CN105208247A - Quaternion-based panoramic image stabilizing method - Google Patents
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Abstract
The invention relates to a quaternion-based panoramic image stabilizing method which is characterized in that the method comprises the following specific steps: 1) single-camera model sphere establishment; 2) angle-based stereographic projection method; 3) multi-sphere model fusion method; 4) quaternion-based panoramic spherical surface image stabilizing method; and 5) panoramic sphere expansion method. A plurality of sphere models are subjected to normalization, and spherical surfaces of the plurality of sphere models are fused to form a single-frame panoramic sphere model of a multi-camera imaging system; the front and back panoramic spherical surface images are subjected to feature point matching; pose relation between the two panoramic spheres is calculated through a quaternion method, and then, the spherical surface images are subjected to conversion according to the obtained pose relation; and finally, information on the panoramic spherical surfaces is reduced to a plane image, and thus the image stabilizing effect is achieved. The method can effectively solve the problem that the overall pose transformation cannot be accurately positioned due to different pose change of each camera in a panoramic camera system.
Description
Technical Field
The invention relates to a quaternion-based panoramic image stabilization method, in particular to a panoramic video sequence image stabilization method generated by a panoramic imaging system consisting of multiple cameras, and belongs to the field of digital image processing.
Background
The generation of panoramic images generally takes several basic approaches: the first is to generate a panoramic image video sequence using a wide-angle camera or a panoramic reflective optical lens; the second type is that a single camera is used for scanning movement with a large visual angle, and then the panoramic video sequence is formed by splicing; the third type is to use multiple cameras to form a panoramic imaging system in a divergent arrangement, where the multiple cameras can capture video images simultaneously and fuse the video frames into a panoramic video sequence. The image stabilization method for the first and second panoramic video sequences can adopt a technical principle similar to single-camera image stabilization. However, due to the particularity of the generation process of the third type panoramic video sequence, the coordinate systems of the cameras are independent of each other, and the motion vectors of the same motion on different cameras are different. Therefore, it is difficult for the conventional image stabilization method for a single camera to simultaneously stabilize panoramic video generated by a plurality of cameras.
Disclosure of Invention
The invention aims to provide a quaternion-based panoramic image stabilization method, which is an electronic image stabilization method suitable for a multi-camera panoramic imaging system; aiming at a multi-camera panoramic imaging system, each camera coordinate system in the panoramic system is virtualized into a spherical coordinate system by means of a spherical model, the optical center of each camera is the spherical center, the focal length of each camera is the spherical radius of the model, and the imaging planes of a plurality of cameras are mapped to a part of the spherical surface of the model. Normalizing the plurality of spherical models, and fusing spherical surfaces of the plurality of spherical models to form a single-frame panoramic spherical model of the multi-camera imaging system; feature point matching is carried out on the panoramic spherical images of the front frame and the rear frame, the pose relation between the two panoramic balls is calculated by a quaternion method, then the spherical images are transformed according to the obtained relation, and finally the information on the panoramic spherical surface is restored to the plane image, so that the image stabilizing effect is achieved. The method can effectively solve the problem that the overall posture change cannot be accurately positioned due to different posture changes of each camera in the panoramic camera system.
The technical scheme of the invention is realized as follows: a quaternion-based panoramic image stabilization method is characterized by comprising the following specific steps:
model ball establishment of single camera
Firstly, calibrating each camera in the panoramic imaging system by using a Zhang Zhengyou calibration method to obtain an internal reference matrix of each camera，
In an internal reference matrixAndrespectively show photosensitive devices inDirection andthe offset in the direction is such that,is thatDirectional pixel focal lengthIs thatFocal length of pixel in direction, by in-reference matrixAnddistortion correction is applied to the image acquired by each camera byThe pixel focal length of each camera can be obtainedSelecting a right-hand coordinate system to establish a sphere model, and establishing the sphere model with the radius as the focal length, wherein the sphere center coordinates of the sphere model are (0, 0, 0). The formula of the established sphere model is as follows:
second, spherical projection method based on angle
The image coordinate system is a 2D coordinate system, the sphere coordinate system is a 3D coordinate system, and in order to enable the sphere model to accurately reflect the camera imaging model, the spherical projection mode based on the angle is used; any point on the spherical coordinate systemCan pass throughIs determined whereinIs the radius of a sphere, i.e. the originAnd pointThe distance of (a) to (b),is a line segmentAndthe included angle of the axial positive direction is,is a line segmentIn thatProjection on plane andthe angle of the axes, here defined as counterclockwise, is positive. Will be dottedConversion to right-handed coordinate system for useTo be expressed as:
