CN103517041B - Based on real time panoramic method for supervising and the device of polyphaser rotation sweep - Google Patents
Based on real time panoramic method for supervising and the device of polyphaser rotation sweep Download PDFInfo
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Abstract
The present invention proposes a kind of real time panoramic method for supervising based on polyphaser rotation sweep and device, the panorama completing 360 degree of panorama environment presents, and realizes constantly updating panoramic picture.Step one, initialization; Step 2, every platform picture pick-up device gather a two field picture respectively, and carry out pixel intensity compensation, and the sampled result of every platform equipment is kept in respective sequence of subsampled images respectively, the angle information simultaneously during record present sample residing for rotary head; Show the initial pictures of each image sequence, according to the relative position installed between camera, determine the often position of initial frame on 360 degree of panoramic pictures in group; Step 3, choose an image sequence, extract previous frame A and present frame B, detect and describe the characteristic point in ROI region, then the characteristic point that A, B two extracts in frame is mated, adjust the non-maxima suppression threshold value in feature detection according to matching result; Step 4, according to matching result calculate homography matrix.
Description
Technical field
The invention belongs to image processing field and technical field of video monitoring, be specifically related to the rotation sweep overall view monitoring system of polyphaser.
Background technology
Existing panoramic imaging apparatus is mainly divided three classes, and one is rely on special imaging device such as fish eye lens to obtain image with great visual angle; Another kind of is rely on the picture splicing that multiple camera is taken the photograph covering different area of visual field to form large scene image; 3rd class is that the image sequence of dependence one rotating camera shooting surrounding environment carries out splicing fusion and completes panoramic imagery.But special imaging device image captured by fish eye lens has serious distortion (CN102222337A); The method that Equations of The Second Kind polyphaser scene merges wants covering 360 degree of scopes to need a lot of imaging device, and cost is high, system complex (CN102117008A; CN101866482B); The slewing of last class one camera is subject to the restriction poor real of rotary speed and joining method, and upgrading 360 degree of scenes once needs chronic (CN101221351B).The overall view monitoring task of 360 degree, not only needs the visual field of complete display, also will consider real-time, and the factor such as system cost.
Summary of the invention
The present invention is intended to overcome above defect, and propose a kind of real time panoramic method for supervising based on polyphaser rotation sweep and device, the panorama completing 360 degree of panorama environment presents, and realizes constantly updating panoramic picture.On the basis providing 360 degree of panoramic pictures, avoid distortion, required image collecting device quantity is few, without the particular/special requirement such as wide-angle, flake, system is simple, reaches high real-time, and the many imaging devices imaging through calibration is coherent consistent, and the stability of a system is high.
Based on a real time panoramic method for supervising for polyphaser rotation sweep, comprise the following steps:
Step one, determine the sampling interval according to gantry rotation velocity and viewing field of camera angle size; According to gantry rotation velocity, direction of rotation and angle of visual field size and determine area-of-interest; The parametric calibration of multiple image capture device, at synchronization to each imaging device sampling initial frame, according to imaging device installation site and horizontal alignment side-play amount, be presented on the corresponding initial position of 360 degree of panoramic pictures, the angle information simultaneously during record present sample residing for rotary head;
Step 2, every platform picture pick-up device gather a two field picture respectively, and carry out pixel intensity compensation, and the sampled result of every platform equipment is kept in respective sequence of subsampled images respectively, the angle information simultaneously during record present sample residing for rotary head; Show the initial pictures of each image sequence, according to the relative position installed between camera, determine the often position of initial frame on 360 degree of panoramic pictures in group;
Step 3, choose an image sequence, extract previous frame A and present frame B, detect and describe the characteristic point in ROI region, then the characteristic point that A, B two extracts in frame is mated, adjust the non-maxima suppression threshold value in feature detection according to matching result;
Step 4, according to matching result calculate homography matrix, identify whether to meet splicing condition according to the parameter in homography matrix; Meet splicing condition, according to homography matrix, obtain the side-play amount of B frame relative to A frame, adopt the method being fade-in gradually to go out to eliminate splicing gap, according to side-play amount, the splicing of B frame is shown to A frame on panoramic picture; If do not meet splicing condition, receive current angular information, on this basis, frame B is presented at the relevant position of panoramic picture.
Whether step 5, detection have next frame, if had, go to step one, otherwise terminate.
