CN105323572A - Stereoscopic image processing system, device and method - Google Patents
Stereoscopic image processing system, device and method Download PDFInfo
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Abstract
The invention provides a stereoscopic image processing system, device and method. The system comprises a plurality of cameras arranged at different positions and used for shooting a scene to generate continuous images after shooting objects in the scene; the image signals are transmitted to the stereoscopic image processing device, and the received image signals are analyzed through a stereoscopic image formation unit therein. The method comprises obtaining one or more object image in the scene and obtaining the position and contour of each object under the shooting angle of each camera, as well as the distance between each object and each camera to reestablish stereoscopic images of the objects in the scene; and identifying the type of the objects through comparing, and judging mobile objects after recording for some period of time.
Description
Technical field
The present invention relates to a kind of stereopsis treatment system, apparatus and method, particularly relating to a kind of stereopsis treatment system, apparatus and method by being located at the multiple video camera institute construction in a space.
Background technology
The treatment technology of stereopsis has more and more ripe trend along with the development of hardware and technology, and stereopsis can not only provide outside the irreplaceable spatial impression of flat image institute, and the application more on a lot of field provides better observation, monitoring function.
Such as be applied in monitoring, stereopsis will provide monitored picture that is more accurate, more perspective.Known technology produces the video camera that one of mode of stereopsis comprises employing two different shooting angles, such as No. 364715th, the TaiWan, China patent (day for announcing: a kind of Multifunctional movable stereoscopic monitoring system 1999/07/11) disclosed, except this case discusses wheeled apparatus, the mode wherein producing stereopsis comprises provides two groups of video cameras, two groups of signal converters and a main body image display, the image of two groups of video camera shootings by after signal converter process, will produce the stereopsis being shown in dimensional image display.This type of stereopsis presents and mainly utilizes human eye right and left eyes parallax and the technology that produces stereoscopic visual effect, must adopt as equipment such as polaroid glasses, liquid crystal shutter glasses (liquidcrystalshutterglasses).
Technology is separately had to present stereopsis by the mode of image reconstruction, this type of stereopsis mainly takes same scene by different video camera, after image processing, by image captured by the different video camera of the reconstruction of splicing, different video camera complementary can obtain image and the depth of field of the different angles of various object in picture, therefore stereoscopic picture plane can be presented, the stereoscopic vision panoramic mosaic device of correlation technique such as described in No. M373507th, TaiWan, China patent (day for announcing 2010/02/01).
The stereoscopic camera adopted in above-mentioned known technology comprises a left video camera and a right video camera, a signal processor processes is had to take from the signal of left video camera and right video camera, the signal of video signal obtained has overlapping part, and a plurality of stereopsis captured by left image and right image are synthesized a panoramic mosaic image by signal processor.This case more quotes Mathematical Modeling allows the image of splicing have the degree of depth.
The prior art of the supervisory control system of 3 D stereoscopic image construction such as TaiWan, China patent is utilized to disclose No. 201136313 (publication date: 2011/10/16), bicamera is wherein utilized to monitor for monitoring scene, the left and right picture of the left and right lens shooting monitoring scene of bicamera can obtain the left and right two frame scene image containing vision depth of view information, utilize aerial image processing mode to filter out left and right two frame scene images afterwards and include identical part or the close same image information partly of content, and analyze the information of difference part, and store according to the time, read the video compression image of this time point when needed, reconstruction of three-dimensional three-dimensional digit image frame.Wherein adopted bicamera is a kind of interpupillary distance formula bicamera, and it is also that application human eye right and left eyes spacing causes parallax and sets up the mode of stereopsis for carrying out filming image by its left and right camera lens for the Same Scene angle of monitoring scene.
Summary of the invention
Be different from the technology that prior art produces stereopsis, stereopsis treatment system proposed by the invention, apparatus and method particularly propose the multi-section video camera taking same place, the same space, better for two video cameras, therefore the image of multiple angles in a place, space can be obtained, the size of various object in this space, the depth of field and spatial relationship each other can be obtained after image analysing computer, thus can the stereopsis of perfect reconstruction in this space.