the size of the image collected by each camera of the panoramic imaging system isIs the width of the image or images,as the height of the image, in a sphere model under a right-hand coordinate system, the originIs a light center of the light source,the axis is the optical axis and the axis is the optical axis,the axis passes through the center point of the image, defining the coordinates of the image center point as (0, 1, 0). Then for any point on the phase planeHaving coordinates of，Is a pixel coordinate value in the lateral direction in the image coordinate system,is the pixel coordinate value in the longitudinal direction under the image coordinate system. From which points can be obtainedAndpositive included angle of shaftAnd anIn thatProjection on plane andangle of axisThe formula is as follows:
by passingThe projection of the image onto a spherical surface is completed. Meanwhile, the method can obtain the pixel point of each pixel point under the right-hand coordinate system；
Three-sphere and multi-sphere model fusion method
After a sphere imaging model of each camera of the panoramic system is obtained, normalization processing needs to be performed on the sphere model, so that the radius of the sphere model of each camera is 1, and a normalization equation is as follows:
thus, the sphere models constructed for all the cameras are uniform unit spheres, so that the panoramic system can be fused conveniently. If the cameras C1 and C2 are adjacent cameras, SIFT matching is carried out on images simultaneously acquired by the adjacent cameras, outliers are filtered by the RANSAC method, and the 3D coordinates of the characteristic points are stored and recorded asAndthen, the sphere models established by the two cameras form the following relationship through the same-name point pairs:
r is a rotation matrix of a model ball of an adjacent camera, and images of the panoramic camera can be fused into a panoramic spherical model through the rotation matrix;
quaternion-based panoramic spherical image stabilization method
Will be provided withTime andand matching the characteristic points of the panoramic spherical surface generated at the moment, recording the coordinates of all the characteristic points, filtering and optimizing the points, and selecting the optimal point. Converting the 3D coordinate system of the panoramic ball into a virtual coordinate system, three virtual axes of the coordinate systemAre used to indicate the amount of rotation of three axes, thus corresponding to a point on a sphereTo, forQuaternion representation in the virtual coordinate system；
For both left and right spherical surfacesFor matching point cloudsDefined as 3 x 3 belowMatrix:
the elements of the matrix are composed of the sum and the difference of the 3D spherical coordinates corresponding to the two spherical coordinate systems. Just, the matrix contains all the information needed to solve the rotation with least squares. RedefiningThe matrix, having its elements independent:
wherein,
the other elements are the same as above;
therefore, 10 from4 x 4 real symmetric matrix of degreeIs formed byThe 9 elements of the matrix are composed of different algebraic sums, wherein the sum of diagonal lines is 0,the definition of the matrix is as follows:
computingEigenvalues of a matrix, whereinIs a unit matrix of 4 x 4,in order to be a characteristic value of the image,
obtaining maximum eigenvalueCorresponding feature vectorThe quaternion corresponding to the matching point cloud is obtained,
the relative spherical position and posture relation of the two panoramic balls is calculated through the quaternion representation method of the optimal point pairs, so that the panoramic imaging system is obtainedTime andthe motion characteristic of the moment further obtains the transformation relation between the two spherical surfaces, realizes the reverse compensation of the shaking of the spherical image and achieves the image stabilization effect;
unfolding method of panoramic ball
After attitude jitter suppression is performed on the spherical image of the panoramic ball, a stable panoramic single-frame image is obtained, and the panoramic image needs to be restored into a planar panoramic image by using a spherical-to-planar projection mode and restored into a video sequence.
The invention has the advantages of solving the problems that the images of the multi-camera panoramic imaging system are difficult to accurately splice due to the shake of the carrier and the ripple shake is generated after splicing.
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FIG. 1 is a schematic overall flow diagram of the present invention.
FIG. 2 is a diagram of a model for mutual transformation between an image coordinate system and a spherical coordinate system.
Detailed Description
The invention is further described with reference to the accompanying drawings in which: as shown in fig. 1 and 2, in the first step, each camera in the panoramic imaging system is calibrated by using the zhangnyou calibration method, so as to obtain an internal reference matrix M of each camera,
in an internal reference matrixAndrespectively show photosensitive devices inDirection andthe offset in the direction is such that,is thatDirectional pixel focal lengthIs thatFocal length of pixel in direction, by in-reference matrixAndand carrying out distortion correction on the image acquired by each camera, and obtaining the pixel focal length f of each camera through M.
And secondly, selecting a right-hand coordinate system to establish a sphere model, and establishing the sphere model with the radius of the focal distance, wherein the coordinates of the sphere center of the sphere model are (0, 0, 0). The formula of the established sphere model is as follows:
the image coordinate system is a 2D coordinate system, and the sphere coordinate system is a 3D coordinate system, so that the sphere model can accurately reflect the camera imaging model, the spherical projection method based on the angle is used here.
