CN105844584B - The method for correcting fisheye image distortion - Google Patents
The method for correcting fisheye image distortion Download PDFInfo
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- CN105844584B CN105844584B CN201610163879.0A CN201610163879A CN105844584B CN 105844584 B CN105844584 B CN 105844584B CN 201610163879 A CN201610163879 A CN 201610163879A CN 105844584 B CN105844584 B CN 105844584B
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The present invention provides a kind of method of correction fisheye image distortion, uses primary optical axis, the chief ray of dimensional target point, virtual projection object plane, first optical surface, fish eye lens, image planes, theiA optical surface,i+ 1 optical surface and the last one optical surface, virtual projection object plane is perpendicular to fish-eye primary optical axis, image planes are fish-eye imaging surfaces, and perpendicular to primary optical axis, the chief ray of dimensional target point is by virtual projection object plane, fish-eye first optical surface, theiA optical surface,i+ 1 optical surface finally reaches image planes, and first optical surface is first optical surface of fish eye lens first lens, theiA optical surface,i+ 1 optical surface is respectively fish-eyeiOptical surface andi+ 1 optical surface；The chief ray of dimensional target point passes through virtual projection object plane, meets on virtual projection object plane.The available image radial height relationship of the present invention, is corrected fault image using the relationship, and calibration result is ideal, and method is simple, clear principle, can be applied to many fields very well.
Description
Technical field
The present invention relates to fault image processing technology fields, more particularly to a kind of side of correction fisheye image distortion
Method.
Background technique
In fields such as monitoring, military affairs, medical intelligent navigations, there are big the visual field even demand at ultra-large vision field angle, conventional visual field
Angle is no longer satisfied the requirement in these present fields, and fish eye lens field angle can reach 180 °, 270 ° even 320 °.But fish
The image of eye camera shooting has distortion very serious, if to utilize these letters with severely deformed image
These deformation patterns need to just be corrected the perspective projection image for expanding into people and being accustomed to by breath.The camera lens of different optical textures is suitable
Together in different correction models, usually different type fish eye lens is relatively difficult to select suitable correction model, model compared with
It is complicated；Using calibration method correction fish eye images distortion, need to formulate accurate scaling board and in camera lens and camera,
External parameter is demarcated, and process is relatively cumbersome.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of methods of correction fisheye image distortion, can obtain
Image radial height relationship is taken, fault image is corrected using the relationship, calibration result is ideal, and method is simple, and principle is clear
It is clear, many fields can be applied to very well.
The present invention is to solve above-mentioned technical problem by following technical proposals: a kind of correction fisheye image distortion
Method, which is characterized in that its use primary optical axis, the chief ray of dimensional target point, virtual projection object plane, first optical surface,
Fish eye lens, image planes, i-th of optical surface, i+1 optical surface and the last one optical surface, virtual projection object plane hang down
Directly in fish-eye primary optical axis, image planes are fish-eye imaging surfaces, and perpendicular to primary optical axis, the chief ray of dimensional target point passes through
Virtual projection object plane, fish-eye first optical surface, i-th of optical surface, i+1 optical surface, finally reach
Image planes, first optical surface are first optical surface of fish eye lens first lens, i-th of optical surface, i+1
Optical surface is respectively fish-eye i-th optical surface and i+1 optical surface；The chief ray of dimensional target point is by virtual
Projection object plane is met on virtual projection object plane, and coordinate P " (x ", y "), dimensional target point is after panorama picture of fisheye lens, in image planes
Picture point P ' (x ', y ') is corresponded on x ' o ' y '；General tangential distortion is more much smaller than radial distortion, can often ignore tangential distortion
Influence to image is only studied radial distortion and is deformed to fish eye images bring, therefore, θ1=θ2；Utilize the key light of dimensional target point
Line trace obtains hi=f (h0) relationship, wherein hiFor picture point radial height O ' P ', h in image planes0For picture point radial height in image planes
O"P"；Function Fitting is carried out using Fourier's sine series, then function of negating acquires h0=f-1(hi), then using the relationship into
The mapping of row pixel coordinate solves, and image slices vegetarian refreshments coordinate after being corrected achievees the purpose that correction, and i is natural number, represents sequence
Number.
Preferably, in the virtual projection object plane, dimensional target point subpoint P " (x ", y ") on virtual projection object plane is empty
Subpoint radial distance is the distance that target is sought in quasi- projection object plane.
Preferably, the method for the correction fisheye image distortion utilizes dimensional target point P (x0, y0) chief ray trace
Mode obtain image radial direction relationship hi=f (h0)。
Preferably, the method for the correction fisheye image distortion utilizes in Fu after obtaining image radial height relationship
Leaf sine series are fitted the relation curve.
Preferably, it utilizes and negates after the method acquisition image radial height relationship of the correction fisheye image distortion
Function obtains target radial height expression formula h0=f-1(hi)。
Preferably, the method for the correction fisheye image distortion utilizes relationship h0=f-1(hi) carry out pixel
Correction.
The positive effect of the present invention is that: the available image radial height relationship of the present invention utilizes the relationship pair
Fault image is corrected, and calibration result is ideal, and method is simple, clear principle, can be applied to many fields very well.Benefit of the invention
Image radial height relationship is obtained with the mode of chief ray trace, to carry out fisheye image distortion correction.Benefit of the invention
Image radial height relationship on virtual projection object plane and image planes is obtained with the mode of chief ray trace, utilizes Fourier's sine series
Fitting acquires target orthoscopic image pixel coordinate and fault image pixel coordinate correspondence relationship with inversion method, thus into
Line distortion correction.It proposes this concept of virtual projection object plane, is further converted to the true spatial location of object to be projected in void
Above the object plane of quasi- projection；It is obtained with the relationship of the radial height between virtual projection object plane and image planes in this way；Then sharp
Projection plane can be obtained with above-mentioned relation and as the corresponding relationship between plane pixel coordinates point, then carries out distortion correction.
