CN103377372A - Looking-around composite graph overlapping region dividing method and looking-around composite graph representing method - Google Patents
Looking-around composite graph overlapping region dividing method and looking-around composite graph representing method Download PDFInfo
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- CN103377372A CN103377372A CN2012101192194A CN201210119219A CN103377372A CN 103377372 A CN103377372 A CN 103377372A CN 2012101192194 A CN2012101192194 A CN 2012101192194A CN 201210119219 A CN201210119219 A CN 201210119219A CN 103377372 A CN103377372 A CN 103377372A
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Abstract
The invention provides an overlapping part region dividing method in various camera vision fields in composite graphs of a vehicle-mounted multi-view vidicon looking-around system to resolve the problem that in a vehicle-mounted looking-around system, overlapping parts in the various vision fields in the composition graphs cannot reach the clearest degree. According to the technical scheme, the pixels of adjacent camera lens overlapping regions in all the looking-around composite graphs are determined through the fact that the pixels are reversely projected to an original image coordinate of each camera lens to be compared, and the distance between the original image coordinate and the center of an optical axis or the pixel space density can be adopted in a specific execution mode to be compared. The camera lens close to the optical axis or with a small pixel space density obtains the control right of a pixel point of the overlapping region. Through the processing on the pixels of all the adjacent camera lens overlapping regions, the optimal dividing method for the overlapping regions in the various camera vision fields in the composite graphs can be obtained.
Description
Technical field
The present invention relates to vehicle-mounted multi-view camera viewing system, especially a kind of optimal dividing method and image combining method of composograph overlapping region of vehicle-mounted multi-view camera viewing system.
Background technology
Society, automobile have become a kind of requisite vehicles.People are enjoying convenience that automobile brings and while efficiently, motor traffic accidents, and the problem that the environmental pollution that motor vehicle exhaust emission brings and traffic jam are brought has become increasingly serious global social concern.Therefore, utilize various advanced persons' automotive safety technology, equipment and theory minimizing traffic hazard and raising automotive safety that very large market potential is arranged.
The last century is after the nineties, and along with the widespread use in automobile product of electronic technology, control technology, sensor technology and new material, the automotive safety technology has obtained swifter and more violent development.Nowadays, the research of automotive safety technology is by the research and development of single safety technique, merges mutually collaborative integrated, systematization and intelligent direction development to various safety techniques.Intelligentized automobile safety system is take modern Detection Techniques, photoelectric sense technology, computer technology and automatic control technology as core, has specific identification judgement, can under various complex situations, automatically assist the driver or control voluntarily automobile, guarantee traffic safety.
The vehicle environment sensory perceptual system utilizes various sensors that the information such as vehicle self, surrounding environment and driver status are surveyed, by comparing with predefined standard, differentiate whether in the hole and hazard level of vehicle, can carry out early warning to the driver by modes such as sound, light in case of necessity.
The sensor of at present vehicle environment sensory perceptual system use mainly contains: 1) monocular or multi-lens camera system, process information such as obtaining correlation distance, position by the ambient image that Real-time Collection is come; 2) laser radar or millimetre-wave radar by sending and receive infrared laser or electric wave, according to Doppler effect, calculate the information such as the distance of peripheral barrier and position; 3) sonar sends and receives ultrasound wave by orientation, calculates the information such as the distance of peripheral barrier and position.
By comparison, it is wide that laser or millimetre-wave radar can be surveyed scope, and the ability of anti-extraneous rugged surroundings is strong, but usually only have one or more layers scanning plane, can't obtain the 3 D stereo information of whole scene, and expensive.Sonar is only applicable to low coverage and measures (using such as reversing), and only has the dot information on the direction of illumination.Vehicle-mounted camera system obtains information by vision, be at present most widely used general also be one of the most promising sensor.To use the most general a kind of vehicle-mounted vision system such as backup camera.It generally is installed in vehicle rear, and direction is towards side-lower.When the driver moveed backward, system connected vehicle-carrying display screen automatically, for the driver provides rear wide area scene.
In order to allow the driver understand more accurately the dangerous information such as barrier of vehicle-surroundings, the conversion process of system by the visual angle is vertically downward virtual video camera image with original image conversion with certain angle of depression.
Backup camera is multiplex in the reversing environment of more complicated, but the visual field of a video camera is limited, in the more situation of vehicle front side barrier, usually adopt multiple cameras to consist of the vehicle viewing system, for the driver provides vehicle 360 degree complete environment sensing information.
