CN103780829A - Integrated processing system of multiple cameras and method thereof - Google Patents
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Abstract
An integrated processing system of multiple cameras and a method thereof are provided. A first camera shoots a first image; the second camera shoots a second image; the control module is connected with the first camera and the second camera and receives the first image and the second image; the control module respectively selects at least three reference points at corresponding positions from the first image and the second image; the control module selects a viewing target from the first image, calculates a set of coordinate conversion parameters according to the reference point, calculates the position of the viewing target in the second image according to the coordinate number conversion parameters, and adjusts the shooting view of the second camera to enable the second camera to shoot the viewing target.
Description
Technical field
The present invention relates to a kind of integration system and method for multiple electronic equipment, particularly a kind of integrating treatment system of many video cameras and method thereof.
Background technology
Along with the universalness of watch-dog, more and more people can install watch-dog and ensure property and the personal safety of self.For can be without the monitoring at dead angle, therefore there is manufacturer to propose the video camera of can panorama (panorama) taking.And the implementation of panoramic camera can be engaged by many arrangements of mirrors head and form, also can utilize with single fish eye lens (fisheye lens) and realize.The advantage of pan-shot is can be comprehensive and watch captured digitized video without the mode at dead angle.
Although having advantages of wide angle, takes by panoramic camera, because panoramic camera cannot carry out the processing of optical zoom.So arbitrary convergent-divergent processing of watching target to carry out image that beholder cannot be from full-view image.Although panoramic camera can be by the mode of digital zoom, to watching target to carry out the convergent-divergent of image.But such processing mode is only to utilize the interpolation processing of pixel, so the image analytic degree after digital zoom can decline to a great extent, make digitized video have the not good problem of image quality.If in the time that from panoramic camera, the place away from has an accident, more difficult the watching from full-view image of beholder watched target clearly.
Compared to panoramic camera, revolution zoom camera (pan-tilt-zoom, PTZ) can carry out the processing of optical zoom.Therefore turn round zoom camera can further (zoom in) take the visual field, the target of watching at a distance can be exaggerated.But the shooting visual field of revolution zoom camera is less than the shooting visual field of panoramic camera.So US7,990,422 and US7,479,979 propose to utilize a panoramic camera another revolution zoom camera of arranging in pairs or groups to take same scene.
But because the visual angle of the video camera of diverse location can not be in full accord, if while driving in this environment another revolution zoom camera with the viewpoint of a certain panoramic camera in environment, the visual field there will be error.Therefore existing video camera sets up mode, need to be by two cameras to set up to relax the problems referred to above near mode each other as far as possible.
Summary of the invention
In view of above problem, the object of the present invention is to provide a kind of integrating treatment system of many video cameras, difference is taken to the video camera in the visual field and integrate, the identical target of watching is done to interlock processing.
The integrating treatment system of the disclosed many video cameras of the present invention comprises the first video camera, the second video camera and control module.The first video camera is taken the first image; The second video camera is taken the second image, and the coverage of the first image contains the coverage of the second image at least partly; The second video camera carries out panorama map interlinking to the second image under different visual angles, and obtains full-view image; Control module receives the first image and full-view image; Control module is chosen respectively the reference point of at least three relevant positions from the first image and full-view image; Control module is chosen and is watched target from the first image; Control module is chosen contiguous three reference points of watching target and is carried out the affine conversion parameter calculation operations of the first image to the second image and obtain conversion parameter; Control module is carried out affine conversion process calculating according to conversion parameter and is watched the position of target in full-view image; Control module is adjusted the captured scope of the second video camera, the second video camera is taken and watched target.
The present invention also proposes a kind of processing method of integrating many video cameras and comprises the following steps: take the first image by the first video camera respectively, the second video camera is taken the second image, and the shooting visual field of the second image is contained in the shooting visual field of the first image at least partly; The second image under different visual angles is carried out to panorama map interlinking, and obtain full-view image; From the first image and full-view image, choose respectively the reference point of at least three relevant positions; From the first image, choose and watch target; Choosing contiguous three reference points of watching target carries out the affine conversion parameter calculation operations of the first image to the second image and obtains conversion parameter; Carry out affine conversion process calculating according to conversion parameter and watch the position of target in full-view image; Adjust the second captured visual field of video camera, the second video camera is taken and watched target.