According to embodiment, stereopsis treatment system comprises multi-section video camera, is located on multiple position respectively, takes a scene, in order to produce the continuous image of this scene of shooting, and a stereopsis processing unit.This stereopsis processing unit connects multi-section video camera, in order to obtain the signal of video signal of each video camera shooting, wherein more comprise the input unit receiving each video camera filmed image signal, and a stereopsis forming unit, stereopsis forming unit connects input unit, received signal of video signal is analyzed by software approach, obtain one or more object image in scene, and obtain each object at the position of each video camera shooting angle, profile, and the distance of each object and each video camera, with the stereopsis of object in re-construct.
Embodiment more utilizes software approach to analyze signal of video signal, in identification scene thus one or more object, each object of construction profile, judge the spacing of each object and each video camera, and combine each video camera in the image captured by the same time.Even can image comparison before and after the time, judge the mobile object in scene.
In the embodiment of method for processing stereo image, first, first obtain the image of multiple video camera in diverse location shooting Same Scene, and position, the profile of at least one object in the scene that each video camera takes at diverse location is obtained through image processing, and the distance of each object and each video camera, and can splice according to the position of each video camera at least one object in scene, profile and range information, form the stereopsis that has the depth of field.
In one embodiment, can, in spliced stereopsis, utilize the feature identification of each object to go out the type of object, more comprise the image comparison before and after the time and judge the step of the mobile object in scene.
More can in another embodiment, multi-section video camera is provided with in a vehicle, take the scene of different directions respectively, namely take the image of outside vehicle scene, the distance of object in scene is obtained by image processing, subject depth is obtained, equally by obtaining the image in outside vehicle scene with the depth of field after splicing after even utilizing image processing.
In order to technology, method and effect that the present invention takes for reaching set object further can be understood, refer to following detailed description for the present invention, accompanying drawing, believe object of the present invention, feature and feature, when being goed deep into thus and concrete understanding, but appended accompanying drawing and annex only provide reference and explanation use, are not used for being limited the present invention.
Accompanying drawing explanation
Fig. 1 shows the execution mode schematic diagram of stereopsis treatment system of the present invention;
Each video camera photographed scene that Fig. 2 shows stereopsis treatment system of the present invention implements schematic diagram;
Fig. 3 shows the embodiment schematic diagram of stereopsis processing unit of the present invention;
Fig. 4 shows the embodiment functional block diagram of stereopsis treatment system of the present invention;
Fig. 5 display application stereopsis processing unit of the present invention is in the embodiment schematic diagram of a vehicle;
One of flow process embodiment flow process describing method for processing stereo image of the present invention of Fig. 6 display;
The flow process of Fig. 7 display describes the embodiment flow process two of method for processing stereo image of the present invention.
[description of reference numerals]
Photographed scene 10 first video camera 101
Second video camera 102 the 3rd video camera 103
Four cameras 104 object 11,12,13
Scene 20 first video camera 201
Second video camera 202 the 3rd video camera 203
Four cameras 204 object 22
Stereopsis processing unit 25
Stereopsis processing unit 30 signal processing unit 301
Signal input unit 302 mnemon 303
Communication unit 304 video camera 311,312,313,314
Hand-held device 38 network 32
Cloud server 34
Image capturing device 41 input unit 42
Stereopsis forming unit 43 profile sets up module 431
Distance Judgment module 432 image joint module 433
Process identification unit 44 feature takes unit 45
Comparing unit 46 mobile detection unit 47
Database 48 output unit 49
Vehicle 50 first video camera 501
Second video camera 502 the 3rd video camera 503
Four cameras 504
One of embodiment flow process of step S601 ~ S609 method for processing stereo image
The embodiment flow process two of step S701 ~ S707 method for processing stereo image
Embodiment
The embodiment of stereopsis treatment system can consult the execution mode schematic diagram of the stereopsis treatment system of the present invention shown in Fig. 1.
This example shows a photographed scene 10, be arranged with multi-section video camera outside, the set of cameras of ability to communicate particularly can be had by the network camera (IPCAM) of network delivery signal of video signal or other, goodly can be the multiple high resolution cameras be located in a space, wherein signal shows the first video camera 101, second video camera 102, the 3rd video camera 103 and four cameras 104, obtain one or more object 11,12 in photographed scene 10 respectively, the image of 13.