Parametric calibration described in step one comprises: a frame of sampling when every platform imaging device rotates past The Cloud Terrace 0, pass through images match, carry out the parametric calibration of whole imaging device, comprise vertical shift calibration, horizontal-shift calibration, luminance gain calibration.
The non-maxima suppression threshold value adjusted in step 3 in feature detection adopts the feature point detecting method in surf (Speeded-UpRobustFeatures) algorithm to carry out the extraction of characteristic point; ORB (ComparativeEvaluationofBinaryFeatures) characteristics algorithm is adopted to be described the characteristic point detected again; Carry out characteristic matching according to the characteristic point of A, B two in frame afterwards, and matching result is screened; Dependent thresholds in amendment feature detection, makes characteristic point quantity remain on the least possible numerical value of satisfied coupling demand.
Based on a real time panoramic supervising device for polyphaser rotation sweep, comprising:
Input module, be fixed on turntable by one or more image capture device, different angles taken by imaging device, and relative position is fixed, often once to sample through to build after a while, the sampled images of each imaging device forms an image sequence respectively, requires that the consecutive frame in each sequence needs enough overlapping regions, provides the buffer storage of up-to-date adjacent two frames;
Calibration module, calibrates parameter between different imaging device, comprises vertical shift calibration, horizontal-shift calibration, luminance gain calibration;
Concatenation module, in each image sequence, present frame all carries out characteristic matching with previous frame, calculates side-play amount, eliminates splicing seams simultaneously, determine present frame display position;
Splicing failure response module, when linear mosaic failure being detected in image processing module, the The Cloud Terrace position of response when utilizing present frame to gather and the relative position of image capture device on turntable corresponding to this image sequence, estimate the display position of present frame in panoramic picture;
Display module, provides the buffer storage of image to be displayed and positional information, according to the information that image procossing or splicing failure handling module provide, upgrades relevant position, complete the renewal of panoramic picture in panoramic picture with present frame.
Beneficial effect of the present invention:
Real time panoramic method for supervising based on polyphaser rotation sweep disclosed by the invention and device, adopt the method for multiple image capture device rotary grasping image sequence, obtain the information of panorama environment, the renewal rate of panoramic picture has been increased exponentially than passing one camera rotary splicing equipment, and required imaging device quantity is few, general camera can meet the demands, and therefore maintains the hardware overhead of low requirement; Make the present invention's characteristic matching stitching algorithm as compared with the past have higher scale invariability and illumination invariant based on the Analysis On Multi-scale Features point detecting method of Hessian determinant and ORB character description method, make image mosaic more stable and accurately; Meanwhile, utilize the angle information that The Cloud Terrace returns, can the situation of aid in treatment image mosaic failure, the reliability of system is improved.
Accompanying drawing explanation
Fig. 1 is two camera lens rotation table devices of the embodiment of the present invention;
Fig. 2 is the flow chart of embodiment of the present invention Algorithm in Creating Panoramic Image;
Fig. 3 is the embodiment of the present invention 360 degree of panoramic mosaic schematic diagrames.
Specific implementation method
Below in conjunction with the accompanying drawing in the embodiment of the present invention, remove the technical scheme in the embodiment of the present invention, intactly describe, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Being exemplary below by the embodiment be described with reference to the drawings, only for explaining the present invention, and can not limitation of the present invention being interpreted as.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
As shown in Figure 1, adopt N number of picture pick-up device (getting N=3 in the present embodiment) in the present embodiment, on turntable, interval 360 °/N degree is fixed, and viewing field of camera angle is v
fav is got in the present embodiment
fa=20 °, sampled images resolution is L
width× L
height; Consecutive frame determined minimum degree is set as α
min(0 < α
min< 1), wherein α
mifor the empirical value of this method generally gets 0.3, namely reference frame (left figure) ROI is transverse axis L
width× α pixel is to L
widthpixel region, present frame (right figure) ROI is that transverse axis 0 pixel is to L
width× (1-α) pixel region; In addition, the turntable in the present embodiment turns clockwise along overlooking.The width of panorama viewing area is W, is highly H.
A kind of overall view monitoring method based on polyphaser rotary taking of the present invention, as Fig. 2 for shown in, specifically comprise the following steps:
Step one, initialization turntable, clockwise uniform rotation from turntable 0, rotating speed is w.Sampling initial frame is also presented on the initial position of 360 degree of panoramic pictures, the angle information simultaneously during record present sample residing for rotary head.
