CN103863192A - Method and system for vehicle-mounted panoramic imaging assistance - Google Patents
Method and system for vehicle-mounted panoramic imaging assistance Download PDFInfo
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- CN103863192A CN103863192A CN201410132684.0A CN201410132684A CN103863192A CN 103863192 A CN103863192 A CN 103863192A CN 201410132684 A CN201410132684 A CN 201410132684A CN 103863192 A CN103863192 A CN 103863192A
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Abstract
The invention relates to a method for vehicle-mounted panoramic imaging assistance. The method comprises the steps that a normal-state splicing model and a close-shot splicing model are preset and stored in a storage module; distance information and image information outside a vehicle body are collected; whether object exists or not is judged, if yes, the close-shot splicing model is partially used for splicing an image of the environment outside the vehicle body, and otherwise, the normal-state splicing model is used for splicing the image of the environment outside the vehicle body; an obtained vehicle-mounted panorama is displayed on an image display module. The invention further provides a system for vehicle-mounted panoramic imaging assistance. Compared with the prior art, the system has the following advantages that a distance measurement device auxiliary system is designed, the splicing models can be changed according to the condition, obtained through a distance measurement device, of the object on the periphery of the vehicle body, the problem that the spliced image is distorted seriously if the object is close to the vehicle body in a vision field overlapping region is solved, and the panoramic image splicing effect is improved. A collision early warning can be displayed on the display module and/or given through a voice system, and the driving safety is improved.
Description
Technical field
The present invention relates to vehicle electric field, specifically a kind of vehicle-mounted panoramic imaging householder method and system thereof.
Background technology
Along with the development of vehicle electronics and computer vision, it is also more and more flourishing that driver assistance carries out the equipment of vehicle control, and various kinds of sensors is constantly increased in vehicle electronics and goes.Reverse Sensor is as a kind of common vehicle electronics, and it utilizes the principle of ultrasonic ranging, gathers near the distance of the object distance car body tailstock, and utilizes display equipment or sound device prompting chaufeur.And vehicle-mounted panoramic imaging system is utilized the image of the camera collection car body all directions around car body, then splice according to camera self parameter and installation parameter, obtain car body 360 degree panoramic pictures around.More than application can be simplified to a certain extent motor vehicle driving difficulty and improve drive safety.
But existing motor vehicle environment situation detecting device has a lot of defects.Although but Reverse Sensor can capture the situation of tailstock place object but cannot obtain the image at tailstock place, make chaufeur in the time of reversing, be easy to due to object in car even the particular case that cannot observe tailstock place completely of blocking of car body cause accident.And existing vehicle-mounted panoramic imaging system is because the reasons such as camera lens cannot be accomplished the perfection fusion between each camera, after each camera image fusion, have the out-of-alignment shortcoming of obvious image.And near near object car body owing to need to taking the splicing effect in far field into account, cause correctly splicing.
On the other hand, due to the restriction of existing vehicle-mounted panoramic splicing camera visibility and Artificial Intelligence Development degree, only depend on image cannot automatically identify car body object situation around.
Summary of the invention
For above-mentioned prior art, the technical problem to be solved in the present invention is: a kind of vehicle-mounted panoramic imaging householder method and system thereof are provided, if solved the problem that can cause splicing serious distortion at overlapping region object near car body, improve the effect of Panorama Mosaic, and the safety of driving.。
In order to address the above problem, the invention provides a kind of vehicle-mounted panoramic imaging householder method, the method comprises the steps:
S1. default normality split-join model and one and above close shot split-join model, and be stored in memory module;
S2. utilize range finder module and image capture module, gather car body outer distance information and graphicinformation;
S3. utilize range information, judge near car body whether have object, if had, carry out next step operation, if do not had, skip to step S5;
S4. use close shot split-join model to carry out Image Mosaics to car body external environment condition in the region that has nearly thing;
S5. use normality split-join model to carry out Image Mosaics to car body external environment condition in the region without nearly thing;
S6. in image display, show gained vehicle-mounted panoramic.