Pattern is implemented according to invention, first video camera 101, second video camera 102, the 3rd video camera 103 from four cameras 104 respectively with different angle shot continuous images, when arranging these video cameras, can consider completely to obtain all objects 11 in photographed scene 10,12,13 various angles and arranging, therefore can with by analyzing, identification and image joint mode is complete obtains object 11 in all scenes 10, the stereopsis of 12,13.
Each video camera photographed scene that Fig. 2 then shows stereopsis treatment system of the present invention implements schematic diagram.
The first video camera 201, second video camera 202, the 3rd video camera 203 and four cameras 204 is provided with altogether in schematic diagram displayed scene 20, object 22 is had in scene 20, system includes the stereopsis processing unit 25 that a Computer Calculator realizes, the first video camera 201, second video camera 202, the 3rd video camera 203 and the continuous image captured by four cameras 204 can be obtained at any time, such as a kind of digitized video register (DVR).
Stereopsis processing unit 25 connects multi-section video camera 201, 202, 203, 204, in order to obtain the signal of video signal of each video camera shooting, be provided with and connect and receive multi-section video camera 201, 202, 203, the input terminal of 204, mainly be provided with a stereopsis forming unit, comprise various software or firmware module, in order to analyze the signal of video signal received, obtain one or more object 22 image in scene 20, obtain the position of each object 22 in each video camera shooting angle, profile, and the distance of each object and each video camera, with the stereopsis of one or more object 22 in re-construct 20.
When stereopsis processing unit 25 obtains online each video camera 201,202,203,204 shooting signal of video signal time, rear storage can be compressed, as the data of follow-up interpretation, also real-time imaging process can be performed, the change in real time reaction scene 20, therefore can as the purposes of monitoring.But specifically, the stereopsis processing unit 25 that the embodiment of the present invention proposes is a device that can process 3-dimensional image signal, through each video camera 201,202,203,204 when obtaining the image of different angles in Same Scene 20, by software or firmware means analysis signal of video signal, obtains the information of object 22 in scene 20, comprise and obtain the position of object 22, same target 22 and each video camera 201 by image processing, the distance of 202,203,204, pick out the image contour of object 22.The stereopsis of each object can be gone out further according to these information operation.
Separately there is embodiment can be not limited to place in given chamber, but for the execution mode of the three-dimensional exterior space, on a vehicle carrier, be such as provided with the video camera of multiple shooting different angles, and be mounted with above-mentioned stereopsis processing unit 25, display system etc. in car-mounted computer, car can be coordinated, after the scenery of shooting carrier surrounding, utilize image processing technique to obtain the profile of each scenery object within the scope of particular space, the relation between the degree of depth and object, construction can go out the stereopsis of surrounding scenery according to this.If for vehicle, driving can be provided to judge the reference of surrounding environment easily; If for monitoring, then clearer and more definite image analysing computer condition can be obtained.
Fig. 3 shows the enforcement illustration of the circuit unit of stereopsis processing unit of the present invention.
The device that stereopsis processing unit 30 realizes as a Computer Calculator, is provided with signal processing unit 301, signal input unit 302, mnemon 303 and communication unit 304 according to circuit function.The signal processing unit 301 of stereopsis processing unit 30 is as the core of operational data, connect by wherein signal input unit 302 and be received from video camera 311,312,313,314 signal of video signal produced, wherein mnemon 303 stores the signal of video signal received.
Stereopsis processing unit 30 is then connected to external terminal devices by communication unit 304, hand-held device 38 is connected as by network 32, or be connected to cloud server 34, can in real time by processed signal of video signal, the particularly stereopsis of treated formation, or undressed compressing image or show in real time after hand-held device 38, as the purposes of mobile monitor through the document backup of other mode process.After data are delivered to cloud server 34, can do to store backup, and be sent to other devices by cloud server 34.
But, for such as terminal installation such as hand-held device 38 grade, in hand-held device 38, associated monitoring or the application program browsed can be installed, such as mobile applications (APP), when after the stereoscopic image signals being received from stereopsis processing unit 30 transmission, the stereopsis in photographed scene can be demonstrated smoothly.
For whole stereopsis treatment system, wherein realize wherein treatment technology by the means of software or hardware, related embodiment functional block diagram can see Fig. 4.