The integrating treatment system of many video cameras proposed by the invention and method thereof system is applied in many different video cameras of taking the visuals field, make that many video cameras can be synchronous to the same shooting of watching target interlock.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Fig. 1 is configuration diagram of the present invention;
Fig. 2 A is the picture view of the first image of the present invention;
Fig. 2 B is the picture view of the second image of the present invention;
Fig. 2 C is the map interlinking result schematic diagram of the second image of the present invention;
Fig. 2 D is the schematic diagram that sets up of the first video camera of the present invention and the second video camera;
Fig. 2 E is that the another kind of the first video camera of the present invention and the second video camera sets up schematic diagram;
Fig. 3 A is operation workflow schematic diagram of the present invention;
Fig. 3 B is the map interlinking process schematic diagram of the part of the second image of the present invention;
Fig. 3 C is the map interlinking result schematic diagram of the part of the second image of the present invention;
Fig. 3 D is the map interlinking result schematic diagram of the part of the second image of the present invention;
Fig. 3 E is the map interlinking result schematic diagram of the second image of the present invention;
Fig. 4 is that the reference point of the first image of the present invention and the second image is selected schematic diagram.
It is characterized in that,, Reference numeral
The first video camera 110
The first image 111
The second video camera 120
The second image 121
Full-view image 122
Control module 130
Processing unit 131
Storage element 132
First signal input unit 133
Secondary signal input unit 134
Signal output unit 135
Display unit 136
Affine conversion processor 141
Interlock integrated process 142
First group of reference point 410
Second group of reference point 420
Embodiment
Below in conjunction with accompanying drawing, structural principle of the present invention and operation principle are described in detail:
Please refer to shown in Fig. 1, it is configuration diagram of the present invention.The integrating treatment system of many video cameras of the present invention comprises: the first video camera 110, the second video camera 120 and control module 130.The first video camera 110 is taken the first image 111, the second video cameras 120 and is taken the second image 121.The kind of the first video camera 110 is to be flake video camera or panoramic camera or wide-angle camera, and the present embodiment is take flake video camera as example, and therefore the first image 111 is to be full-view image (or be called flake image, please refer to Fig. 2 A).Generally speaking, full-view image can be contained the shooting visual field of 360 degree.The second video camera 120 is for revolution zoom camera or has the digital video camera that turns round zoom, and the second video camera 120 is taken the second image 121.And the imaging of the second image 121 please refer to Fig. 2 B.The second video camera 120 can carry out optical zoom (or digital zoom) and adjust the processing of taking the visual field.Utilize existing algorithm (as panorama map interlinking panorama stitching) the second image 121 map interlinkings under the different visuals field can be become to full-view image 122, as shown in Figure 2 C.Substantially, the shooting visual field of part full-view image 122 is at least contained in the shooting visual field of the first image 111.Do not contain the situation in the shooting visual field of full-view image 122 for the shooting visual field of the first image 111, do not process accordingly in the present invention.
The erection mode of the first video camera 110 and the second video camera 120, except two cameras being arranged to adjacent position, also can set up the first video camera 110 and the second video camera 120 in mode separated by a distance.It is characterized in that,, the captured visual field of the first video camera 110 at least needs to contain the captured part visual field of the second video camera 120.Take in same room as example, the first video camera 110 can with the second video camera 120 arranged side by side be arranged at adjacent position, as shown in Figure 2 D.In addition, also the first video camera 110 and the second video camera 120 can be arranged to the diverse location in room, as shown in Figure 2 E.
The electronic installation that control module 130 can be passed through personal computer, network video register (network video recorder, DVR), embedded system (embedded system) or have a computing capability is realized.Control module 130 has processing unit 131, storage element 132, first signal input unit 133, secondary signal input unit 134, signal output unit 135 and display unit 136.
Processing unit 131 is connected in storage element 132, first signal input unit 133, secondary signal input unit 134, signal output unit 135 and display unit 136.Storage element 132 records the first image 111, the second image 121, full-view image 122, affine conversion processor 141 and interlock integrated process 142, and storage element 132 also can optionally store mobile (motion detection) handling procedure or object detection (object detection) program of detecting in addition.First signal input unit 133 is connected in the first video camera 110 and the second video camera 120, in order to receive the first image 111, the second image 121 and full-view image 122.Splicing ear quantity the indefinite of first signal input unit 133 only represent not its restricted number with single in Fig. 1.