Preferably, the method also comprises the steps:
Threshold value of warning is set, and according to the relation of gained range information and this threshold value of warning, output early warning signal, is specially:
In the time exceeding this threshold value, export early warning signal by warning module;
In the time not exceeding this threshold value, warning module is exported without early warning signal.
Preferably, the output form of described early warning signal can show to give prominence to color in image display, or uses phonetic warning system output.
Preferably, described range information and described multiple split-join models there is one-to-one relationship, range information can be done to smooth change or subsection setup.
Preferably, described threshold value of warning is for setting in advance and being stored in memory module.
In order to address the above problem, the present invention also provides a kind of vehicle-mounted panoramic imaging ancillary system, comprise and be placed in the car body image capture module of the multiple ultra wide-angle imaging heads on four direction all around, the display module showing for image, for storing the memory module of Various types of data information, be placed in multiple sensors of car body surrounding, for gathering the range finder module of range information, be positioned over the auxiliary calibration module of each camera overlapping region, for controlling the data processing module of processing;
Described image capture module, range finder module all input to data processing module, and the vehicle-mounted panoramic image that described data processing module obtains processing is exported by display module, and data processing module and memory module interconnected.
Preferably, also comprise the warning module for exporting early warning information; Described warning module is connected with data processing module.
Preferably, described warning module can be by display module, early warning information to be exported, or voice system, or is connected to car body bearing circle and reaches early warning effect to control car body bearing circle.
Preferably, described distance measuring equipment (DME) is supersonic sounding device or laser ranging system or infrared distance measurement device.
Compared with prior art, tool of the present invention has the following advantages:
One, utilize the method for multisensor combination, design one and had distance measuring equipment (DME) ancillary system, with respect to traditional vehicle-mounted panoramic imaging system, can be according to the car body being obtained by distance measuring equipment (DME) object situation change around split-join model, if solved the problem that can cause splicing serious distortion at ken overlapping region object near car body, improve the effect of Panorama Mosaic.
Two, utilize distance measuring equipment (DME) to carry out anti-collision warning, can be presented on display module and/or by voice system and report to the police, improved drive safety.
Accompanying drawing explanation
Fig. 1 is vehicle-mounted panoramic imaging householder method diagram of circuit of the invention process.
Fig. 2 puts schematic diagram for the auxiliary calibration module of default normality split-join model.
The image schematic diagram that Fig. 3 uses the car right side camera of normality split-join model to collect while being the nearly thing of nothing.
The image schematic diagram that Fig. 4 uses the car front side camera of normality split-join model to collect while being the nearly thing of nothing.
The model splicing schematic diagram of Fig. 5 normality split-join model.
Fig. 6 puts schematic diagram for the auxiliary calibration module of default close shot split-join model.
Fig. 7 is the image schematic diagram that uses the car front side camera of close shot split-join model to collect while having nearly thing.
Fig. 8 is the image schematic diagram that uses the car right side camera of normality split-join model to collect while having nearly thing.
The model splicing schematic diagram of Fig. 9 close shot split-join model.
Figure 10 is the scheme of installation of camera of the invention process and detecting device.
Figure 11 is vehicle-mounted panoramic imaging ancillary system block diagram of the invention process.
The specific embodiment
In order to allow those skilled in the art understand better technical scheme of the present invention, below in conjunction with accompanying drawing, the present invention is further elaborated.
The specific embodiment is as shown in Fig. 1～Figure 10, and a kind of vehicle-mounted panoramic imaging householder method, is characterized in that, the method comprises the steps:
S1. default normality split-join model and one and above close shot split-join model, and be stored in memory module.
The step of default normality split-join model is as follows:
S101. around vehicle body, place four hexahedron marks.