Wherein, the sampling interval needs to determine according to gantry rotation velocity and viewing field of camera angle size.According to viewing field of camera angle v
fa, consecutive frame degree of overlapping α, rotating speed w, can calculating sampling interval t:
Because all imaging devices are fixed on turntable, therefore all keep identical angular velocity of rotation w, the sampling interval is t.
Calibration comprises the following steps:
1. choosing the picture frame that camera 1 gathers is frame A, appoint that to get another camera sample frame be frame B, detect the characteristic point in two frames respectively, then the characteristic point that A, B two extracts in frame is mated, according to the non-maxima suppression threshold value in matching result adjustment feature detection; Concrete, described step comprises: adopt the feature point detecting method in surf (Speeded-UpRobustFeatures) algorithm to carry out the extraction of characteristic point; ORB (ComparativeEvaluationofBinaryFeatures) characteristics algorithm is adopted to be described the characteristic point detected again; Carry out characteristic matching according to the characteristic point of A, B two in frame afterwards, and matching result is screened.Detailed description is shown in step 3.
2., according to matching result, calculate homography matrix, identify whether to meet splicing condition according to the parameter in homography matrix.If do not meet splicing condition, make the corresponding camera of frame B again capture a two field picture The Cloud Terrace 0, repeat step 3-1, until meet splicing condition.
3. horizontal-shift calibration value x '
i=h
13, vertical shift calibration value y '
i=h
23, statistics A, B two frame overlapping region image pixel intensities and
wherein (x, y) and (x ', y ') is respectively the pixel coordinate mutually aimed in frame A and frame B, Ω and Ω ' is overlapping region corresponding in frame A and frame B, and i is corresponding camera numbers, ε
1=0.Repeat 1 to 3, until all cameras all pass through calibration.
Step 2, image sequence initialization.Every platform picture pick-up device gathers a two field picture respectively, and carries out pixel intensity compensation, namely for all pixels in present frame, and I (x, y)=I (x, y)+ε
i, i is the imaging device numbering that this frame is corresponding.The sampled result of every platform equipment is kept in respective sequence of subsampled images respectively, the angle information simultaneously during record present sample residing for rotary head.
According to the relative position installed between camera, determine the often position of initial frame on 360 degree of panoramic pictures in group.The original position that sequence 1 image shows in panoramic picture is (X
1, Y
1), then the correspondence position of sequence 2 image is (X
2, Y
2), the correspondence position of sequence 3 image is (X
3, Y
3), wherein X
1=0,
Step 3, chooses an image sequence, extracts previous frame A and present frame B, detects and describe the characteristic point in ROI region, then mates the characteristic point that A, B two extracts in frame, adjusts the dependent thresholds in feature detection according to matching result; Concrete, described step 3 comprises: adopt the feature point detecting method in surf algorithm to carry out the extraction of characteristic point; ORB characteristics algorithm is adopted to be described the characteristic point detected again; Carry out characteristic matching according to the characteristic point of A, B two in frame afterwards, and matching result is screened; Dependent thresholds in amendment feature detection, makes characteristic point quantity remain on the least possible numerical value of satisfied coupling demand, with the saving-algorithm time.
The choosing of image characteristic point will be considered the brightness change that environment brings and move the dimensional variation brought due to supervisory control system, will note the time overhead of algorithm simultaneously, ensure can complete whole image processing work in a sampling interval t.Feature point detection is based on the Analysis On Multi-scale Features point detecting method of the Hessian determinant in surf algorithm, concrete: first to set up metric space, the approximation of the Hessian matrix determinant of each pixel in computed image.Hessian matrix is:
Wherein σ yardstick is L
xxthat gaussian filtering second order is led
with the result of input picture convolution, L
xyand L
yycompute classes seemingly,
surf algorithm is in order to the easy to use box Filtering Template that calculates is with the convolution D of input picture
xx, D
xy, D
yyreplace L
xx, L
xy, L
yy.Hessian determinant can be expressed as:
det(H
approx)＝D
xxD
yy-(0.9D
xy)
2
Set a threshold value θ subsequently
fcarry out non-maxima suppression and detect characteristic point, then in metric space interpolation, obtain stable characteristic point position and scale-value.θ in the present embodiment
finitial value be set to 400, and carry out self-adaptative adjustment with splicing effect, in order to balance detection effect and time overhead.Concrete,
Wherein, M
goodfor the feature point pairs number after screening, M
maxand M
minbe respectively the adjustment boundary of setting, in the present embodiment, M
max=40, M
min=15.
