CN105262949A - Multifunctional panorama video real-time splicing method - Google Patents
Multifunctional panorama video real-time splicing method Download PDFInfo
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Abstract
The invention provides a multifunctional panorama video splicing method comprising steps of: acquiring stereo video stream data of different angles captured by multiple video cameras, GPS data, INS data, and 2DGIS data; determining whether GPS time and INS time are synchronous or not, a GPS position and an INS position are synchronous or not, and videos in various channels are synchronous or not; analyzing, compressing, analyzing and extracting, and storing video data and spatial positional information; calibrating data in each channel, processing and integrating video data, GPS data, GIS data, and INS data in a unified manner, and extracting spatial characteristic points with latitude and longitude information; and enabling characteristic point matching pairs to be accurate by using three-dimensional coordinates, automatically and preferably selecting a splicing parameter; and splicing the panorama video in real time. The method is an automatic preferably selecting technique based on image characteristic points, video matching splicing, and image splicing transformation parameters and achieves high-performance panorama video splicing by integrating the spatial positional information of the characteristic points.
Description
Technical field
The invention belongs to image processing field, specifically the real-time joining method of a kind of multi-functional panoramic video.
Background technology
Panoramic video splicing relates to the technology such as computer vision, computer graphics, Digital Image Processing and some mathematical tools.Panorama sketch can express complete ambient condition information, is equivalent to observer and turns around from a fixed view to surrounding the scene that can see.
Full-view video image splicing the mutual registration of each consecutive frame image in one section of video is generated the panorama sketch that a width comprises all information of video sequence.Panorama brings brand-new real scene sense and interactively impression.It can be widely used in three-dimensional electronic commercial affairs, as the online field such as the displaying of real estate building, virtual tourism, virtual education, this technology also has important application in the acquisition etc. of the observation of large area static scene, virtual reality, video frequency searching and high-definition picture.
For real-time video panorama mosaic technology, one of main difficulty is the requirement of real-time.As everyone knows, normal video frame per second is generally 25 ~ 30FPS, this means at least to synthesize a width panoramic frame in 0.04 second, and existing static panorama image generation algorithm all cannot accomplish this point, therefore cannot directly apply to Video Composition.And for the innovatory algorithm of static panorama picture quality also because amount of calculation too greatly cannot for the treatment of frame of video.
The research of the real-time splicing of regarding three-dimensional panoramic video is in recent years fast-developing, many research is expanded to video-splicing method both at home and abroad, many research institutions, enterprise have all dropped into a large amount of funds and manpower splices in real time at panoramic video, three-dimensional sight build correlation theory and engineer applied in.
Current 3D panoramic video joining method has very large shortcoming in the rapidity sense of reality, real-time, there is the problems such as the not high splicing effect of real-time speed is undesirable.Panorama is at present by high commercial, and along with the progress of computer technology, the expectation of people to panorama is more and more higher, therefore, is necessary according to actual application background, the video-splicing method of the more accurate quick and convenient practicality of further research and probe.
Summary of the invention
The present invention proposes the real-time joining method of a kind of multi-functional panoramic video.Mainly under the real-time of panoramic video generation and the demand of accuracy, a kind of brand-new settling mode is proposed, namely under motion state, real-time generation with the 3D full-view video image of positional information, the present invention can realize three-dimensional panoramic video frame with the Auto-matching of the 3DGIS data of latitude and longitude coordinates and Seamless integration-.
The present invention proposes the real-time joining method of a kind of multi-functional panoramic video, comprising: obtain three-dimensional video-frequency flow data, gps data, INS data and 3DGIS data that multiple video camera is taken different angles; Judge that whether GPS and the INS time is synchronous, whether whether synchronous and each road, GPS and GIS position video is synchronous; Complete the parsing of video data and spatial positional information, compression, the work of analysis pick up and store; Data calibration is carried out to each circuit-switched data, by video data, gps data, GIS data, the unified process of INS data integrated, extracts the space characteristics point with latitude and longitude information; Utilize spatial coordinate accurate profile Point matching pair, automatic selection of optimal splicing parameter, splices in real time image and merges.