There is image capturing device 41 one end of system, is located on the diverse location in a space or scene as aforementioned, is located in principle can completely to present to such an extent as to can on the various position of furnishing object in scene of three-dimensional.
System is connected to image capturing device 41 (can be multiple) by input unit 42, relevant signal of video signal is after stereopsis forming unit 43 in system processes, the object stereopsis after reconstruction can be formed, output signal as by output unit 49.
Stereopsis forming unit 43 draws in signal the image parameter reflecting various object in scene after mainly obtaining the signal of video signal taked by each image capturing device 41.The profile realized as by software or firmware means is set up module 431 and is obtained the profile constructing object in the signal of video signal of same target from different perspectives, and the mode presented data parameters can represent a profile; Utilize Distance Judgment module 432 to obtain the distance parameter of each object and each image capturing device 41, this from different images capture device 41 obtain same object distance parameter can judge the depth of field (depthoffield) at each position of each object.
The adjacent different image acquired by image capturing device 41 in a scene has overlapping part, therefore the overlapping of the picture that each image capturing device 41 is taked can be obtained by the technology of image processing, and then execution image is pieced together, as by the image joint module 433 that software in system or firmware realize, in order to combine different adjacent each image capturing devices 41 in the image captured by the same time, the complete image obtaining photographed scene is pieced together by image, fit through the signal of video signal of each object acquired by different images capture device 41 afterwards and the stereopsis rebuild, reach the object that invention forms stereopsis.
After stereopsis is rebuild, system also can comprise an object identification unit 44, can pick out the various objects had in scene whereby, and the quantity of one or more object and the position of ornaments; More take unit 45 after data analysis, obtain the feature of object by feature in system and obtain object and be what, such as according to the appearance forrns of this object judge this to as if which kind of object.
System is separately by comparing unit 46, the historically characteristic parameter of various object in database 48, accurately obtain the minutia of object whereby, such as can judge face according to the characteristics of objects in stereopsis, even obtain the data of related person according to recognition of face, this can be used as the use of monitoring or gate inhibition.
It is worth mentioning that, to for monitoring or gate inhibition, turnover personnel be recognized as main purpose, therefore can record the image of face of turnover personnel in this database 48; Maybe can in conjunction with some security data storehouses as the judgement of illegal invasion.
System can pass through mobile detection unit 47, the image comparison before and after the time and judge the mobile object in this scene.Obtain the image changed after this part comparison by each frame (frame) of surrounding time in continuous image, obtain mobile object and relevant motion track from the variation of a period of time.Export finally by output unit 49, comprise and outputting on the supervising device of terminal as above-mentioned, or uploading to cloud system uses for him.
Enumerate an example at this, above-mentioned database 48 can be link community network (communitynetwork) or specific user's database, obtains the database of the feature of central user thus.Obtain the personnel's image in photographed scene when system after, the identity of these personnel can be picked out by database 48 comparison, therefore reach monitoring, security and frighten the function of resistance.Such as database 48 adopts Google (Google
tM), face book (Facebook
tM), when introducing this type of mass data, personnel identity can be picked out by face feature comparison.
Fig. 5 display application stereopsis processing unit of the present invention is in the embodiment schematic diagram of a vehicle, the system that namely above-mentioned multi-section video camera is formed can be applicable to obtain outside vehicle scene image, and obtain the image information of each object in scene (as building, other vehicles, pedestrian), the part of different camera image overlap also can obtain the depth of view information of this part smoothly, image processing technique still can be utilized to obtain the information such as the distance of each object and vehicle, the degree of depth of object not having the part of image overlap.Embodiment such as can according to the shadow of object in scene, object each other the mode analysis such as position relationship obtain the depth of view information of object.
This example is presented at a vehicle 50 and is provided with multiple image capturing device, take the scene of different directions respectively, such as take the first video camera 501, second video camera 502, the 3rd video camera 503 and the four cameras 504 of scene on the right side of scene, car back spectacle and car on the left of scene before car, car respectively.
By the software restraint device such as described in above-mentioned Fig. 4, obtaining, process and splicing of image can be performed, the distance of object in scene is obtained as by image processing, subject depth is obtained, equally by obtaining the image in outside vehicle scene with the depth of field after splicing after even utilizing image processing.In like manner can judge one or more object in scene through image processing, obtain each object at the position of each image capturing device shooting angle, profile, and the distance of each object and each image capturing device, form a stereopsis with the depth of field thus, these image informations can provide driver to supervise surrounding environment, one or more object image obtained in this scene, provide software to judge unusual condition.
The flow process of Fig. 6 display describes the embodiment flow process of method for processing stereo image of the present invention.
The first video camera, the second video camera, the 3rd video camera and the four cameras of being located at diverse location can be comprised with reference to figure 1, system shown in Figure 2, four corners of certain scene can be located at respectively, or be located at vehicle or certain objects photographs special scenes, and video camera quantity can change according to the design of actual scene or object, in principle with can obtain smoothly every nook and cranny image in scene be designed to main.
Flow process shows, and in step s 601, system obtains the image of multiple video camera in diverse location shooting Same Scene by above-mentioned stereopsis processing unit; Then, stereopsis processing unit, by wherein software or firmware module execution image processing, wherein particularly according to the signal of video signal that each video camera is taken in different angles, at least can judge the wherein profile of each object and the spacing of each video camera.
For another example step S603, the signal of video signal that the stereopsis forming unit realized with software or firmware means in stereopsis processing unit obtains from above-mentioned each video camera (as the first video camera, the second video camera, the 3rd video camera and four cameras) by software approach analysis, one or more object in scene is picked out by process identification function (process identification unit), the profile (as set up module by profile) of each object of construction, and the spacing (as by Distance Judgment module) judging each object and each video camera.
Embodiment shows an object can taken by least two video cameras, therefore the picture of the different angles of an object can be obtained, according to depicted profile, and various range data obtains the degree of depth (or width) of this object, and judge the position relationship between object by various depth of field data, therefore the spatial relationship of the various objects of whole scene can be obtained, in order to image joint.Function (image joint module) as by image joint in stereopsis processing unit combines above-mentioned at least plural video camera in the image captured by the same time, its mode mainly first obtains the environmental images in a space, form a real-time volume image, details comprises and obtains article edge, size, distance in space, image joint is carried out for each article in effective range of exposures of each video camera in multiple image, according to distance and size, there is the stereopsis of the depth of field afterwards, as step S605 according to the spatial relationship construction of each object.
Except the stereopsis that each time point is formed being stored for except use in the future, image processing system more can be coordinated to carry out process identification in real time or afterwards, as step S607, the feature of such as first identification objects, comparison data storehouse and obtain object type.Finally result is exported, as step S609.
In the flow process forming stereopsis, as shown in Figure 7, first the profile of at least each object in scene, distance and size is gone out, as step S701 by image processing Analysis and judgments; Embodiment can add splices the row analysis again of each video camera filmed image; The feature of each object is obtained again, as step S703 by the function of signature analysis; Through comparison data storehouse, as step S705, and obtain and export identification result, as step S707.The image comparison of surrounding time separately can be coordinated to obtain the information of mobile object.
Output rusults can be sent to a user's set together with information such as the object type picked out, size, position, movements, such as this user's set is provided with the application program that can access above-mentioned stereopsis processing unit, obtains real-time signal of video signal with Video Streaming.
In sum, in order to obtain the spatial relationship of various object in a space or scene, the stereopsis treatment system that the present invention proposes comprises the multiple image capturing devices be located in this space, and the device of a process signal of video signal, analyze signal of video signal, identification objects by software module wherein especially, obtain the information such as each object's position, profile, distance, can by each video camera of image joint technical combinations in the image captured by the same time.Thus, identification objects feature can be continued, and judge the mobile object in scene.Specifically, except for except interior space construction stereopsis, invention is not got rid of can to outdoor scenes construction stereopsis, comprise wherein object is proposed position, size and spatial relationship, further can obtain the mobile alignment of wherein object.
The foregoing is only better possible embodiments of the present invention, non-ly therefore namely limit to scope of patent protection of the present invention, therefore the equivalent structure change that every utilization specification of the present invention and diagramatic content are done, be all in like manner included within the scope of the present invention.
Claims (15)
1. a stereopsis treatment system, is characterized in that described system comprises:
Multi-section image capturing device, is located at multiple positions of shooting different directions respectively, takes a scene, in order to produce the continuous image of this scene of shooting; And
One stereopsis processing unit, connects this multi-section image capturing device, in order to obtain the signal of video signal of each image capturing device shooting, comprising:
The input unit of each image capturing device filmed image signal of one reception;
One stereopsis forming unit, connect this input unit, analyze the signal of video signal received, obtain one or more object image in this scene, obtain each object at the position of each image capturing device shooting angle, profile, and the distance of each object and each image capturing device, to rebuild the stereopsis of this one or more object in this scene.
2. stereopsis treatment system as claimed in claim 1, it is characterized in that, this stereopsis forming unit analyzes signal of video signal by software approach, this one or more object in this scene is picked out by an object identification unit, set up the profile of each object of modular construction by a profile, judged the spacing of each object and each image capturing device by a Distance Judgment module, and by each image capturing device of an image joint block combiner in the image captured by the same time.
3. stereopsis treatment system as claimed in claim 2, is characterized in that, also comprise a feature and take unit, and in order to analyze the feature of each object, warp and a database comparison, judge the type of each object.
4. stereopsis treatment system as claimed in claim 3, more comprises a mobile detection unit, the image comparison before and after the time, judges the mobile object in this scene.
5. stereopsis treatment system as claimed in claim 1, is characterized in that, this stereopsis processing unit more comprises the communication unit that externally exports stereoscopic image signals.
6. stereopsis treatment system as claimed in claim 1, it is characterized in that, this system comprises one first video camera being located at diverse location, one second video camera, one the 3rd video camera and a four cameras, this stereopsis forming unit by software approach analysis from this first video camera, this second video camera, the signal of video signal that 3rd video camera and this four cameras image obtain, this one or more object in this scene is picked out by an object identification unit, the profile of each object of modular construction is set up by a profile, the spacing of each object and each video camera is judged by a Distance Judgment module, and by this first video camera of an image joint block combiner, this second video camera, 3rd video camera and this four cameras image are in the image captured by the same time.
7. a stereopsis processing unit, is characterized in that, described device comprises:
One stereopsis processing unit, connects multi-section image capturing device, in order to obtain the signal of video signal of each image capturing device shooting, comprising:
The input unit of each image capturing device filmed image signal of one reception;
One stereopsis forming unit, connect this input unit, analyze the signal of video signal received, obtain one or more object image in this scene, obtain each object at the position of each image capturing device shooting angle, profile, and the distance of each object and each image capturing device, to rebuild the stereopsis of this one or more object in this scene.
8. stereopsis processing unit as claimed in claim 7, it is characterized in that, this stereopsis forming unit analyzes signal of video signal by software approach, this one or more object in this scene is picked out by an object identification unit, set up the profile of each object of modular construction by a profile, judged the spacing of each object and each image capturing device by a Distance Judgment module, and by each image capturing device of an image joint block combiner in the image captured by the same time.
9. stereopsis processing unit as claimed in claim 8, is characterized in that, also comprise a feature and take unit, and in order to analyze the feature of each object, warp and a database comparison, judge the type of each object.
10. stereopsis processing unit as claimed in claim 9, is characterized in that, also comprise a mobile detection unit, the image comparison before and after the time, judge the mobile object in this scene.
11. stereopsis processing unit as claimed in claim 7, is characterized in that, also comprise the communication unit that externally exports stereoscopic image signals.
12. 1 kinds of method for processing stereo image, is characterized in that described method comprises:
Obtain the image of multiple image capturing device in diverse location shooting Same Scene;
Position, the profile of at least one object in this scene that each image capturing device takes at diverse location is obtained through image processing, and the distance of each object and each image capturing device; And
Splice according to the position of each image capturing device at least one object in this scene, profile and range information, form the stereopsis that has the depth of field.
13. method for processing stereo image as claimed in claim 12, more comprise the step obtaining this at least one object feature, and according to the feature of this at least one object, comparison one database and the step of this at least one object of identification.
14. method for processing stereo image as claimed in claim 13, it is characterized in that, after the type picking out this at least one object, result exports a user's set to.
15. method for processing stereo image as claimed in claim 12, is characterized in that, also comprise the image comparison before and after the time and judge the step of the mobile object in this scene.
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Application publication date: 20160210 |