CN105744137A - System for real-time correction and splicing of image formed by fish-eye lens through using hardware circuit - Google Patents
System for real-time correction and splicing of image formed by fish-eye lens through using hardware circuit Download PDFInfo
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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
- H04N23/50—Constructional details
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T5/80—
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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
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The invention discloses a system for real-time correction and splicing of an image formed by a fish-eye lens through using a hardware circuit. The system comprises an optical lens unit, an image sensor unit, an image correction and splicing unit, an image digital processing unit and an attachment unit, wherein the optical lens unit is formed by one or more of fish-eye lenses and is responsible for collecting a multi-channel optical image in one or more of directions; the image sensor unit is formed by one or more of CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensors and is responsible for digitizing collection of the image shot by the fish-eye lens; the image correction and splicing unit is formed by general type programmable devices, such as an FPGA (Field Programmable Gate Array) or CPLD (Complex Programmable Logic Device), or a special integrated circuit realized by an ASIC (Application Specific Integrated Circuit) technology mainly, and attached SRAM (Static Random Access Memory) and FLASH storage device, and is responsible for distortion calibration, plane development and panoramic stitching of the image shot by the fish-eye lens; and the image digital processing unit is mainly responsible for carrying out encoding and compression processing on the image after correction and splicing and outputting a real-time panoramic video signal.
Description
Technical field
The present invention relates to a kind of system using hardware circuit that the become image of fish eye lens is corrected in real time and spliced.
Background technology
Fish eye lens is a kind of angle of visual field ultra-wide angle optical camera lens close or equal to 180 °.Based on fish-eye extreme Radix Rumicis characteristic, all it is widely used fish eye lens at present in the field such as video monitoring, driving recording to substitute traditional wide-angle lens；Meanwhile, double; two fish eye lens omnidirectional imaging systems are also because the structure camera lens more simple, used of its more traditional many planes omnidirectional imaging system is less, lower in cost, and paid close attention in panoramic shooting field；In the field that video quality demands is higher, also begin to be developed gradually based on multiple fish-eye camera systems.
But owing to fish-eye imaging exists distortion, and along with the increase of the angle of visual field, the distortion of imaging can increase further.The distortion of usual panorama picture of fisheye lens core is less, and greatly, normal viewing cannot directly obtain the full detail of image, it is necessary to it is carried out correction process in marginal portion distortion.And the correction algorithm of image is sufficiently complex, calculating with the video playout speed that 60 frames are per second, inter frame temporal is only about 16 milliseconds, and the processor on general camera cannot complete the rectification of image is calculated within the so short time, the especially process to high-definition image.Additionally, when using many fish eye lenses to manufacture panorama camera, not only need the become image of multiple fish eye lenses is carried out synchronous acquisition, rectification, in addition it is also necessary to it is spliced, to constitute panoramic picture.Conventionally used software the later stage complete image rectification or splicing will significantly expend the process time, therefore based on the fish-eye lens imaging system of software, not there is real-time, can be only applied in recording and broadcasting system.Notice that rectification and the stitching algorithm of image have stronger pattern feature, use the circuit based on hardware description language design by image flame detection and stitching algorithm Hardware, accelerate the algorithm speed of service, provide a solution for the problem solving to correct in real time and splice.
Summary of the invention
For deficiency of the prior art, the technical problem to be solved in the present invention there are provided a kind of system using hardware circuit that the become image of fish eye lens is corrected in real time and spliced.
For solving above-mentioned technical problem, the present invention is realized by below scheme: using the system that the become image of fish eye lens is corrected and spliced by hardware circuit in real time, this system includes:
Optical lens element liquid crystal display module, described optical lens element liquid crystal display module includes at least one fish eye lens, and described fish eye lens is the hemisphere face body that the angle of visual field is not less than 180 °, and it is for gathering the optical signal of one or more dimensional orientation；
The image sensor cell liquid crystal display module being connected with optical lens element liquid crystal display module, described image sensor cell liquid crystal display module includes at least one imageing sensor, and described imageing sensor is used for gathering the become image of fish eye lens；
With image sensor cell liquid crystal display module, described image flame detection and concatenation unit liquid crystal display module use hardware to realize, it includes real-time processor part and two parts of memory device, the real-time processor part tailored version integrated circuit by general programmable devices such as FPGA or CPLD or with asic technology realization is constituted, described real-time processor part is for correcting the distortion in the become image of described fish eye lens, flake spherical diagram picture is expanded into the plane picture being suitable for viewing, simultaneously when system exists the become image of multichannel fish eye lens, each image is carried out seamless spliced, described memory device is for storing the buffering of tables of data used in rectification or splicing and view data；
The image processing unit liquid crystal display module being connected with image flame detection and concatenation unit liquid crystal display module, described image processing unit liquid crystal display module completes to correct or the collection of spliced view data, pretreatment, coding, compression, and finally exports real time panoramic video signal.