Third step, any point on the spherical coordinate systemCan pass throughIs determined whereinIs the radius of a sphere, i.e. the originAnd pointThe distance of (a) to (b),is a line segmentAndthe included angle of the axial positive direction is,is a line segmentIn thatProjection on plane andthe angle of the axes, here defined as counterclockwise, is positive. Will be dottedConversion to right-handed coordinate system for useTo be expressed as:
the size of the image collected by each camera of the panoramic imaging system isIs the width of the image or images,as the height of the image, in a sphere model under a right-hand coordinate system, the originIs a light center of the light source,the axis is the optical axis and the axis is the optical axis,the axis passes through the center point of the image, defining the coordinates of the image center point as (0, 1, 0). Then for any point on the phase planeHaving coordinates of，Is a pixel coordinate value in the lateral direction in the image coordinate system,is the pixel coordinate value in the longitudinal direction under the image coordinate system. From which points can be obtainedAndpositive included angle of shaftAnd anIn thatProjection on plane andangle of axisThe formula is as follows:
by passingThe projection of the image onto a spherical surface is completed. Meanwhile, the method can obtain the pixel point of each pixel point under the right-hand coordinate system。
And fourthly, after obtaining the sphere imaging model of each camera of the panoramic system, normalizing the sphere model to ensure that the radius of the sphere model of each camera is 1, wherein the normalization equation is as follows:
thus, the sphere models constructed for all the cameras are uniform unit spheres, so that the panoramic system can be fused conveniently.
Fifthly, if the cameras C1 and C2 are adjacent cameras, SIFT matching is carried out on images simultaneously acquired by the adjacent cameras, outliers are filtered by a RANSAC method, and the 3D coordinates of the feature points are stored and recorded asAndthen, the sphere models established by the two cameras form the following relationship through the same-name point pairs:
the method is characterized in that the method is a rotation matrix of model balls of adjacent cameras, and images of panoramic cameras can be fused through the rotation matrix to form a panoramic sphere model.
The sixth step is toTime andand matching the characteristic points of the panoramic spherical surface generated at the moment, recording the coordinates of all the characteristic points, filtering and optimizing the points, and selecting the optimal point. Converting the 3D coordinate system of the panoramic ball into a virtual coordinate system, three virtual axes of the coordinate systemAre used to indicate the amount of rotation of three axes, thus corresponding to a point on a sphereCorresponding to the quaternion in the virtual coordinate system as。
Seventh step for two spheres on the left and rightFor matching point cloudsDefined as 3 x 3 belowMatrix:
the elements of the matrix are formed by accumulating and combining 3D spherical coordinates corresponding to two spherical coordinate systems. Just, the matrix contains all the information needed to solve the rotation with least squares. RedefiningThe matrix, having its elements independent:
wherein,
the rest elements are the same as above.
Thus, a 4 x 4 real symmetric array of 10 degrees of freedomIs formed byThe 9 elements of the matrix are composed of different algebraic sums, wherein the sum of diagonal lines is 0,the definition of the matrix is as follows:
computingEigenvalues of a matrix, whereinIs a unit matrix of 4 x 4,is the eigenvalue.
Obtaining maximum eigenvalueCorresponding feature vectorThe quaternion corresponding to the matching point cloud is obtained.
And eighthly, calculating the relative spherical position and pose relationship of the two panoramic balls by a quaternion representation method of the optimal point pairs so as to obtain the position of the panoramic imaging systemTime andthe motion characteristic of the moment further obtains the transformation relation between the two spherical surfaces, realizes the reverse compensation of the shaking of the spherical image and achieves the image stabilization effect.
And ninthly, performing attitude jitter suppression on the spherical image of the panoramic ball to obtain a stable panoramic single-frame image, recovering the panoramic single-frame image into a planar panoramic image by using a spherical-to-planar projection mode, and restoring the panoramic image into a video sequence.