In actual scene, four mark E1～E4 that easily identify are placed into respectively on left front, left back, the right front and right back position of car.As shown in Figure 2, in figure, provided effective ken of each camera.Wherein L1 is the effective ken boundary line that is arranged on the camera at headstock place, in its figure the ken be L1 left.L2 is the effective ken boundary line that is arranged on the camera at tailstock place, in its figure the ken be L2 to the right.L3 is the effective ken boundary line that is arranged on the camera at vehicle body right rear place, in its figure the ken be L3 upwards.L4 is the effective ken boundary line that is arranged on the camera at back mirror place, vehicle body left side, and in its figure, the ken is that L4 is downward.Mark E1～E4 present position is each camera overlapping ken adjacent one another are.
S102. identify the specific characteristic of the mark in the overlapping ken of adjacent camera.
Wherein, specific characteristic is tetragonal four summit Q1～Q4, as shown in Fig. 3～Fig. 4.
S103. by obtaining the position of summit Q1～Q4 in camera, aim at position default in normality split-join model, and according to this alignment result, by camera collection to other parts of image carry out reasonable deformation and corresponding interpolation processing, finally obtain the one-to-one relationship of camera coordinate system and this normality split-join model system of axes, this one-to-one relationship is stored in storage equipment, and carries out numbering.
Wherein, Figure 5 shows that wherein a kind of model splicing schematic diagram of normality split-join model.According to the putting position of the mark E1～E4 shown in Fig. 2, the corresponding point in Fig. 5 are carried out to registration,, for the mark E1 of car body forward right side, four summit Q1～Q4 in Fig. 3 and Fig. 4 are aimed at respectively to the O1～O4 in Fig. 5; Aligning and forward right side for car body right lateral side, front left side, left rear side are done similar processing.After these specific characteristic summits are aimed at, by camera collection to image carry out level and smooth stretching and picture element interpolation, corresponding part is filled in the schematic diagram of model splicing shown in Fig. 5, as: headstock part camera collection to image be filled into A shaded area, car right side camera collection to image be filled into B shaded area, level and smooth method of filling can select the algorithm of spline surface to realize.
The step of default close shot split-join model is as follows:
S111. around vehicle body, place multiple hexahedron marks.
In actual scene, left front, left back, right front and right back at car, and with equidistant position, the each orientation of car body on place respectively mark, different mark mark for different interval ranges.Putting of unlike signal thing is near the object detecting car body in order to simulate.As shown in Figure 6, in figure, provided effective ken of each camera.Wherein L1 is the effective ken boundary line that is arranged on the camera at headstock place, in its figure the ken be L1 left.L2 is the effective ken boundary line that is arranged on the camera at tailstock place, in its figure the ken be L2 to the right.L3 is the effective ken boundary line that is arranged on the camera at vehicle body right rear place, in its figure the ken be L3 upwards.L4 is the effective ken boundary line that is arranged on the camera at back mirror place, vehicle body left side, and in its figure, the ken is that L4 is downward.Wherein, mark F1～F3 is object distance car body distance from being closely that putting position signal for demarcating set mark identifies to the corresponding model of institute multiple distance regions far away.
In the present embodiment, the quantity of close shot split-join model is 3, is provided with 3 apart from interval range.So the default of close shot split-join model should be through from closely to far away or from as far as closely repeatedly demarcating, form close shot split-join model 1, close shot split-join model 2 and close shot split-join model 3, the position of mark also changes with set distance is far and near, three model respective flag thing F1～F3 respectively.
It should be noted that, F1～F3 is only the example of far and near different mark, indicates that thing is may be according to demand apart from the relative distance between distance and mark and the mark of car body different and change in reality.In description below take between one of them distance regions as example.
S112. identify the specific characteristic of the mark in the overlapping ken of adjacent camera.
The feature of specifying can be the feature of pattern in the feature of shape of template or template, is tetragonal four the summit P1～P4 that overlook hexahedron mark G1 gained in this step, as shown in Fig. 7～Fig. 8.