Secondary signal input unit 134 receives an operational order, in order to select one to watch target.For the object that clearly definition is taken, watched target so be defined as in the present invention.This operational order is manually to be assigned or automatically assigned or assigned by other external electrical calculation elements according to the result of mobile detection or object detection by control module itself by user.Signal output unit 135 is connected in the second video camera 120, and signal output unit 135 sends and adjusts the driving instruction of taking the visual field to the second video camera 120.Although in the present invention, be that signal output unit 135 and first signal input unit 133 are divided into two independent components, can be according to content of the present invention by its combination for this area person.Similarly, although in the present invention, be that signal output unit 135 and secondary signal input unit 134 are divided into two independent components, can be according to content of the present invention by its combination for this area person.Display unit 136, in order to play the first image 111 and the second image 121, is used and is provided user to watch.
Be connected in after control module 130 at the first video camera 110 and the second video camera 120, processing unit 131 will be carried out the interlock integrated process 142 of video camera according to the first image 111 and the second image 121.Please refer to shown in Fig. 3 A, it is to be operation workflow schematic diagram of the present invention.The interlock integrated process of many video cameras of the present invention comprises the following steps:
Step S310: take the first image by the first video camera respectively, the second video camera is taken the second image;
Step S320: the second image to different visual angles carries out panorama map interlinking, and obtains full-view image;
Step S330: the reference point of choosing respectively at least three relevant positions from the first image and full-view image;
Step S340: choose and watch target from the first image again;
Step S350: choose the most approaching three reference points of watching target and carry out the affine conversion parameter calculation operations of the first image to the second image and obtain conversion parameter;
Step S360: carry out affine conversion process calculating according to conversion parameter and watch the position of target in full-view image; And
Step S370: adjust the second captured visual field of video camera, the second video camera is taken and watched target.
First take the first image 111, the second video cameras 120 by the first video camera 110, respectively and take the second image 121.The second video camera 120 uses existing algorithm (as panorama map interlinking panorama stitching) to carry out panorama map interlinking to the second image 121 under different visual angles, to obtain full-view image 122, please refer to shown in Fig. 3 B, Fig. 3 C and Fig. 3 D, the image that it is part of the present invention engages schematic diagram.In Fig. 3 B and Fig. 3 C, taken respectively the second image 121 of different visual angles, and the visual angle that these second images 121 are contained is adjacent background.Are adjacent backgrounds for highlighting multiple captured second images 121, the region that therefore has part in the second image 121 is overlapping.The left side in Fig. 3 B and Fig. 3 C is the second captured image 121, and meaning does not pass through the image of deformation process.The right in Fig. 3 B and Fig. 3 C is the image through distortion processing.The first image 111 is by fish eye lens or the captured image of wide-angle lens, and therefore the second image 121 need to carry out distortion processing and just can carry out the processing of panorama map interlinking.
Panorama map interlinking (Panorama) is in order to splice multiple captured the second video camera 120 second images 121.Generally speaking, the mode of panorama map interlinking can engage according to the many stack features point (feature) in multiple second images 121, and two second images 121 can scene in the time merging or the object foundation of docking.The processing that the second image 121 can splice after distortion, as shown in Figure 3 D.After aforesaid splicing is processed, can obtain the panorama map interlinking of part.In like manner, for other regions in the first image 111, the second video camera 120 can be taken and process accordingly.Finally, other second images 121 are also carried out can obtain after aforesaid splicing processing the full-view image 122 of Fig. 3 E.
Control module 130 receives the first image 111 and full-view image 122.In the first image 111 and full-view image 122, find out the reference point of same position.And the mode of choosing reference point is except can being selected voluntarily by user, also can find out corresponding points position identical in the first image 111 and full-view image 122 by feature point extraction and identification comparison technology (feature point extraction and matching), please refer to shown in Fig. 4.Therefore the shooting visual field of at least part of full-view image 122 need be contained in the shooting visual field of the first image 111 of the present invention.Next, the present invention can be by user from two images for choose multiple reference points the region of containing simultaneously.Generally speaking, the present invention will be more than at least three for the number needs of reference point.
For clearly demonstrating reference point selected in different images, be therefore first group of reference point 410 to the sets definition of reference point selected in the first image 111; And the set of selected reference point is second group of reference point 420 in full-view image 122.And the quantity of first group of reference point 410 is equal to the quantity of second group of reference point 420.