Feature is described, for characteristic matching is ready after obtaining characteristic point.Concrete, adopt the character description method in ORB algorithm herein, by random point to the feature coding forming two-value, then add the description that rBRIEF feature carries out characteristic direction.
Use BF (BruteForce) algorithm to carry out characteristic matching after obtaining the description of characteristic point, and Preliminary screening is carried out to matching result, reject the feature point pairs that distance between two points is greater than maximum spacing 50%.The feature point pairs retained is then as the data calculating homography matrix.
Step 4, according to matching result, calculates homography matrix, identifies whether to meet splicing condition according to the parameter in homography matrix.
Homography matrix H is the transformation matrix between source images coordinate to target image coordinate.
If (x
1, y
1) and (x
2, y
2) be respectively pixel coordinate in pixel coordinate in original image and target image, then
All cameras in native system are all fixed on turntable, are in same level, and therefore there is not rotation transformation and projective transformation when normal splicing, in homography matrix H, element should meet: h
11, h
22be approximately 1, h
12, h
21, h
31, h
32be approximately 0.Therefore impose a condition ξ=h
12+ h
21+ h
31+ h
32, as ξ < ξ
mintime, think and splice successfully, otherwise be then considered as splicing unsuccessfully, ξ
mindetermine based on experience value, in the present embodiment ξ
min=0.1.
Step 5, meets splicing condition, according to homography matrix, obtains the side-play amount of B frame relative to A frame, adopt the method being fade-in gradually to go out to eliminate splicing gap, the splicing of B frame is shown on panoramic picture to A frame according to side-play amount; If do not meet splicing condition, receive current angular information, on this basis, frame B is presented at the relevant position of panoramic picture.
If splice result for splice successfully in step 4, then h in homography matrix
13, h
23namely horizontal offset x is respectively
offsetwith vertical offset y
offset.Because between two frames, sample effect may there are differences, now there is obvious vestige at the splicing seams place of two width pictures, adopts here and is fade-in gradually to go out method processing overlapping region elimination seam.Concrete grammar is as follows:
Make I
a(x, y), I
b(x, y) is the image intensity at pixel (x, the y) place in frame A and frame B, w
seamwidth k for overlapping region is the pixel count of current pixel distance overlapping region left margin.Then
If splicing result in step 4 is unsuccessfully, then read the turntable angle information u of present frame, for sequence 1, the horizontal offset of present frame is
horizontal offset for sequence 2,3 present frame is
Wherein N be sequence always, n is current sequence number, 0≤n≤N, in the present embodiment N=3, and vertical offset equals the vertical offset of respective sequence previous frame.Final side-play amount should add the offset calibration of corresponding camera, x
offset=x
offset+ x '
i, y
offset=y
offset+ y '
i.
As shown in Figure 3, finally according to horizontal offset and vertical offset, the present frame in each image sequence is presented at the relevant position in panoramic picture.
Step 6, detects whether have next frame, if had, goes to step two.
The invention discloses a kind of real time panoramic supervising device based on polyphaser rotation sweep, comprise with lower module:
Input module, is fixed on turntable by one or more image capture device, and different angles taken by imaging device, and relative position is fixed.Often once to sample through to build after a while, the sampled images of each imaging device forms an image sequence respectively, requires that the consecutive frame in each sequence needs enough overlapping regions, provides the buffer storage of up-to-date adjacent two frames.As have employed the image capturing system of two camera lenses compositions in the present embodiment, as shown in Figure 1.
Calibration module, calibrates parameter between different imaging device, comprises vertical shift calibration, horizontal-shift calibration, luminance gain calibration.
Concatenation module, in each image sequence, present frame all carries out characteristic matching with previous frame, calculates side-play amount, eliminates splicing seams simultaneously, determine present frame display position.
Splicing failure response module, when linear mosaic failure being detected in image processing module, the The Cloud Terrace position of response when this module utilizes present frame to gather and the relative position of image capture device on turntable corresponding to this image sequence, estimate the display position of present frame in panoramic picture.