S113. fixing under the prerequisite of other position camera coordinate systems and close shot split-join model 1 system of axes one-to-one relationship, the image at 1/4～1/6 place near this side mark that stretching or compression camera collection arrive, the feature that makes mark G1 in image is overlapping with the feature of corresponding close shot split-join model 1, and the image to 1/4～1/6 place near this side template seamlessly transits processing, finally obtain the one-to-one relationship of camera coordinate system and this close shot split-join model 1 system of axes, this one-to-one relationship is stored in storage equipment, and carries out numbering.
Wherein, Figure 9 shows that the model splicing schematic diagram of close shot split-join model.According to the putting position of the mark F1 shown in Fig. 6, the corresponding point in Fig. 9 are carried out to registration, for one in the mark F1 of car body forward right side, four summit P1～P4 in Fig. 7 and Fig. 8 are aimed at respectively to the R1～R4 in Fig. 9.Aligning and forward right side for car body right lateral side, front left side, left rear side are done similar processing.After these specific characteristic summits are aimed at, by camera collection to image near the sub-fraction of the overlapping ken of adjacent camera, there is the part of nearly thing to split, carry out level and smooth stretching and picture element interpolation, corresponding part is filled in the schematic diagram of model splicing shown in Fig. 9, as: A in Fig. 9, image in B region uses normality split-join model to splice processing, and to C, D region stretches or compression and interpolation processing, obtain now mark apart from car body at this during apart from interval range, the one-to-one relationship of camera coordinate system and close shot split-join model 1 system of axes.
S2. utilize range finder module and image capture module, gather car body outer distance information and graphicinformation.
Image capture module utilization is arranged on car body multiple cameras around, gathers car body graphicinformation around, then delivers in data processing module.
Range finder module utilization is arranged on car body multiple sensors around, gathers the car body situation of object distance car body around, then delivers in data processing module, and the information of adjusting the distance is integrated.
Figure 10 shows that a kind of scheme of installation that uses 4 cameras to carry out image acquisition, the mark that wherein circular I1, the I2 in figure, I3, I4 are camera, be arranged on respectively the back mirror on headstock, car right side, back mirror and the tailstock place in car left side, camera lens adopts 180 degree wide-angle lens.
In addition, in figure, also comprise and used 8 supersonic range finders to carry out the scheme of installation that distance gathers, wherein triangle H1, the H2 in figure, H3, H4, H5, H6, H7, H8 are 8 distance measuring equipment (DME)s that are arranged on car body headstock, headstock both sides, the tailstock, tailstock both sides, car body left side and car body right side, for gathering the information of 8 directions of car body apart near object car body.
Distance measuring equipment (DME) can be supersonic sounding or laser ranging or infrared distance measurement, selects in the present embodiment supersonic sounding, should be appreciated that, supersonic sounding is preferred embodiment, rather than limitation of the present invention.
S3. according to detecting the range information obtaining, judge near car body whether have object.
In the time having object near car body, judge which interval range the orientation of immediate object and the distance apart from car body thereof fall into, upwards use the corresponding close shot split-join model of respective bins scope the party, carry out partial splice's processing.Other orientation without nearly thing are used normality split-join model to splice processing.
In the time there is no object near car body, use normality split-join model to carry out panorama splicing to car body external environment condition.
Whether near the distance S4. comparing between car body object and car body exceedes set threshold value, and this threshold value sets in advance and is stored in memory module.
In the time exceeding this threshold value, export early warning signal by warning module.
In the time not exceeding this threshold value, warning module is exported without early warning signal.
S5. in image display, show gained vehicle-mounted panoramic image.
In the time that warning module has early warning signal output, the early warning signal of warning module encloses this object in vehicle-mounted panoramic image by display module with red flicker wheel profile, reminds vehicle driver.
The output of early warning signal in the present embodiment adopts display module output, should be appreciated that, this kind of output form is preferred embodiment, rather than limitation of the present invention.The output form of early warning signal can also adopt phonetic warning system or by controlling car body bearing circle to reach early warning effect, can be also both or both above combinations.