Further, described system also includes adjunct unit, and this adjunct unit includes power supply, clock, debugging and communication interface；
Described power subsystem includes charge management module, power level image rotation module and electric sequence management module；
Described clock unit includes the internal clock unit of external clock unit and part of devices；
Described debugging unit includes the integrated debugging interface of device and self-defining Debugging message input/output interface；
Described communication interface unit by real-time video signal by WIFI module, 4G or 5G module, LAN module, FIREWIRE module, bluetooth module, USB module one or several modes be sent to rear end output.
Further, described rectification and concatenation unit liquid crystal display module include image capture module, memory access interface module, image flame detection concatenation module, image output module, being provided with real-time processor part between described image capture module and image output module, described memory access interface module connects memory device；
Described image capture module divides two kinds of image acquisition modes: one is to use single fish eye lens to drive single image sensor acquisition image information when constituting optical lens element in system；Another kind is when system uses multiple fish eye lenses to constitute optical lens element, then realize synchronizing to drive multiway images sensor parallel collection image information by hardware；
Described memory access interface module is by serial or parallel EBI, reads the tables of data in memorizer according to the sequential of regulation, maybe will need the view data write memorizer of buffering；
Described image flame detection concatenation module is the algorithm realized by hardware circuit, the data of redistribution and correction each pixel of original image so that it is meet the needs of directly observation or special observation after being corrected or splicing；
Described image output module is with standard compliant video form, image processing unit output to the back-end by rectification or spliced image.
Further, described rectification and concatenation unit liquid crystal display module also include image and correct and splice circuit in real time, and described image is corrected in real time and spliced circuit and includes:
The universal rectification realized with FPGA or CPLD programming device or splicing device, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data；
Correcting or splicing device with the tailored version that asic technology realizes, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data.
Further, described image is corrected in real time and is spliced circuit and includes three kinds of forms, these three kinds of forms respectively:
Correct in real time and splicing circuit with what minimum unit realized；
Correct in real time and splicing circuit with what standard block realized, digitized original image information module that described standard block includes being sequentially connected with, sram cache data module, minimum unit, SRAM process after data module, formatting standard video information module, FLASH tables of data module connects minimum unit；
Correct in real time and splicing circuit with what integrated unit realized, fish eye lens that described integrated unit includes being sequentially connected with, standard block, image processing unit.
Relative to prior art, the invention has the beneficial effects as follows: the invention provides the system using hardware circuit that the become image of fish eye lens is corrected in real time and spliced, accelerate rectification or the splicing speed of fisheye image, solve software traditionally can only carry out later stage synthesis and can not live critical defect, the imaging watching many fish eye lenses system in real time is possibly realized, has expanded fish-eye application.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is the data flow diagram of the present invention.
Fig. 3 is the Pisces eye real time panoramic camera composition schematic diagram of the present invention.
Labelling in accompanying drawing: optical lens element 1, image sensor cell 2, rectification and concatenation unit 3, image processing unit 4, standard block 5, integrated unit 6.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, so that advantages and features of the invention can be easier to be readily appreciated by one skilled in the art, thus protection scope of the present invention being made apparent clear and definite defining.
Refer to shown in accompanying drawing 1 ~ 3, the system that the become image of fish eye lens is corrected and spliced by the use hardware circuit of the present invention in real time, this system includes:
Optical lens element 1, described optical lens element 1 includes at least one fish eye lens, and described fish eye lens is be not less than the hemisphere face body of 180 °, and it is for gathering the optical signal that one or more dimensional orientation is typically no less than the global face of 360 °；
The image sensor cell 2 being connected with optical lens element 1, described image sensor cell 2 includes at least one imageing sensor, and described imageing sensor is used for gathering the become image of fish eye lens；Imageing sensor in usual picture system is equal with fish eye lens quantity, and namely each fish eye lens uses an imageing sensor that it is acquired.But in some special imaging system, it is also possible to by special light path design, become for one or more fish eye lenses image is projected in one or more imageing sensor.In the fish-eye lens imaging system only comprising single image sensor, the acquisition function module of described rectification and concatenation unit only needs directly to gather the viewdata signal of imageing sensor output；In the fish-eye lens imaging system comprising multiple imageing sensor, for ensureing that the image information comprised in same output image data frame is taken from same space-time, described rectification and concatenation unit acquisition function module, need multiway images sensor is synchronized, ensure after each collection period completes, the not free difference of the view data from each imageing sensor collected or time difference are minimum, do not affect and are ultimately imaged effect.