Next, from the first image, choose and watch target.System can automatically be chosen and watched target or manually chosen by user by modes such as movement detect.Processing unit 131 carries out affine conversion processor 141 according to first group of reference point 410 and second group of reference point 420, in order to calculate the coordinate conversion parameter between the first image 111 and the second image 121.Affine conversion process of the present invention is to carry out computing according to following formula:
Formula 1
It is characterized in that,, (Xi, Yi) is the coordinate of the reference point of the first image 111, and (Xo, Yo) is the coordinate of the reference point of the second image 121, and (a1, a2, a3, b1, b2, b3) is this conversion parameter.
Processing unit 131 is selected contiguous three reference points of watching target, is three reference points the shortest with watching target range in the present embodiment, but not as limit.Choosing of reference point is more approaching, more can the complete image presenting after conversion.Otherwise if when the selected distance of reference point is far away, presenting of picture may have larger error.Processing unit 131 is brought three vertex coordinates of first group of reference point 410 and second group of reference point 420 in the formula 1 of affine transformation into.Thus, processing unit 131 can obtain hexa-atomic linear function group.Processing unit 131 is solving all (six) conversion parameters according to equation.And the correspondence position of full-view image 122 is arrived in the target location mapping (mapping) of watching that processing unit 131 calculates the first image according to these conversion parameters.And the first image in Fig. 4 is chosen and is watched target (being to represent with starlike symbol).Please refer to shown in Fig. 4, it is the reference point selection schematic diagram of the first image of the present invention and full-view image.Processing unit 131 is selected three reference points (choosing of enclosing in Fig. 4, corresponding location of pixels represents with dashed line segment) from the first image 111 and full-view image 122.
Processing unit 131 calculates this according to transitional information and watches the correspondence position of target in the second film.Then, processing unit 131, according to aforesaid result of calculation, is adjusted the shooting visual field that the second video camera 120 is watched.In other words the shooting visual field that, processing unit 131 can be adjusted the second video cameras 120 is for to watch centered by target.
Beholder as long as select arbitrary target of watching from the first image 111, if there is corresponding transitional information this target region, control module 130 will be adjusted the second video camera 120 shootings, and this watches target.Or, in during processing unit 131 is carried out mobile trace routine, while having any imaged object to move if detect in the first image 111, processing unit 131 judges that the object being detected is positioned at the position of the first image 111 and judges whether the position of object has corresponding transitional information.If when the position of this object exists transitional information, processing unit 131 drives the second video camera 120 to watch.
The integrating treatment system of many video cameras proposed by the invention and method thereof are to be applied in many different video cameras of taking the visuals field, make that many video cameras can be synchronous to the same shooting of watching target interlock.
Certainly; the present invention also can have other various embodiments; in the situation that not deviating from spirit of the present invention and essence thereof; those of ordinary skill in the art are when making according to the present invention various corresponding changes and distortion, but these corresponding changes and distortion all should belong to the protection range of the appended claim of the present invention.
Claims (11)
1. an integrating treatment system for video camera more than, is characterized in that, comprising:
One first video camera, in order to take one first image;
One second video camera, in order to take one second image, this first video camera is electrically connected at this second video camera, and the shooting visual field of this second image is contained in the shooting visual field of this first image at least partly; And
One control module, this control module receives this first image and this second image, this control module is chosen respectively a reference point of at least three relevant positions from this first image and this second image, this control module is chosen one and is watched target from this first image, this control module watches target and multiple this reference point to calculate one group of coordinate conversion parameter according to this, carry out a coordinate conversion and calculate this and watch the position of target in this second image according to this group coordinate conversion parameter, this control module is adjusted this captured visual field of the second video camera and is watched target in order to take this.
2. the integrating treatment system of many video cameras according to claim 1, is characterized in that, this coordinate is converted to affine conversion, carries out computing according to following formula:
Xi, Yi are the coordinate of this reference point of this first image, and Xo, Yo are the coordinate of this reference point of this second image, and a1, a2, a3, b1, b2, b3 are this coordinate conversion parameter.
3. the integrating treatment system of many video cameras according to claim 1, is characterized in that, this first video camera is flake video camera or panoramic camera or wide-angle camera.
4. the integrating treatment system of many video cameras according to claim 1, is characterized in that, this second video camera is revolution zoom camera or the video camera with numeral revolution zoom function.
5. the integrating treatment system of many video cameras according to claim 1, is characterized in that, multiple different these second images of taking the visual field are carried out panorama map interlinking by this second video camera, and produce a full-view image, and be output as this second image with this full-view image.
