylindrical surface projecting of Different Plane to unified plane; Described Image Mosaics module is carried out seamless spliced to projected image according to the result of described image cylindrical surface projecting module, obtain corresponding 360 degree panoramic pictures.
6. according to claim 5 360 spend overall view monitoring systems, 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 Mosaics module, to improve video processing speed.
7. according to claim 1 360 spend overall view monitoring systems, it is characterized in that: described 360 degree overall view monitoring systems also comprise the system expansion module for system upgrade and the system integration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317469 CN102510474B (en) | 2011-10-19 | 2011-10-19 | 360-degree panorama monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110317469 CN102510474B (en) | 2011-10-19 | 2011-10-19 | 360-degree panorama monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102510474A CN102510474A (en) | 2012-06-20 |
| CN102510474B true CN102510474B (en) | 2013-12-25 |
Family
ID=46222523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110317469 Active CN102510474B (en) | 2011-10-19 | 2011-10-19 | 360-degree panorama monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102510474B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3319308A1 (en) * | 2016-10-27 | 2018-05-09 | Samsung Electronics Co., Ltd. | Spherical image display apparatus and method of displaying spherical image on a planar display |
Families Citing this family (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102857741A (en) * | 2012-09-24 | 2013-01-02 | 天津市亚安科技股份有限公司 | Prewarning positioning monitoring device of multi-directional monitoring area |
| CN102946508A (en) * | 2012-11-14 | 2013-02-27 | 李良杰 | Panoramic video camera |
| CN103945103B (en) * | 2013-01-17 | 2017-05-24 | 成都国翼电子技术有限公司 | Multi-plane secondary projection panoramic camera image distortion elimination method based on cylinder |
| 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 |
| CN104079918A (en) * | 2014-07-22 | 2014-10-01 | 北京蚁视科技有限公司 | Panoramic three dimensional camera shooting device |
| CN105991972B (en) * | 2015-02-12 | 2019-07-09 | 北京绿维文旅科技发展有限公司 | It takes photo by plane system |
| CN105227929A (en) * | 2015-10-16 | 2016-01-06 | 中国民航科学技术研究院 | A kind of safety monitoring device for airport |
| CN105516688B (en) * | 2016-01-20 | 2017-04-26 | 北京航空航天大学 | Resolution-transforming type eagle eye-mimic visual imaging device and imaging method thereof |
| CN105681757A (en) * | 2016-02-26 | 2016-06-15 | 上海八越信息技术有限公司 | Bouncing imager based on cloud computation environment and imaging method thereof |
| CN107197135B (en) * | 2016-03-21 | 2021-04-06 | 成都理想境界科技有限公司 | Video generation method and video generation device |
| CN106101611A (en) * | 2016-05-20 | 2016-11-09 | 青岛江盈自控装备制造有限公司 | A kind of ambient scene evidence preserves system |
| CN105812640A (en) * | 2016-05-27 | 2016-07-27 | 北京伟开赛德科技发展有限公司 | Spherical omni-directional camera device and video image transmission method thereof |
| CN106094633A (en) * | 2016-07-05 | 2016-11-09 | 张宁 | Civil Aviation Airport terminal safety long-distance Sis Based On Pi Database |
| KR102598082B1 (en) | 2016-10-28 | 2023-11-03 | 삼성전자주식회사 | Image display apparatus, mobile device and operating method for the same |
| KR102589853B1 (en) | 2016-10-27 | 2023-10-16 | 삼성전자주식회사 | Image display apparatus and method for displaying image |
| CN106851079A (en) * | 2017-04-10 | 2017-06-13 | 深圳市世纪佳华电子科技有限公司 | A kind of wide-angle imaging system |
| CN106989259B (en) * | 2017-05-14 | 2023-07-21 | 北京工业大学 | Free vision adjusting device of dodecahedron camera |
| CN108111753A (en) * | 2017-12-14 | 2018-06-01 | 中国电子科技集团公司电子科学研究院 | A kind of high-resolution real time panoramic monitoring device and monitoring method |
| CN108156429A (en) * | 2018-01-09 | 2018-06-12 | 罗建平 | Panoramic shooting system and the method that panoramic shooting system is checked using web browser |
| CN111327793B (en) * | 2018-12-13 | 2021-06-29 | 杭州海康威视数字技术股份有限公司 | Video camera |
| CN110381306A (en) * | 2019-07-23 | 2019-10-25 | 深圳移动互联研究院有限公司 | A kind of spherical shape three-dimensional panorama imaging system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002065786A1 (en) * | 2001-02-09 | 2002-08-22 | Kujin Lee | Method and apparatus for omni-directional image and 3-dimensional data acquisition with data annotation and dynamic range extension method |
| CN2935677Y (en) * | 2006-08-21 | 2007-08-15 | 航天科工哈尔滨风华有限公司航天产品分公司 | Full view camera |
| CN101146231A (en) * | 2007-07-03 | 2008-03-19 | 浙江大学 | Method for generating panoramic video according to multi-visual angle video stream |