The rectification being connected with image sensor cell 2 and concatenation unit 3, described rectification and concatenation unit 3 use hardware to realize, it includes real-time processor part and two parts of memory device, the real-time processor part tailored version integrated circuit by FPGA or CPLD general programmable device or with asic technology realization is constituted, described real-time processor part is for correcting the distortion in the become image of described fish eye lens, flake spherical diagram picture is expanded into the plane picture being suitable for viewing, simultaneously when system exists the become image of multichannel fish eye lens, each image is carried out seamless spliced, described memory device is for storing the buffering of tables of data used in rectification or splicing and view data；
With the image processing unit 4 corrected and concatenation unit 3 is connected, described image processing unit 4 completes to correct or the collection of spliced view data, pretreatment, coding, compression, and finally exports real time panoramic video signal；After image data acquiring completes, described rectification and concatenation unit are redistributed by the algorithm that hardware circuit realizes and revise the data of each pixel of original image so that it is meet the needs of directly observation or special observation after being corrected or splicing.Correcting or the execution process of stitching algorithm may use hard-wired serial or parallel EBI to read or revise the data in memory element.There is multiple types in view data, it is thus possible to there is the problem that the data output format of image sensing cell is inconsistent with the view data pattern of the input of image processing unit.Being commonly designed meeting makes rectification or spliced data form keep consistent with the input data form of imageing sensor, then when the view data pattern of the input of the data output format of image sensing cell Yu image processing unit is inconsistent, described rectification and concatenation unit also need to, by image output module, rectification or spliced view data are carried out form conversion so that it is meet the pattern of the input of downstream image digital processing unit requirement.Image processing device completes to gather the function of the view data exported by described rectification and concatenation unit further, and according to the demand in practical application scene, image is carried out such as pretreatment such as noise reductions, carried out, by such as coded format compression H.264, using the high speed data link such as wireless network, cable network or USB interface externally to be exported by video
CPU, for processing the data between each unit.
Pass through above scheme, successfully solve and realize the technical problem of single fish eye lens, double; two fish eye lens or three-dimensional many fish eye lenses real-time panoramic camera with smaller size smaller at lower cost, revolutionize the problems such as poor real that image procossing brings that rely on daemon software to do traditionally.Can be applicable to the various fields such as safety monitoring, machine vision, driving recording, fight against terrorism and violence, military surveillance, moving camera shooting, live, the unmanned plane shooting of VR or AR, have a extensive future.
Described system also includes adjunct unit, and this adjunct unit includes power subsystem, clock unit, communication unit and debugging unit, and described adjunct unit connects CPU；
Described power subsystem includes charge management module, power level image rotation module and electric sequence management module；
Described clock unit includes the internal clock unit of external clock unit and part of devices；
Real-time video signal is sent to rear end output by WIFI or 3G or 4G or LAN or FIREWIRE or USB by described communication unit；
Described debugging unit includes the integrated debugging interface of device and self-defining Debugging message input/output interface.
Described rectification and concatenation unit 3 include image capture module, memory access interface module, image flame detection concatenation module, image output module, being provided with real-time processor part between described image capture module and image output module, described memory access interface module connects memory device；
Described image capture module divides two kinds of image acquisition modes: one is to use single fish eye lens to drive single image sensor acquisition image information when constituting optical lens element in system；Another kind is when system uses multiple fish eye lenses to constitute optical lens element, then realize synchronizing to drive multiway images sensor parallel collection image information by hardware；
Described memory access interface module is by serial or parallel EBI, reads the tables of data in memorizer according to the sequential of regulation, maybe will need the view data write memorizer of buffering；
Described image flame detection concatenation module is the algorithm realized by hardware circuit, the data of redistribution and correction each pixel of original image so that it is meet the needs of directly observation or special observation after being corrected or splicing；
Described image output module is with standard compliant video form, image processing unit output to the back-end by rectification or spliced image.
Described rectification and concatenation unit 3 also include image and correct and splice circuit in real time, and described image is corrected in real time and spliced circuit and includes:
The universal rectification realized with FPGA or CPLD programming device or splicing device, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data；
The rectification realized with asic technology or splicing device, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data.
As in figure 2 it is shown, described image is corrected in real time and is spliced circuit includes three kinds of forms, these three kinds of forms respectively:
Correct in real time and splicing circuit with what minimum unit realized；
Correct in real time and splicing circuit with what standard block 5 realized, digitized original image information module that described standard block 5 includes being sequentially connected with, sram cache data module, minimum unit, SRAM process after data module, formatting standard video information module, FLASH tables of data module connects minimum unit；
Correcting in real time and splicing circuit with integrated unit 6 material benefit, fish eye lens that described integrated unit 6 includes being sequentially connected with, standard block, image processing unit.