The vehicle viewing system mainly is the image of taking by being installed in vehicle multiple cameras all around, through aforesaid view transformation process obtain many virtual centered by vehicle vertically downward vertical view, and be spliced into a complete vertical view by composition algorithm.
The described vehicle-mounted multi-view camera viewing system of this patent refers to the multi-eye stereo camera shooting machine system of vehicle environment perception.
(1) prior art one related to the present invention: viewpoint change
Prior art one can be utilized the inner parameter that is assemblied in car body 4 cameras all around and external parameter that the image that absorbs of each camera is done single viewpoint change it is for conversion into take car body as the vertical view with reference to the center, and then this 4 width of cloth is done splicing by the resulting vertical view of each camera generates a width of cloth by 4 vertical views that camera image is seamless spliced.
The prerequisite of prior art one is that inner parameter and the external parameter of camera namely known, car body parks according to both allocations or the attitude of car body is namely known.
Patent documentation 1: Jap.P. JP3625059;
Patent documentation 2: Jap.P. JPT2002-067158.
(2) prior art two related to the present invention: the panoramic view picture of overlooking is synthetic
Same as above, be installed in vehicle video camera all around through after the viewpoint change, form respectively the overhead view image of many virtual vertical shootings.In the initial alignment processing procedure, each video camera can be obtained with respect to the position of vehicle axis system.According to the station-keeping data of video camera, these overhead view images can be synthesized processing, be spliced into the panorama sketch that a width of cloth vehicle is looked around.In the identical situation of the height of each virtual video camera and focal length, the dimension scale of these overhead view images is identical, can directly splice processing.Around the schematic top plan view of vertical view adding from car, can obtain last as a result figure spliced.
Patent documentation 3: Jap.P. JPA2002-067158;
Patent documentation 4: Jap.P. JPA2008-34966.
(3) prior art three related to the present invention: the solution of virtual view composograph
Although can generate the vehicle of many viewpoints in the prior art two around vertical view, such as when slow astern state or the normal transport condition, except confirming from the physical location of car in scene, also need to confirm nearby vehicle and other barriers.If only by the panoramic view of the vertical virtual view of taking, can't reach required effect.
Prior art three (Jap.P. JP_P3300334) proposes by adopting different points of view, highly, and the virtual view of focal length and comprise areal model, the models of place such as cylindrical model or simulation cylindrical model, according to vehicle-state, the speed of a motor vehicle, the direction corner generates different virtual panoramic view picture.Can reach like this and satisfy simultaneously the demand of confirming from car state and surrounding enviroment.In the prior art three the corresponding look-up method of corresponding different virtual visual point image has been proposed also simultaneously.
Patent documentation 5: Jap.P. JP_P3300334.
(4) shortcoming of prior art
Can the viewpoint change image of many viewpoints be spliced by prior art one and prior art two, obtain around top plan view; Prior art three can be simulated stereo scene except the plane by cylindrical model or model of place such as simulation cylindrical model etc.No matter be that top plan view or stereo scene figure splice several images of being taken by the video camera that is arranged on the vehicle diverse location synthetic.Generally speaking, the vehicle-mounted disposal system of looking around is to be become by many wide-angle imaging mechanisms, and it is certain interval that every video camera covers, and image generates vertical view through viewpoint change, and splices and obtain the vehicle panoramic view.Owing to may have ken lap between each camera, in the splicing generative process of panoramic view, just need to select a separatrix that lap is cut apart.As shown in Figure 3, cut-off rule is divided into several mutual not parts of UNICOM with composite diagram, effective ken of the corresponding camera of every part.Because prior art does not relate to the separatrix of an optimum of How to choose can be so that final composite diagram reaches sharpening, final composite diagram has fuzzy situation at ken lap and occurs.
Summary of the invention
Described technical scheme is as follows:
The present invention is the problem that can not reach readability in order to solve the lap in each camera ken in the composite diagram that exists in the vehicle-mounted viewing system, and the marginal computing method of lap in each camera ken in a kind of composite diagram of vehicle-mounted multi-view camera viewing system are provided.The present invention can look around composite diagram the most clearly for the driver provides.
According to technical scheme provided by the invention, all pixels of looking around the adjacent camera overlapping region in the composite diagram are compared to the coordinates of original image coordinates of every camera by this pixel back projection and decide, embodiment can adopt coordinates of original image coordinates apart from the distance of optical axis center, perhaps compares by pixel space density.Obtain the right of eminent domain of that pixel of overlapping region apart from optical axis that camera near or that pixel control density is little.