Display module, provides the buffer storage of image to be displayed and positional information, according to the information that image procossing or splicing failure handling module provide, upgrades relevant position, complete the renewal of panoramic picture in panoramic picture with present frame.
The explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, concrete execution mode and range of application all will change.In sum, this description should not be construed as limitation of the present invention.
Claims (4)
1., based on a real time panoramic method for supervising for polyphaser rotation sweep, it is characterized in that, comprise the following steps:
Step one, determine the sampling interval according to gantry rotation velocity and viewing field of camera angle size; According to gantry rotation velocity, direction of rotation and angle of visual field size determination area-of-interest; The parametric calibration of multiple image capture device, at synchronization to each imaging device sampling initial frame, according to imaging device installation site and horizontal alignment side-play amount, be presented on the corresponding initial position of 360 degree of panoramic pictures, the angle information simultaneously during record present sample residing for rotary head;
Step 2, every platform picture pick-up device gather a two field picture respectively, and carry out pixel intensity compensation, and the sampled result of every platform equipment is kept in respective sequence of subsampled images respectively, the angle information simultaneously during record present sample residing for rotary head; Show the initial pictures of each image sequence, according to the relative position installed between camera, determine the often position of initial frame on 360 degree of panoramic pictures in group;
Step 3, choose an image sequence, extract previous frame A and present frame B, detect and describe the characteristic point in ROI region, then the characteristic point that A, B two extracts in frame is mated, adjust the non-maxima suppression threshold value in feature detection according to matching result;
Step 4, according to matching result calculate homography matrix, identify whether to meet splicing condition according to the parameter in homography matrix; Meet splicing condition, according to homography matrix, obtain the side-play amount of B frame relative to A frame, adopt the method being fade-in gradually to go out to eliminate splicing gap, according to side-play amount, the splicing of B frame is shown to A frame on panoramic picture; If do not meet splicing condition, receive current angular information, on this basis, frame B is presented at the relevant position of panoramic picture;
Whether step 5, detection have next frame, if had, go to step one, otherwise terminate.
2. a kind of real time panoramic method for supervising based on polyphaser rotation sweep as claimed in claim 1, it is characterized in that, parametric calibration described in step one comprises: a frame of sampling when every platform imaging device rotates past The Cloud Terrace 0, pass through images match, carry out the parametric calibration of whole imaging device, comprise vertical shift calibration, horizontal-shift calibration, luminance gain calibration.
3. a kind of real time panoramic method for supervising based on polyphaser rotation sweep as claimed in claim 1 or 2, it is characterized in that, the non-maxima suppression threshold value adjusted in step 3 in feature detection adopts the feature point detecting method in surf (Speeded-UpRobustFeatures) algorithm to carry out the extraction of characteristic point; ORB (ComparativeEvaluationofBinaryFeatures) characteristics algorithm is adopted to be described the characteristic point detected again; Carry out characteristic matching according to the characteristic point of A, B two in frame afterwards, and matching result is screened; Dependent thresholds in amendment feature detection, makes characteristic point quantity remain on the least possible numerical value of satisfied coupling demand.
4., based on a real time panoramic supervising device for polyphaser rotation sweep, it is characterized in that, comprising:
Input module, be fixed on turntable by multiple image capture device, different angles taken by imaging device, and relative position is fixed, often once to sample through to build after a while, the sampled images of each imaging device forms an image sequence respectively, requires that the consecutive frame in each sequence needs enough overlapping regions, provides the buffer storage of up-to-date adjacent two frames;
Calibration module, calibrates parameter between different imaging device, comprises vertical shift calibration, horizontal-shift calibration, luminance gain calibration;
Concatenation module, in each image sequence, present frame all carries out characteristic matching with previous frame, calculates side-play amount, eliminates splicing seams simultaneously, determine present frame display position;
Splicing failure response module, when linear mosaic failure being detected in image processing module, the The Cloud Terrace position of response when utilizing present frame to gather and the relative position of image capture device on turntable corresponding to this image sequence, estimate the display position of present frame in panoramic picture;
Display module, provides the buffer storage of image to be displayed and positional information, according to the information that image procossing or splicing failure handling module provide, upgrades relevant position, complete the renewal of panoramic picture in panoramic picture with present frame.
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