The foregoing is only the preferred embodiment of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure utilizing description of the present invention and accompanying drawing content to make or equivalence flow process conversion; or directly or indirectly it is used in other relevant technical field, all in like manner include in the scope of patent protection of the present invention.
Claims (5)
1. use the system that the become image of fish eye lens is corrected and spliced by hardware circuit in real time, it is characterised in that this system includes:
Optical lens element (1), described optical lens element (1) includes at least one fish eye lens, and described fish eye lens is the hemisphere face body that the angle of visual field is not less than 180 °, and it is for gathering the optical signal of one or more dimensional orientation；
The image sensor cell (2) being connected with optical lens element (1), described image sensor cell (2) includes at least one imageing sensor, and described imageing sensor is used for gathering the become image of fish eye lens；
With image sensor cell (2 image flame detection being connected and concatenation unit (3), described image flame detection and concatenation unit (3) use hardware to realize, it includes real-time processor part and two parts of memory device, the real-time processor part tailored version integrated circuit by general programmable devices such as FPGA or CPLD or with asic technology realization is constituted, described real-time processor part is for correcting the distortion in the become image of described fish eye lens, flake spherical diagram picture is expanded into the plane picture being suitable for viewing, simultaneously when system exists the become image of multichannel fish eye lens, each image is carried out seamless spliced, described memory device is for storing the buffering of tables of data used in rectification or splicing and view data；
The image processing unit (4) being connected with image flame detection and concatenation unit (3), described image processing unit (4) completes to correct or the collection of spliced view data, pretreatment, coding, compression, and finally exports real time panoramic video signal.
2. the system that the become image of fish eye lens is corrected and spliced by use hardware circuit according to claim 1 in real time, it is characterised in that: described system also includes adjunct unit, and this adjunct unit includes power supply, clock, debugging and communication interface；
Described power subsystem includes charge management module, power level image rotation module and electric sequence management module；
Described clock unit includes the internal clock unit of external clock unit and part of devices；
Described debugging unit includes the integrated debugging interface of device and self-defining Debugging message input/output interface；
Described communication interface unit by real-time video signal by WIFI module, 4G or 5G module, LAN module, FIREWIRE module, bluetooth module, USB module one or several modes be sent to rear end output.
3. the system that the become image of fish eye lens is corrected and spliced by use hardware circuit according to claim 1 in real time, it is characterized in that: described rectification and concatenation unit (3) include image capture module, memory access interface module, image flame detection concatenation module, image output module, being provided with real-time processor part between described image capture module and image output module, described memory access interface module connects memory device；
Described image capture module divides two kinds of image acquisition modes: one is to use single fish eye lens to drive single image sensor acquisition image information when constituting optical lens element in system；Another kind is when system uses multiple fish eye lenses to constitute optical lens element, then realize synchronizing to drive multiway images sensor parallel collection image information by hardware；
Described memory access interface module is by serial or parallel EBI, reads the tables of data in memorizer according to the sequential of regulation, maybe will need the view data write memorizer of buffering；
Described image flame detection concatenation module is the algorithm realized by hardware circuit, the data of redistribution and correction each pixel of original image so that it is meet the needs of directly observation or special observation after being corrected or splicing；
Described image output module is with standard compliant video form, image processing unit output to the back-end by rectification or spliced image.
4. the system that the become image of fish eye lens is corrected and spliced by use hardware circuit according to claim 1 or 3 in real time, it is characterized in that: described rectification and concatenation unit (3) also include image and correct and splice circuit in real time, and described image is corrected in real time and spliced circuit and includes:
The universal rectification realized with FPGA or CPLD programming device or splicing device, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data；
Correcting or splicing device with the tailored version that asic technology realizes, additional SRAM and FLASH memory element is for the buffering of tables of data in processing procedure and view data.
5. the system that the become image of fish eye lens is corrected and spliced by use hardware circuit according to claim 4 in real time, it is characterised in that: described image is corrected in real time and is spliced circuit and includes three kinds of forms, these three kinds of forms respectively:
Correct in real time and splicing circuit with what minimum unit realized；
Correct in real time and splicing circuit with what standard block realized, digitized original image information module that described standard block includes being sequentially connected with, sram cache data module, minimum unit, SRAM process after data module, formatting standard video information module, FLASH tables of data module connects minimum unit；
Correct in real time and splicing circuit with what integrated unit realized, fish eye lens that described integrated unit includes being sequentially connected with, standard block, image processing unit.
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