Just can obtain the lap optimal dividing method in each camera ken in the composite diagram by the pixel of all adjacent camera overlapping regions being carried out above-mentioned processing.
Advantage of the present invention is: the invention solves the problem that the lap in each camera ken in the composite diagram that exists in the vehicle-mounted viewing system can not reach readability.
Description of drawings
Fig. 1: vehicle-mounted camera position and the FOV (Field of View) of looking around
Fig. 2: composite diagram subregion
Fig. 3: composite diagram subregion and cut-off rule
Fig. 4: the recombination region cut-off rule is determined method
Fig. 5: pixel space density algorithm.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.The vehicle-mounted disposal system of looking around is to be become by many wide-angle imaging mechanisms, and it is certain interval that every video camera covers, and image generates vertical view through viewpoint change, and splices and obtain the vehicle panoramic view.Owing to may have ken lap between each camera, in the splicing generative process of panoramic view, just need to select a separatrix that lap is cut apart.Cut-off rule is divided into several mutual not parts of UNICOM with composite diagram, effective ken of the corresponding camera of every part.Because prior art does not relate to the separatrix of an optimum of How to choose can be so that final composite diagram reaches sharpening, final composite diagram has fuzzy situation at ken lap and occurs.
The present invention proposes the vehicle-mounted marginal computing method of ken lap in the composite diagram of looking around.
As shown in Figure 1, vehicle-mounted viewing system respectively arranges a camera Cam all around at car
F, Cam
R, Cam
B, Cam
L, each camera has the FOV (Field of View) VF of oneself
F, VF
R, VF
B, VF
LThe FOV (Field of View) VF of front camera
FFOV (Field of View) VF with right camera
RRegional VF overlaps
RF, the FOV (Field of View) VF of front camera
FFOV (Field of View) VF with left camera
LRegional VF overlaps
LF, the FOV (Field of View) VF of rear camera
BFOV (Field of View) VF with right camera
RRegional VF overlaps
RB, the FOV (Field of View) VF of rear camera
BFOV (Field of View) VF with left camera
LRegional VF overlaps
LBViewing system becomes the full cyclogram of a width of cloth seamless connection based on the intrinsic parameter of video camera and the accurate viewpoint change technology of outer parameter utilization with 4 resulting image co-registration of camera, as shown in Figure 2.
Composite diagram Fig. 2 can be divided into 8 different zones: IMG
F, IMG
R, IMG
B, IMG
L, IMG
RF, IMG
RB, IMG
LF, IMG
LBIMG wherein
F, IMG
R, IMG
B, IMG
LIsolated area: IMG
FData fully from front camera Cam
F, IMG
RData fully from right camera Cam
R, IMG
BData fully from rear camera Cam
B, IMG
LData fully from left camera Cam
LIMG
RF, IMG
RB, IMG
LF, IMG
LBBe recombination region, its data can obtain from two camera gained images: IMG
RFIn the past camera Cam of data
FPerhaps right camera Cam
RObtain IMG
RBData can be from rear camera Cam
BPerhaps right camera Cam
RObtain IMG
LFIn the past camera Cam of data
FPerhaps left camera Cam
LObtain IMG
LBData can be from rear camera Cam
BPerhaps left camera Cam
LObtain.
At recombination region IMG
RF, IMG
RB, IMG
LF, IMG
LBInterior needs are determined a cut-off rule B
RF, B
RB, B
LF, B
LB(as shown in Figure 3) in order to select different camera image data to come the filled composite zone according to this separatrix.For example firmly cutting apart under the situation recombination region IMG
RFMiddle cut-off rule B
RFAbove regional with front camera Cam
FCorresponding data fill cut-off rule B
RFWith lower area with right camera Cam
RCorresponding data is filled; Perhaps integrate under the situation recombination region IMG in data
RFIn the numerical value of certain pixel by front camera Cam
FCorresponding data in right camera Cam
RThe corresponding data weighting is synthetic, and its weight proportion is by distance cut-off rule B
RFDistance determine.
Therefore the how to confirm separatrix can have an immense impact on to the imaging effect of recombination region.If the separatrix is chosen the improper fuzzy difficulty of composite diagram that causes and is distinguished and will cause great interference to the driver.