6. the integrating treatment system of many video cameras according to claim 1, is characterized in that, this control module determines that according to the result of the result of mobile Check processing, object detection processing or by user this watches target.
7. the integrating treatment system of many video cameras according to claim 1, is characterized in that, multiple these reference points are to watch three the shortest those reference points of target range with this.
8. an integration processing method for video camera more than, is characterized in that, comprises the following steps:
Take one first image by one first video camera respectively, one second video camera is taken one second image, and the shooting visual field of this second image is contained in the shooting visual field of this first image at least partly;
From this first image and this second image, choose respectively a reference point of at least three relevant positions;
From this first image, choose one and watch target;
Choose multiple these reference points and calculate one group of coordinate conversion parameter;
Carrying out a coordinate conversion process according to this group coordinate conversion parameter calculates this and watches the position of target in this second image; And
Adjust this captured visual field of the second video camera, make this second video camera watch target in order to take this.
9. the integration processing method of many video cameras according to claim 8, it is characterized in that, comprise in the step of taking this second image: multiple different those second images of taking the visual field are carried out panorama map interlinking by this second video camera, produce a full-view image, and be output as this second image with this full-view image.
10. the integration processing method of many video cameras according to claim 8, is characterized in that, this coordinate conversion is to be affine conversion, carries out computing according to following formula:
Wherein, Xi, Yi are the coordinate of the pixel of this first image, and Xo, Yo are the coordinate of the pixel of this second image, and a1, a2, a3, b1, b2, b3 are this coordinate conversion parameter.
The integration processing method of 11. many video cameras according to claim 8, is characterized in that, multiple these reference points of choosing are to watch three the shortest those reference points of target range with this.
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| TW101138328 | 2012-10-17 | ||
| TW101138328A TWI456985B (en) | 2012-10-17 | 2012-10-17 | A multiple camera system and method therefore |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107920235A (en) * | 2017-12-22 | 2018-04-17 | 神思电子技术股份有限公司 | A kind of video monitoring camera inter-linked controlling method and device |
| CN109963069A (en) * | 2017-12-26 | 2019-07-02 | 技嘉科技股份有限公司 | The method of photographic device and running photographic device |
| CN111614898A (en) * | 2016-10-05 | 2020-09-01 | 三星电子株式会社 | Image processing system |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104935866B (en) * | 2014-03-19 | 2018-07-20 | 华为技术有限公司 | Realize method, synthesis device and the system of video conference |
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| AR064274A1 (en) * | 2006-12-14 | 2009-03-25 | Panasonic Corp | MOVEMENT IMAGE CODING METHOD, MOVING IMAGE CODING DEVICE, MOVING IMAGE RECORDING METHOD, RECORDING MEDIA, MOVING IMAGE PLAYBACK METHOD, IMPROVEMENT AND IMPROVEMENT SYSTEM |
| JP5133734B2 (en) * | 2008-02-26 | 2013-01-30 | セイコーインスツル株式会社 | Image sensor |
| JP5181840B2 (en) * | 2008-05-30 | 2013-04-10 | ソニー株式会社 | Solid-state imaging device, driving method of solid-state imaging device, and electronic apparatus |
| US8339506B2 (en) * | 2009-04-24 | 2012-12-25 | Qualcomm Incorporated | Image capture parameter adjustment using face brightness information |
| KR101993573B1 (en) * | 2010-04-01 | 2019-06-26 | 시리얼 테크놀로지즈 에스.에이. | Method and device for encoding three-dimensional scenes which include transparent objects in a holographic system |
| TWI535292B (en) * | 2010-12-31 | 2016-05-21 | 派力肯影像公司 | Capturing and processing of images using monolithic camera array with heterogeneous imagers |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111614898A (en) * | 2016-10-05 | 2020-09-01 | 三星电子株式会社 | Image processing system |
| US11962906B2 (en) | 2016-10-05 | 2024-04-16 | Samsung Electronics Co., Ltd. | Image processing systems for correcting processed images using image sensors |
| CN107920235A (en) * | 2017-12-22 | 2018-04-17 | 神思电子技术股份有限公司 | A kind of video monitoring camera inter-linked controlling method and device |
| CN109963069A (en) * | 2017-12-26 | 2019-07-02 | 技嘉科技股份有限公司 | The method of photographic device and running photographic device |
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| TW201410015A (en) | 2014-03-01 |
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