As shown in figure 11, a kind of vehicle-mounted panoramic imaging ancillary system of applying said method, comprise be placed in car body all around the multiple ultra wide-angle imaging heads on four direction (angular field of view is 80 degree～180 degree, its focal length can be 10mm-20mm) image capture module 1, the display module 2 showing for image, for storing the memory module 3 of Various types of data information, be placed in multiple sensors of car body surrounding, for gathering the range finder module 4 of range information, be positioned over the auxiliary calibration module 5 of each camera overlapping region, for controlling the data processing module 6 of processing.
Wherein, image capture module 1, range finder module 4 all input to data processing module 6, the vehicle-mounted panoramic image that described data processing module 6 obtains processing is exported by display module 2, early warning information is exported by warning module 7, and data processing module 6 is interconnected with memory module 3, can, by the intermediate data storage of processing in memory module 3, also can in data handling procedure, call at any time the data that are stored in memory module 3 simultaneously.
Warning module 7 can be by display module 2 by early warning information output, or voice system, or be connected to car body bearing circle and reach early warning effect to control car body bearing circle.In the present embodiment, select by display module 2 early warning information output, be about to and car body between there is the object of anti-collision warning, in display module 2, mark with red outline line.
The above is preferred embodiments of the present invention, not the present invention is done to any pro forma restriction.It should be noted that; 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 changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (9)
1. a vehicle-mounted panoramic imaging householder method, is characterized in that, the method comprises the steps:
S1. default normality split-join model and one and above close shot split-join model, and be stored in memory module;
S2. gather car body outer distance information and graphicinformation;
S3. utilize range information, judge near car body whether have object, if had, carry out next step operation, if do not had, skip to step S5;
S4. use close shot split-join model to carry out Image Mosaics to car body external environment condition in the region that has nearly thing;
S5. use normality split-join model to carry out Image Mosaics to car body external environment condition in the region without nearly thing;
S6. in image display, show gained vehicle-mounted panoramic.
2. vehicle-mounted panoramic imaging householder method according to claim 1, is characterized in that, the method also comprises the steps:
Threshold value of warning is set, and according to the relation of gained range information and this threshold value of warning, output early warning signal, is specially:
In the time exceeding this threshold value, export early warning signal by warning module;
In the time not exceeding this threshold value, warning module is exported without early warning signal.
3. vehicle-mounted panoramic imaging householder method according to claim 2, is characterized in that, the output form of described early warning signal can show to give prominence to color in image display, or uses phonetic warning system output.
4. vehicle-mounted panoramic imaging householder method according to claim 1, is characterized in that, described range information and described multiple split-join models there is one-to-one relationship, range information can be done to smooth change or subsection setup.
5. vehicle-mounted panoramic imaging householder method according to claim 3, is characterized in that, described threshold value of warning is for setting in advance and being stored in memory module.
6. a vehicle-mounted panoramic imaging ancillary system, comprise and be placed in the car body image capture module (1) of the multiple ultra wide-angle imaging heads on four direction all around, the display module (2) showing for image, for storing the memory module (3) of Various types of data information, it is characterized in that, also comprise
Be placed in multiple sensors of car body surrounding, for gathering the range finder module (4) of range information;
Be positioned over the auxiliary calibration module (5) of each camera overlapping region;
For controlling the data processing module (6) of processing;
Described image capture module, range finder module all input to data processing module, and the vehicle-mounted panoramic image that described data processing module obtains processing is exported by display module, and data processing module and memory module interconnected.
7. vehicle-mounted panoramic imaging ancillary system according to claim 6, is characterized in that, also comprises the warning module (7) for exporting early warning information; Described warning module is connected with data processing module.
8. vehicle-mounted panoramic imaging ancillary system according to claim 7, it is characterized in that, described warning module can be by display module, early warning information to be exported, or voice system, or is connected to car body bearing circle and reaches early warning effect to control car body bearing circle.
9. vehicle-mounted panoramic imaging ancillary system according to claim 8, is characterized in that, described distance measuring equipment (DME) is supersonic sounding device or laser ranging system or infrared distance measurement device.
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