The present invention proposes a kind of new separatrix computing method, and is the most clear to guarantee composite diagram recombination region part.As shown in Figure 4, with recombination region IMG
RFBe example, its interior pixel p
RFBy projection and the corresponding front camera image IMG of coordinate transform difference
CamFP
FPixel and right camera image IMG
CamRP
RPixel.p
FAnd p
RBe at war with the p of the person's of winning conduct
RFValue.Its competition process is in the situation that each camera inner parameter equates: compare p
FApart from IMG
CamFOrigin of optical axis apart from d
FWith p
RApart from IMG
CamROrigin of optical axis apart from d
R, win apart from the shorter one.If its competition process is in the unequal situation of each camera inner parameter: compare IMG
CamFMiddle p
FPixel space density and the IMG at place
CamRMiddle p
RThe pixel space density at place, density smaller wins.
Just can be at recombination region IMG by above-mentioned competition process
RF, IMG
RB, IMG
LF, IMG
LBInterior needs are determined a cut-off rule B
RF, B
RB, B
LF, B
LB(as shown in Figure 4), thus guarantee recombination region IMG
RF, IMG
RB, IMG
LF, IMG
LBImage the most clear, the information of namely forgiving is maximum.
As mentioned above, if its competition process is in the unequal situation of each camera inner parameter: compare IMG
CamFMiddle p
FPixel space density and the IMG at place
CamRMiddle p
RThe pixel space density at place, density smaller wins.Introduce now a kind of method of calculating pixel space density:
As shown in Figure 5, recombination region IMG
RFBe example, its interior pixel p
RFBy projection and the corresponding front camera image IMG of coordinate transform difference
CamFP
FPixel and right camera image IMG
CamRP
RPixel.Choose p
FAdjacent pixels p
F '(select p among Fig. 5
FLower adjacent pixel as the signal), can be at IMG by projective transformation
CamFIn obtain its corresponding location of pixels p
RF ', p
RF withp
RF 'Distance namely can be used as p
FThe pixel space density value at place.The space density value is more little more winning.
Claims (5)
1. the calculating of overlapping region optimal dividing and generation method in the composite diagram of a viewing system is characterized in that described method comprises:
The pixel of overlapping region in the composite diagram of vehicle-mounted viewing system, obtain respectively the coordinate of corresponding adjacent front camera original image by projection and coordinate transform, obtain the right of eminent domain of this overlapping region pixel apart from that camera that each camera optical axis center is near, thereby obtain calculating and the generation method of overlapping region optimal dividing in the composite diagram.
2. method according to claim 1 is characterized in that, described method comprises:
If in the not identical situation of each camera inner parameter, the pixel of overlapping region in the composite diagram of vehicle-mounted viewing system, obtain respectively coordinate and the coordinate points pixel space density of corresponding adjacent camera original image by projection and coordinate transform, that camera that density is less is obtained the right of eminent domain of this overlapping region pixel, thereby obtains calculating and the generation method of overlapping region optimal dividing in the composite diagram.
3. method according to claim 1, it is characterized in that, in the picture disply of vehicle-mounted viewing system, cut apart fully according to overlapping region optimal dividing in the composite diagram, fill the mode that represents in different demarcation zone with the raw image data of different cameras.
4. method according to claim 1 is characterized in that, in the picture disply of vehicle-mounted viewing system, determines the display mode of the data kneading method of weight according to the optimum marginal position relationship of each pixel distance of overlapping region in the composite diagram.
5. the computing method of camera coordinates of original image coordinates point pixel space density is characterized in that, described method comprises:
Any pixel and its neighbor obtain looking around two coordinate points of composograph in the original image by projection and coordinate transform, the inverse of the distance of these two points can be used as camera coordinates of original image coordinates point pixel space density, when dividing in the composite diagram overlapping region, the camera that pixel space density is little is obtained the right of eminent domain of this overlapping region pixel.
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Cited By (5)
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| CN103985118A (en) * | 2014-04-28 | 2014-08-13 | 无锡观智视觉科技有限公司 | Parameter calibration method for cameras of vehicle-mounted all-round view system |
| CN105844225A (en) * | 2016-03-18 | 2016-08-10 | 乐卡汽车智能科技（北京）有限公司 | Method and device for processing image based on vehicle |
| CN107066954A (en) * | 2017-03-23 | 2017-08-18 | 浙江零跑科技有限公司 | A kind of vehicle-mounted 360 degree are looked around display methods and system |
| WO2019144999A1 (en) * | 2018-01-29 | 2019-08-01 | Conti Temic Microelectronic Gmbh | Surround view system for a vehicle |
| CN111201788A (en) * | 2017-10-13 | 2020-05-26 | 株式会社电装 | Image processing apparatus |
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| DE102018201316A1 (en) * | 2018-01-29 | 2019-08-01 | Conti Temic Microelectronic Gmbh | Surroundview system for one vehicle |
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