Data acquisition equipment of the present invention adopts a kind of novel layout structure to be fixed, the automatic selection of optimal of image characteristic point, video matching frame, image mosaic transformation parameter only need be carried out at former frames of video camera synchronous acquisition, corrected by feature point pairs spatial coordinated information simultaneously, obtain optimum splicing parameter, then this optimum splicing parameter is used in the splicing function of subsequent video frame, realizes the dynamically splicing in real time of three-dimensional panoramic video stream.
The real-time joining method of the multi-functional panoramic video of one that the present invention proposes has following beneficial effect: 1. the present invention can generate the three-dimensional panoramic video with elaborate position mark efficiently, in real time.2. the present invention is by the pair correlation of feature point pairs to solid space coordinate, improves the precision of splicing.
Accompanying drawing explanation
Fig. 1 is method flow diagram of the present invention;
Fig. 2 is Camera composition structure chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Fig. 1 is the real-time joining method flow chart of a kind of multi-functional panoramic video in the present invention one preferred embodiments, and the method comprises the steps:
Step S101: obtain three-dimensional video-frequency flow data, gps data, INS data and 3DGIS data that multiple video camera is taken different angles;
Step S102: judge that whether GPS and the INS time is synchronous, whether whether synchronous and each road, GPS and GIS position video is synchronous;
Step S103: complete the parsing of video data and spatial positional information, compression, the work of analysis pick up and store;
Step S104: carry out data calibration to each circuit-switched data, by video data, gps data, GIS data, the unified process of INS data integrated, extracts the space characteristics point with latitude and longitude information;
Step S105: utilize spatial coordinate accurate profile Point matching pair, automatic selection of optimal splicing parameter, splices in real time to panoramic video.
This image data step S101, comprises the equipment such as multiple cameras, GPS, PC.After camera calibration, adopt multiple video camera to take different azimuth, video camera, GPS/INS harvester Synchronization Control, complete a synchronous acquisition of certain some periphery 360 degree of scene and location coordinate information.
This Synchronization Control step S102, according to judge the characteristic information based on Time and place of each road video extraction, GPS and GIS spatial positional information separately, GPS and INS separately precise time information whether mate and determine that whether two-way information synchronous.
In this S103 step, comprise gps data resolve, by coordinate transform by unified for coordinate system, the coordinate by projective transformation longitude and latitude is converted in reference system that GIS data adopts.
This extract minutiae step S104, extracts common characteristic information point according to the time marking information of each video and the colouring information in space, and video data, gps data, GIS data, INS data are unified deal with data and merged.
This panoramic video splicing step S105, is corrected by feature point pairs spatial coordinated information, obtains optimum splicing parameter, splice in real time panoramic video.
Fig. 2 is Camera composition structure chart of the present invention.The present invention adopts the plural platform video camera such as (6 8) to carry out structure and fix, and for 8, structure chart as shown in Figure 2.8 video camera circumference in equal parts, are fixed on around same circle, and between any two adjacent cameras, angle is equal, and in figure, C represents camera, and Z is the concentrically ringed center of circle, and A represents the overlapping region of adjacent two cameras shooting, and E is the field range of single camera.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent to substitute and improvement etc., be all included within protection scope of the present invention.
Claims (8)
1. a multi-functional panoramic video joining method, is characterized in that, comprise step:
Step (S101), obtains three-dimensional video-frequency flow data, gps data, INS data and 3DGIS data that multiple video camera is taken different angles;
Step (S102), judges that whether GPS and the INS time is synchronous, whether whether synchronous and each road, GPS and GIS position video is synchronous;
Step (S103), completes the parsing of video data and spatial positional information, compression, the work of analysis pick up and store;
Step (S104), carries out data calibration to each circuit-switched data, by video data, gps data, GIS data, the unified process of INS data integrated, extracts the space characteristics point with latitude and longitude information;
Step (S105), utilizes spatial coordinate accurate profile Point matching pair, and automatic selection of optimal splicing parameter, splices in real time to panoramic video.
2. a kind of multi-functional panoramic video joining method as claimed in claim 1, it is characterized in that, in described step (101), under motion state, the synchronous working such as multiple cameras, GPS/INS, completes the disposable synchronous acquisition of periphery 360 degree of scenes and location coordinate information.