| CN101521745A (en) * | 2009-04-14 | 2009-09-02 | 王广生 | Multi-lens optical center superposing type omnibearing shooting device and panoramic shooting and retransmitting method |
| CN201523430U (en) * | 2009-06-23 | 2010-07-07 | 长峰科技工业集团公司 | Panoramic video monitoring system |
| CN101852980A (en) * | 2010-06-09 | 2010-10-06 | 长春理工大学 | Method for interactively playing panoramic video stream on CAVE projection system |
| CN201733400U (en) * | 2010-06-01 | 2011-02-02 | 南京视威电子科技股份有限公司 | Combined 360-degree view angle panoramic video monitoring device capable of realizing simultaneous multi-channel monitoring |
-
2011
- 2011-10-19 CN CN 201110317469 patent/CN102510474B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002065786A1 (en) * | 2001-02-09 | 2002-08-22 | Kujin Lee | Method and apparatus for omni-directional image and 3-dimensional data acquisition with data annotation and dynamic range extension method |
| CN2935677Y (en) * | 2006-08-21 | 2007-08-15 | 航天科工哈尔滨风华有限公司航天产品分公司 | Full view camera |
| CN101146231A (en) * | 2007-07-03 | 2008-03-19 | 浙江大学 | Method for generating panoramic video according to multi-visual angle video stream |
| CN101521745A (en) * | 2009-04-14 | 2009-09-02 | 王广生 | Multi-lens optical center superposing type omnibearing shooting device and panoramic shooting and retransmitting method |
| CN201523430U (en) * | 2009-06-23 | 2010-07-07 | 长峰科技工业集团公司 | Panoramic video monitoring system |
| CN201733400U (en) * | 2010-06-01 | 2011-02-02 | 南京视威电子科技股份有限公司 | Combined 360-degree view angle panoramic video monitoring device capable of realizing simultaneous multi-channel monitoring |
| CN101852980A (en) * | 2010-06-09 | 2010-10-06 | 长春理工大学 | Method for interactively playing panoramic video stream on CAVE projection system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3319308A1 (en) * | 2016-10-27 | 2018-05-09 | Samsung Electronics Co., Ltd. | Spherical image display apparatus and method of displaying spherical image on a planar display |
| EP3319307A1 (en) * | 2016-10-27 | 2018-05-09 | Samsung Electronics Co., Ltd. | Spherical image display apparatus and method of displaying a spherical image on a planar display |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102510474A (en) | 2012-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102510474B (en) | 360-degree panorama monitoring system | |
| CN102984453B (en) | Single camera is utilized to generate the method and system of hemisphere full-view video image in real time | |
| CN109348119B (en) | Panoramic monitoring system | |
| CN103973944A (en) | Hemispherical omnidirectional imaging device and hemispherical omnidirectional imaging method | |
| CN107659774A (en) | A kind of video imaging system and method for processing video frequency based on multiple dimensioned camera array | |
| CN102355545A (en) | 360-degree real-time panoramic camera | |
| CN105678693A (en) | Panorama video browsing-playing method | |
| CN103905792A (en) | 3D positioning method and device based on PTZ surveillance camera | |
| CN105139332A (en) | Method for obtaining a composite image using rotationally symmetrical wide-angle lenses, imaging system for same, and cmos image sensor for image-processing | |
| CN101021669A (en) | Whole-view field imaging and displaying method and system | |
| CN101004538A (en) | Omnibearing vision sensor with no dead angle | |
| CN102117008A (en) | Spherical panoramic monitoring device | |
| CN204929093U (en) | 360 on -vehicle high definition surveillance camera of degree panorama machine | |
| CN108259787B (en) | Panoramic video switching device and method | |
| CN103281484A (en) | Giga-pixel video collecting device | |
| CN204168378U (en) | A kind of panoramic shooting system | |
| CN202872936U (en) | 360-degree non-blind area panorama video shooting device based on regular polyhedron | |
| CN112040140A (en) | Wide-view-field high-resolution hybrid imaging device based on light field | |
| CN205051781U (en) | Twin -lens optics camera system | |
| CN103634527A (en) | Multi-camera real-time scene splicing system capable of resisting camera disturbance | |
| CN102868853A (en) | 360-degree non-blind area panorama video shooting device based on regular polyhedron | |
| CN107845056A (en) | Fish eye images panorama generation method based on cylinder model | |
| CN104320565A (en) | Multi-lens detector array curved image surface splicing method | |
| CN205792939U (en) | Pisces Eye imaging device for panoramic camera | |
| CN111083368A (en) | Simulation physics cloud platform panoramic video display system based on high in clouds |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |