CN105430375B - The method and apparatus that a kind of splicing for detecting panoramic camera is applicable distance - Google Patents
The method and apparatus that a kind of splicing for detecting panoramic camera is applicable distance Download PDFInfo
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- CN105430375B CN105430375B CN201510765894.8A CN201510765894A CN105430375B CN 105430375 B CN105430375 B CN 105430375B CN 201510765894 A CN201510765894 A CN 201510765894A CN 105430375 B CN105430375 B CN 105430375B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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Abstract
The invention belongs to technical field of image processing there is provided the method and apparatus that a kind of splicing for detecting panoramic camera is applicable distance, the panoramic camera includes multiple camera lenses.Methods described includes：Obtain the splicing regions of image captured by adjacent camera lens in the multiple camera lens；The splicing regions are carried out with the shooting of different distance, includes the image of splicing regions captured by the adjacent camera lens corresponding to different distance to obtain；The difference of two squares sum SSD for including the image of splicing regions, calculating the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance captured by adjacent camera lens according to corresponding to the different distancei, wherein, i is the integer more than zero；According to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance.To efficiently solve prior art by the present invention can not also provide the user a problem of specific splicing is applicable distance parameter, it is to avoid the situation of image ghost image occurs in shooting process in user.
Description
Technical field
Distance is applicable the invention belongs to technical field of image processing, more particularly to a kind of splicing for detecting panoramic camera
Method and apparatus.
Background technology
At present, the panoramic camera of flake model is either also based on based on pin-hole model, in terms of image mosaic all
The condition limitation of distance is applicable in the presence of splicing.However, prior art can not also provide the user a specific splicing be applicable away from
From parameter.
Therefore, it is necessary to a kind of new technical scheme is proposed, to solve above-mentioned technical problem.
The content of the invention
In consideration of it, the embodiment of the present invention provides the method and apparatus that a kind of splicing for detecting panoramic camera is applicable distance,
It is intended to provide the user a specific applicable distance parameter of splicing, it is to avoid the feelings of image ghost image occurs in shooting process in user
Condition.
There is provided a kind of method that splicing for detecting panoramic camera is applicable distance, institute for the first aspect of the embodiment of the present invention
Stating panoramic camera includes multiple camera lenses, and methods described includes：
Obtain the splicing regions of image captured by adjacent camera lens in the multiple camera lens；
The splicing regions are carried out with the shooting of different distance, to obtain captured by the adjacent camera lens corresponding to different distance
Include the image of splicing regions；
Include the image of splicing regions captured by adjacent camera lens according to corresponding to the different distance, calculate described in not
The difference of two squares sum SSD of the pixel of corresponding points in the splicing regions captured by adjacent camera lens corresponding to same distancei, wherein, i is
Integer more than zero；
According to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance.
There is provided the device that a kind of splicing for detecting panoramic camera is applicable distance, institute for the second aspect of the embodiment of the present invention
Stating panoramic camera includes multiple camera lenses, and described device includes：
Acquisition module, taking module, computing module and determining module；
The acquisition module, the splicing regions for obtaining image captured by adjacent camera lens in the multiple camera lens；
The taking module, the shooting for the splicing regions to be carried out with different distance is right to obtain different distance institute
Include the image of splicing regions captured by the adjacent camera lens answered；
The computing module, for including splicing regions captured by the adjacent camera lens according to corresponding to the different distance
Image, calculate the difference of two squares of the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance
Sum SSDi, wherein, i is the integer more than zero；
The determining module, for according to the difference of two squares sum SSDi, determine the minimum splicing of the panoramic camera
It is applicable distance.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：The embodiment of the present invention obtains the multiple mirror
The splicing regions are carried out the shooting of different distance, to obtain difference by the splicing regions of image captured by adjacent camera lens in head
Include the image of splicing regions apart from captured by corresponding adjacent camera lens, the adjacent mirror according to corresponding to the different distance
The splicing regions for including the image of splicing regions, calculating captured by the adjacent camera lens corresponding to the different distance captured by head
The difference of two squares sum SSD of the pixel of middle corresponding pointsi, wherein, i is the integer more than zero, according to the difference of two squares sum SSDi, really
The minimum splicing of the fixed panoramic camera is applicable distance, and one can not also be provided the user specifically by efficiently solving prior art
Splicing the problem of be applicable distance parameter, it is to avoid there is the situation of image ghost image in shooting process in user.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required for the accompanying drawing that uses be briefly described, it should be apparent that, drawings in the following description are only some of the present invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is that the splicing for the detection panoramic camera that the embodiment of the present invention one is provided is applicable the implementation process of distance method
Figure；
Fig. 2 is that the splicing for the detection panoramic camera that the embodiment of the present invention two is provided is applicable the implementation process of distance method
Figure；
Fig. 3 is that the splicing for the detection panoramic camera that the embodiment of the present invention three is provided is applicable the composition signal of distance means
Figure；
Fig. 4 is that the splicing for the detection panoramic camera that the embodiment of the present invention four is provided is applicable the composition signal of distance means
Figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one：
Fig. 1 shows that the splicing for the detection panoramic camera that the embodiment of the present invention one is provided is applicable the realization stream of distance method
Journey, details are as follows for the implementation process：
In step S101, the splicing regions of image captured by adjacent camera lens in multiple camera lenses are obtained；
In embodiments of the present invention, the panoramic camera includes multiple camera lenses, can be 2,4,6,8 camera lenses
Deng.
The splicing regions are the overlapping region of image captured by adjacent camera lens.
In step s 102, the splicing regions are carried out with the shooting of different distance, to obtain corresponding to different distance
Include the image of splicing regions captured by adjacent camera lens；
Further, the shooting that the splicing regions are carried out with different distance, can specifically include：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
In embodiments of the present invention, significant object can be selected in splicing regions as object can be shot, and use machine
Tool arm stable holding can shoot object.
In step s 103, the figure of splicing regions is included captured by the adjacent camera lens according to corresponding to the different distance
Picture, calculates the difference of two squares sum of the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance
SSDi, wherein, i is the integer more than zero；
In embodiments of the present invention, shooting distance often reduces predetermined value, and i correspondences Jia 1.
Exemplary, user carries out the shooting of different distance to splicing regions from far near, and basic shooting distance can be 5
Rice, in the shooting after, shooting distance often reduces 0.01 meter, and i correspondences Jia 1.
In step S104, according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable
Distance.
Further, it is described according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable
Distance, is specifically included：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is minimum
Splicing is applicable distance.
It is preferred that predetermined threshold value is 5%.
It is exemplary, shooting distance from far near, in the splicing regions captured by adjacent camera lens corresponding to shooting distance
The difference of two squares sum SSD of the pixel of corresponding pointsiChange from small to big, the image including splicing regions captured by adjacent camera lens occurs
The situation of ghost image.Due to the influence of the factors such as light, noise, the difference of two squares sum SSDiCan not possibly be zero, therefore can be by institute
State difference of two squares sum SSDiRate of change as judgment threshold, work as SSDi+1Relative to SSDiIncreasing degree be more than 5% when, it is determined that
The SSDiCorresponding distance is applicable distance for minimum splicing, when shooting distance be more than or equal to minimum splicing be applicable apart from when,
User is not in the situation of image ghost image in shooting process.
The embodiment of the present invention is by obtaining the splicing regions of image captured by adjacent camera lens in the multiple camera lens, to described
Splicing regions carry out the shooting of different distance, include splicing regions captured by the adjacent camera lens corresponding to different distance to obtain
Image, include the image of splicing regions captured by the adjacent camera lens according to corresponding to the different distance, calculate described in not
The difference of two squares sum SSD of the pixel of corresponding points in the splicing regions captured by adjacent camera lens corresponding to same distancei, wherein, i is
Integer more than zero, according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance, effectively
To solve prior art can not also provide the user a problem of specific splicing is applicable distance parameter, it is to avoid user is clapping
Occurs the situation of image ghost image during taking the photograph.
Embodiment two：
Fig. 2 shows that the splicing for the detection panoramic camera that the embodiment of the present invention two is provided is applicable the realization stream of distance method
Journey, details are as follows for the implementation process：
In step s 201, multiple camera lenses are demarcated, to obtain the parameter information of the multiple camera lens；
In embodiments of the present invention, the panoramic camera includes multiple camera lenses, can be 2,4,6,8 camera lenses
Deng.In embodiments of the present invention, in panoramic camera multiple camera lenses demarcation, can use traditional standardization, it is described tradition mark
The method of determining need to use the known demarcation thing of size, by setting up between the point on demarcation thing known to coordinate on point and captured image
Corresponding relation, the outer ginseng information and/or internal reference information of multiple camera lenses in panoramic camera can be obtained using specific algorithm；Outside
Join the relative position relation between camera lens coordinate system, the outer ginseng packet in information decision world coordinate system and panoramic camera
Include but be not limited in panoramic camera camera lens coordinate system relative to spin matrix, translation vector of world coordinate system etc.；Internal reference is believed
Breath determines the relative position relation between camera lens coordinate system and plane of delineation coordinate system, the internal reference packet in panoramic camera
Include but be not limited to lens focus, coordinate warping factor, image coordinate origin etc..
In step S202, according to the parameter information, the image captured by adjacent camera lens in the multiple camera lens is reflected
It is incident upon same perspective plane；
In embodiments of the present invention, the perspective plane includes but is not limited to sphere, cylinder, three-dimensional surface etc..
Exemplary, adjacent camera lens is respectively A camera lenses and B camera lenses, and the image captured by A camera lenses and B camera lenses is all mapped
To sphere, the overlapping region for mapping to sphere is splicing regions.
In step S203, the splicing regions of image captured by adjacent camera lens in the multiple camera lens are obtained；
In step S204, according to the parameter information, the splicing regions that include captured by the adjacent camera lens are corrected
Image；
In embodiments of the present invention, correction be the image including splicing regions captured by adjacent camera lens is mapped to it is same
Plane, changes the coordinate relation of image, simplifies what is matched between the image including splicing regions captured by adjacent camera lens
Problem, can be in same a line of image by the corresponding points on the image of correction.
In step S205, the splicing regions are carried out with the shooting of different distance, to obtain corresponding to different distance
Include the image of splicing regions captured by adjacent camera lens；
Further, the shooting that the splicing regions are carried out with different distance, can specifically include：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
In embodiments of the present invention, significant object can be selected in splicing regions as object can be shot, and use machine
Tool arm stable holding can shoot object.
In step S206, include the figure of splicing regions captured by the adjacent camera lens according to corresponding to the different distance
Picture, calculates the difference of two squares sum of the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance
SSDi, wherein, i is the integer more than zero；
In embodiments of the present invention, shooting distance often reduces predetermined value, and i correspondences Jia 1.
Exemplary, user carries out the shooting of different distance to splicing regions from far near, and basic shooting distance can be 5
Rice, in the shooting after, shooting distance often reduces 0.01 meter, and i correspondences Jia 1.
In step S207, according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable
Distance.
Further, it is described according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable
Distance, is specifically included：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is minimum
Splicing is applicable distance.
It is preferred that predetermined threshold value is 5%.
It is exemplary, shooting distance from far near, in the splicing regions captured by adjacent camera lens corresponding to shooting distance
The difference of two squares sum SSD of the pixel of corresponding pointsiChange from small to big, the image including splicing regions captured by adjacent camera lens occurs
The situation of ghost image.Due to the influence of the factors such as light, noise, the difference of two squares sum SSDiCan not possibly be zero, therefore can be by institute
State difference of two squares sum SSDiRate of change as judgment threshold, work as SSDi+1Relative to SSDiIncreasing degree be more than 5% when, it is determined that
The SSDiCorresponding distance is applicable distance for minimum splicing, when shooting distance be more than or equal to minimum splicing be applicable apart from when,
User is not in the situation of image ghost image in shooting process.
The embodiment of the present invention to multiple camera lenses by demarcating, to obtain the parameter information of the multiple camera lens, according to
The parameter information, same perspective plane is mapped to by the image captured by adjacent camera lens in the multiple camera lens, is obtained described many
The splicing regions of image captured by adjacent camera lens in individual camera lens, according to the parameter information, are corrected captured by the adjacent camera lens
Include the image of splicing regions, to the splicing regions carry out different distance shooting, to obtain corresponding to different distance
Include the image of splicing regions captured by adjacent camera lens, the bag captured by adjacent camera lens according to corresponding to the different distance
The image of splicing regions is included, the picture of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance is calculated
The difference of two squares sum SSD of elementi, wherein, i is the integer more than zero, according to the difference of two squares sum SSDi, determine that the panorama is taken the photograph
The minimum splicing of camera is applicable distance, efficiently solve prior art can not also provide the user a specific splicing be applicable away from
The problem of from parameter, it is to avoid the situation of image ghost image occurs in shooting process in user.
Embodiment three：
Fig. 3 shows that the splicing for the detection panoramic camera that the embodiment of the present invention three is provided is applicable the compositions of distance means and shown
It is intended to, for convenience of description, illustrate only the part related to the embodiment of the present invention, details are as follows：
Acquisition module 31, the splicing regions for obtaining image captured by adjacent camera lens in multiple camera lenses；
In embodiments of the present invention, the panoramic camera includes multiple camera lenses, can be 2,4,6,8 camera lenses
Deng.
The splicing regions are the overlapping region of image captured by adjacent camera lens.
Taking module 32, the shooting for the splicing regions to be carried out with different distance, to obtain corresponding to different distance
Adjacent camera lens captured by include the image of splicing regions；
Further, the taking module 32 specifically for：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
In embodiments of the present invention, significant object can be selected in splicing regions as object can be shot, and use machine
Tool arm stable holding can shoot object.
Computing module 33, for including splicing regions captured by the adjacent camera lens according to corresponding to the different distance
Image, calculate the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance the difference of two squares it
And SSDi, wherein, i is the integer more than zero；
Determining module 34, for according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is suitable
With distance.
Further, the determining module 34 specifically for：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is minimum
Splicing is applicable distance.
The splicing of detection panoramic camera provided in an embodiment of the present invention, which is applicable distance means, can use in foregoing correspondence
Embodiment of the method one in, details will not be repeated here referring to the description of above-described embodiment one.
By the embodiment of the present invention, efficiently solve prior art and can not also provide the user a specific splicing and be applicable
The problem of distance parameter, it is to avoid the situation of image ghost image occurs in shooting process in user.
Example IV：
Fig. 4 shows that the splicing for the detection panoramic camera that the embodiment of the present invention four is provided is applicable the compositions of distance means and shown
It is intended to, for convenience of description, illustrate only the part related to the embodiment of the present invention, details are as follows：
Demarcating module 41, for being demarcated to multiple camera lenses, to obtain the parameter information of the multiple camera lens；
In embodiments of the present invention, the panoramic camera includes multiple camera lenses, can be 2,4,6,8 camera lenses
Deng.
Mapping block 42, for according to the parameter information, by the image captured by adjacent camera lens in the multiple camera lens
Map to same perspective plane；
In embodiments of the present invention, the perspective plane includes but is not limited to sphere, cylinder, three-dimensional surface etc..
Exemplary, adjacent camera lens is respectively A camera lenses and B camera lenses, and the image captured by A camera lenses and B camera lenses is all mapped
To sphere, the overlapping region for mapping to sphere is splicing regions.
Acquisition module 43, the splicing regions for obtaining image captured by adjacent camera lens in the multiple camera lens；
Correction module 44, for according to the parameter information, correct to include splicing regions captured by the adjacent camera lens
Image.
Taking module 45, the shooting for the splicing regions to be carried out with different distance, to obtain corresponding to different distance
Adjacent camera lens captured by include the image of splicing regions；
Further, the taking module 45 specifically for：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
In embodiments of the present invention, significant object can be selected in splicing regions as object can be shot, and use machine
Tool arm stable holding can shoot object.
Computing module 46, for including splicing regions captured by the adjacent camera lens according to corresponding to the different distance
Image, calculate the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance the difference of two squares it
And SSDi, wherein, i is the integer more than zero；
Determining module 47, for according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is suitable
With distance.
Further, the determining module 47 specifically for：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is minimum
Splicing is applicable distance.
The splicing of detection panoramic camera provided in an embodiment of the present invention, which is applicable distance means, can use in foregoing correspondence
Embodiment of the method two in, details will not be repeated here referring to the description of above-described embodiment two.
The technical staff in the field can be understood that, for convenience and simplicity of description, only with above-mentioned each function
The division progress of module is for example, in practical application, as needed can distribute above-mentioned functions by different function moulds
Block is completed, i.e. the internal structure of described device is divided into different functional modules, and above-mentioned functions module both can be using hardware
Form is realized, it would however also be possible to employ the form of software is realized.In addition, the specific name of each functional module is also only to facilitate mutually
Difference, is not limited to the protection domain of the application.
In summary, the embodiment of the present invention obtains the splicing regions of image captured by adjacent camera lens in multiple camera lenses, to institute
The shooting that splicing regions carry out different distance is stated, includes splice region captured by the adjacent camera lens corresponding to different distance to obtain
The image in domain, includes the image of splicing regions captured by the adjacent camera lens according to corresponding to the different distance, calculates described
The difference of two squares sum SSD of the pixel of corresponding points in the splicing regions captured by adjacent camera lens corresponding to different distancei, wherein, i
For the integer more than zero, according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance, have
Effect solves prior art can not also provide the user a problem of specific splicing is applicable distance parameter, it is to avoid user exists
Occurs the situation of image ghost image in shooting process.
Those of ordinary skill in the art are further appreciated that all or part of step realized in above-described embodiment method is can
To instruct the hardware of correlation to complete by program, described program can be stored in a computer read/write memory medium
In, described storage medium, including ROM/RAM, disk, CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (8)
1. a kind of method that splicing for detecting panoramic camera is applicable distance, it is characterised in that the panoramic camera includes many
Individual camera lens, methods described includes：
Obtain the splicing regions of image captured by adjacent camera lens in the multiple camera lens；
The splicing regions are carried out with the shooting of different distance, to obtain the bag captured by the adjacent camera lens corresponding to different distance
Include the image of splicing regions；
Include the image of splicing regions captured by adjacent camera lens according to corresponding to the different distance, calculate it is described it is different away from
From the difference of two squares sum SSD of the pixel of corresponding points in the splicing regions captured by corresponding adjacent camera lensi, wherein, i be more than
Zero integer；
According to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance；
It is described according to the difference of two squares sum SSDi, determine that the minimum splicing of the panoramic camera is applicable distance, specifically include：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is spliced to be minimum
It is applicable distance.
2. according to the method described in claim 1, it is characterised in that scheme in the multiple camera lens is obtained captured by adjacent camera lens
Before the splicing regions of picture, in addition to：
The multiple camera lens is demarcated, to obtain the parameter information of the multiple camera lens.
3. method according to claim 2, it is characterised in that demarcated to the multiple camera lens, described to obtain
After the parameter information of multiple camera lenses, in addition to：
According to the parameter information, the image captured by adjacent camera lens in the multiple camera lens is mapped into same perspective plane；
After the splicing regions of image captured by adjacent camera lens in obtaining the multiple camera lens, in addition to：
According to the parameter information, correct includes the image of splicing regions captured by the adjacent camera lens.
4. according to the method described in claim 1, it is characterised in that the bat that the splicing regions are carried out with different distance
Take the photograph, specifically include：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
5. a kind of splicing for detecting panoramic camera is applicable the device of distance, it is characterised in that the panoramic camera includes many
Individual camera lens, described device includes：
Acquisition module, taking module, computing module and determining module；
The acquisition module, the splicing regions for obtaining image captured by adjacent camera lens in the multiple camera lens；
The taking module, the shooting for the splicing regions to be carried out with different distance, to obtain corresponding to different distance
Include the image of splicing regions captured by adjacent camera lens；
The computing module, for including the figure of splicing regions captured by the adjacent camera lens according to corresponding to the different distance
Picture, calculates the difference of two squares sum of the pixel of corresponding points in the splicing regions captured by the adjacent camera lens corresponding to the different distance
SSDi, wherein, i is the integer more than zero；
The determining module, for according to the difference of two squares sum SSDi, determine the panoramic camera minimum splicing be applicable away from
From；
The determining module specifically for：
Work as SSDi+1Relative to SSDiIncreasing degree be more than predetermined threshold value when, determine the SSDiCorresponding distance is spliced to be minimum
It is applicable distance.
6. device according to claim 5, it is characterised in that described device also includes：
Demarcating module, for being demarcated to the multiple camera lens, to obtain the parameter information of the multiple camera lens.
7. device according to claim 6, it is characterised in that described device also includes：
Mapping block, for according to the parameter information, the image captured by adjacent camera lens in the multiple camera lens to be mapped to
Same perspective plane；
Correction module, for according to the parameter information, correct to include the image of splicing regions captured by the adjacent camera lens.
8. device according to claim 5, it is characterised in that the taking module specifically for：
In the splicing regions, the shooting that object carries out different distance can be shot by being clamped with mechanical arm.
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| CN112907447B (en) * | 2021-02-08 | 2022-07-01 | 杭州海康威视数字技术股份有限公司 | Splicing of sky cloud pictures and method for determining installation positions of multiple cameras |
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| JP5235798B2 (en) * | 2009-06-22 | 2013-07-10 | 富士フイルム株式会社 | Imaging apparatus and control method thereof |
| JP5380336B2 (en) * | 2010-03-04 | 2014-01-08 | 富士フイルム株式会社 | Imaging apparatus, panoramic image synthesis method and program thereof |
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