Claims (1)
1. A quaternion-based panoramic image stabilization method is characterized by comprising the following specific steps:
model ball establishment of single camera
Firstly, calibrating each camera in the panoramic imaging system by using a Zhang Zhengyou calibration method to obtain an internal reference matrix of each camera，
In an internal reference matrixAndrespectively show photosensitive devices inDirection andthe offset in the direction is such that,is thatDirectional pixel focal lengthIs thatFocal length of pixel in direction, by in-reference matrixAnddistortion correction is applied to the image acquired by each camera byThe pixel focal length of each camera can be obtainedSelecting a right-hand coordinate system to establish a sphere model, and establishing a sphere model with a radius as a focal length, wherein the sphere center coordinates of the sphere model are (0, 0, 0);
the formula of the established sphere model is as follows:
second, spherical projection method based on angle
The image coordinate system is a 2D coordinate system, the sphere coordinate system is a 3D coordinate system, and in order to enable the sphere model to accurately reflect the camera imaging model, the spherical projection mode based on the angle is used; any point on the spherical coordinate systemCan pass throughIs determined whereinIs the radius of a sphere, i.e. the originAnd pointThe distance of (a) to (b),is a line segmentAndwith positive axisThe included angle is formed by the angle of inclination,is a line segmentIn thatProjection on plane andthe angle of the axes, here defined as the counterclockwise direction, is the forward direction;
will be dottedConversion to right-handed coordinate system for useTo be expressed as:
the size of the image collected by each camera of the panoramic imaging system isIs the width of the image or images,as the height of the image, in a sphere model under a right-hand coordinate system, the originIs a light center of the light source,the axis is the optical axis and the axis is the optical axis,the axis passes through the center point of the image, defining the coordinates of the center point of the image as (0, 1, 0), then for any point on the phase planeHaving coordinates of，Is a pixel coordinate value in the lateral direction in the image coordinate system,is the pixel coordinate value in the longitudinal direction of the image coordinate system, so that the point can be obtainedAndpositive included angle of shaftAnd anIn thatProjection on plane andangle of axisThe formula is as follows:
by passingThe projection of the image on the spherical surface is completed, and simultaneously, the pixel point of each pixel point under a right-hand coordinate system can be obtained；
Three-sphere and multi-sphere model fusion method
After a sphere imaging model of each camera of the panoramic system is obtained, normalization processing needs to be performed on the sphere model, so that the radius of the sphere model of each camera is 1, and a normalization equation is as follows:
if the cameras C1 and C2 are adjacent cameras, SIFT matching is carried out on images simultaneously acquired by the adjacent cameras, outliers are filtered by a RANSAC method, and the 3D coordinates of the characteristic points are stored and recorded as the 3D coordinatesAndthen, the sphere models established by the two cameras form the following relationship through the same-name point pairs:
r is a rotation matrix of a model ball of an adjacent camera, and images of the panoramic camera can be fused into a panoramic spherical model through the rotation matrix;
quaternion-based panoramic spherical image stabilization method
Will be provided withTime andcarrying out feature point matching on the panoramic spherical surface generated at the moment, recording coordinates of all feature points, filtering and optimizing the points, and selecting an optimal point;
converting the 3D coordinate system of the panoramic ball into a virtual coordinate system, three virtual axes of the coordinate systemAre used to indicate the amount of rotation of three axes, thus corresponding to a point on a sphereCorresponding to the quaternion in the virtual coordinate system as；
For both left and right spherical surfacesFor matching point cloudsDefined as 3 x 3 belowMatrix:
the elements of the matrix are composed of the sum and the difference of the 3D spherical coordinates corresponding to the two spherical coordinate systems, and the matrix contains all information required by solving rotation by using least square;
redefiningThe matrix, having its elements independent:
wherein,
the other elements are the same as above;
thus, a 4 x 4 real symmetric array of 10 degrees of freedomIs formed byThe 9 elements of the matrix are composed of different algebraic sums, wherein the sum of diagonal lines is 0,the definition of the matrix is as follows:
computingEigenvalues of a matrix, whereinIs a unit matrix of 4 x 4,in order to be a characteristic value of the image,
obtaining maximum eigenvalueCorresponding feature vectorThe quaternion corresponding to the matching point cloud is obtained,
the relative spherical position and posture relation of the two panoramic balls is calculated through the quaternion representation method of the optimal point pairs, so that the panoramic imaging system is obtainedTime andthe motion characteristic of the moment further obtains the transformation relation between the two spherical surfaces, realizes the reverse compensation of the shaking of the spherical image and achieves the image stabilization effect;
unfolding method of panoramic ball
After attitude jitter suppression is performed on the spherical image of the panoramic ball, a stable panoramic single-frame image is obtained, and the panoramic image needs to be restored into a planar panoramic image by using a spherical-to-planar projection mode and restored into a video sequence.
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| CN111768446A (en) * | 2020-06-19 | 2020-10-13 | 重庆数字城市科技有限公司 | Indoor panoramic image reverse modeling fusion method |
| CN111768446B (en) * | 2020-06-19 | 2023-08-11 | 重庆数字城市科技有限公司 | Reverse modeling fusion method for indoor panoramic image |
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