3. a kind of multi-functional panoramic video joining method as claimed in claim 1, is characterized in that, multiple cameras adopts a kind of novel layout structure to be fixed, and the corresponding parameter of the video that synchronous acquisition obtains is also corresponding fixing.
4. a kind of multi-functional panoramic video joining method as claimed in claim 1, it is characterized in that, in described step (102), according to judge the characteristic information based on Time and place of each road video extraction, GPS and GIS spatial positional information separately, GPS and INS separately precise time information whether mate and determine that whether two-way information synchronous.
5. a kind of multi-functional panoramic video joining method as claimed in claim 1, it is characterized in that, the automatic selection of optimal of image characteristic point, video matching frame, image mosaic transformation parameter is carried out at former frames of video camera synchronous acquisition, corrected by feature point pairs spatial coordinated information simultaneously, obtain optimum splicing parameter, then this optimum splicing parameter is used in the splicing function of subsequent video frame, realizes the dynamically splicing in real time of three-dimensional panoramic video stream.
6. a kind of multi-functional panoramic video joining method as claimed in claim 1, it is characterized in that, in described step (S103), comprise gps data resolve, by coordinate transform by unified for coordinate system, the coordinate by projective transformation longitude and latitude is converted in reference system that GIS data adopts.
7. a kind of multi-functional panoramic video joining method as claimed in claim 1, it is characterized in that, in described step (S104), extract common characteristic information point according to the time marking information of each video and the colouring information in space, video data, gps data, GIS data, INS data are unified deal with data and merged.
8. a kind of multi-functional panoramic video joining method as claimed in claim 3, it is characterized in that, described layout structure is fixed for carrying out structure with plural platform video camera, plural platform video camera circumference in equal parts, be fixed on around same circle, between any two adjacent cameras, angle is equal.
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| CN105872546A (en) * | 2016-06-13 | 2016-08-17 | 上海杰图软件技术有限公司 | Method and system for realizing panoramic image compression storage |
| CN105957008A (en) * | 2016-05-10 | 2016-09-21 | 厦门美图之家科技有限公司 | Panoramic image real-time stitching method and panoramic image real-time stitching system based on mobile terminal |
| CN106060523A (en) * | 2016-06-29 | 2016-10-26 | 北京奇虎科技有限公司 | Methods for collecting and displaying panoramic stereo images, and corresponding devices |
| CN106485781A (en) * | 2016-09-30 | 2017-03-08 | 广州博进信息技术有限公司 | Three-dimensional scene construction method based on live video stream and its system |
| CN106777119A (en) * | 2016-12-16 | 2017-05-31 | 福建福光股份有限公司 | Online synchronous traveling method |
| WO2017185408A1 (en) * | 2016-04-27 | 2017-11-02 | 深圳看到科技有限公司 | Panoramic image acquisition device and acquisition method therefor |
| CN107920197A (en) * | 2016-10-11 | 2018-04-17 | 阿里巴巴集团控股有限公司 | A kind of video capture method and apparatus |
| CN109840920A (en) * | 2018-12-20 | 2019-06-04 | 北京中科时空信息技术有限公司 | It takes photo by plane object space information method for registering and aircraft spatial information display methods |
| CN112437327A (en) * | 2020-11-23 | 2021-03-02 | 北京瞰瞰科技有限公司 | Real-time panoramic live broadcast splicing method and system |
| WO2021142890A1 (en) * | 2020-01-19 | 2021-07-22 | 广州启量信息科技有限公司 | System and method for generating three-dimensional panoramic roaming model |
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| CN109840920A (en) * | 2018-12-20 | 2019-06-04 | 北京中科时空信息技术有限公司 | It takes photo by plane object space information method for registering and aircraft spatial information display methods |
| WO2021142890A1 (en) * | 2020-01-19 | 2021-07-22 | 广州启量信息科技有限公司 | System and method for generating three-dimensional panoramic roaming model |
| CN112437327A (en) * | 2020-11-23 | 2021-03-02 | 北京瞰瞰科技有限公司 | Real-time panoramic live broadcast splicing method and system |
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