This method has validity, and in a certain range, shooting projective invariant image can reach preferable to radial height control errors
Calibration result, can promote fish eye lens target identification, big visual field monitor etc. field of machine vision application.
Detailed description of the invention
Fig. 1 is the panorama picture of fisheye lens illustraton of model of the method for present invention correction fisheye image distortion.
Fig. 2 is that chief ray passes through i-th and i+1 optical surface in the method for present invention correction fisheye image distortion
Schematic diagram.
Fig. 3 is that chief ray passes through first optical surface signal in the method for present invention correction fisheye image distortion
Figure.
Fig. 4 is that chief ray shows by the last one optical surface in the method for present invention correction fisheye image distortion
It is intended to.
Fig. 5 is the method target orthoscopic image pixel and fault image for present invention correction fisheye image distortion
Pixel coordinate pair answers schematic diagram.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, it should be understood that these embodiments are merely to illustrate
It the present invention rather than limits the scope of the invention, after the present invention has been read, those skilled in the art are to of the invention each
The modification of kind equivalent form falls within the application range as defined in the appended claims.
As Figure 1-Figure 5, the method that the present invention corrects fisheye image distortion uses primary optical axis 1, dimensional target point P
(x0, y0) chief ray 2,3, first optical surfaces 4 of virtual projection object plane, fish eye lens 5, image planes 6, i-th of optical surface 7,
I+1 optical surface 8, for virtual projection object plane 3 perpendicular to the primary optical axis 1 of fish eye lens 5, image planes 6 are fish-eye imagings
Face and perpendicular to primary optical axis, dimensional target point P (x0, y0) chief ray 2 pass through 3, first optical surfaces of flake virtual projection object plane
4, i-th of optical surface 7, i+1 optical surface 8, finally reach image planes 6, and first optical surface 4 is fish eye lens first
First optical surface of a lens, i-th of optical surface 7, i+1 optical surface 8 are respectively fish-eye i-th optics
Surface 7 and i+1 optical surface 8.Dimensional target point P (x0, y0) chief ray 2 pass through virtual projection face, meet at virtual projection object
On face 3 (i.e. x " o " y "), coordinate P " (x ", y "), dimensional target point is after panorama picture of fisheye lens, on imaging plane x ' o ' y '
Correspondence picture point P ' (x ', y ').General tangential distortion is more much smaller than radial distortion, can often ignore tangential distortion to image
It influences, only studies radial distortion and deformed to fish eye images bring, θ1Projection point pole coordinate angle on virtual projection object plane is represented,
θ2Represent the angle of subpoint in image planes, therefore, θ1=θ2.Utilize dimensional target point P (x0, y0) 2 trace of chief ray obtain hi=f
(h0) relationship, wherein hiFor picture point radial height O ' P ', h in image planes0For picture point radial height O " P " in image planes.Utilize Fourier
Sine series carry out Function Fitting, then function of negating acquires h0=f-1(hi), pixel coordinate then, which is carried out, using the relationship reflects
Penetrate solution.I is natural number.
Here is to implement the derivation of image pixel coordinate relationship:
In Fig. 2, chief ray Mi-1OiOi+1Hand over i-th of face in Oi, i+1 face is in Oi+1；Light OiOi+1Reverse extending
Line hands over optical axis in MiPoint.Wherein CiFor the center of curvature of i-th of optical surface, DiFor i-th of face and symmetry axis intersection point.OiMiAnd light
The angle of axis is ωi, optical axis rotates counterclockwise to OiMiAngle sign convention is positive, otherwise is negative.The incidence of i-th of optical surface
Angle and refraction angle are respectively αiAnd βi, angle block gauge is set to just when going to light counterclockwise by normal, otherwise is negative.In optical system
The radius r in i-th of faceiIt indicates, the center of curvature is at the right side of optics vertex of surface, riRegulation is positive, otherwise is negative.
△ M shown in Fig. 2iOiCiIn, such as following formula (1) and (2):
Formula (1) is updated to formula (2), the angle transmission equation of chief ray can be obtained after abbreviation, such as following formula (3) and
(4):
Chief ray is beaten in first optical surface, i.e. i=0, such as following formula (5):
Since first optical surface, using chief ray transmission equation expression formula (3)-(5) in fish eye lens system
Optical surface is calculated one by one, the field angle of image ω until finding out last optical surfacel, as a result can be obtained by ωlWith ω0、βl
With ω0Between relationship, such as following formula (6):
ωl=f1(ω0), βl=f2(ω0) (6)
If the distance of first optics vertex of surface of virtual object plan range is d0, radial position of the virtual object point P " apart from optical axis
It is set to h0, as shown in figure 3, such as following formula (7):
h0=(Lp(ω0)+d0)tanω0 (7)
Lp(ω0)It is to define field angle as ω0When chief ray original incident position, chief ray can pass through aperture light in optical path
The center of door screen, general Lp(ω0)It can be determined using the process of the reverse trace chief ray from aperture diaphragm.
Fig. 4 indicates that chief ray passes through the last optical surface 9 of fish eye lens, and picture point P ' is intersected in image planes, wherein dlFor
Image distance, hiFor image height, the radius of curvature of last optical surface is rl, ClIt is its center of curvature, DlIt is the intersection point of it and optical axis.?
△MlOlClIn, just like following formula (8):
The radial position h of picture pointiCalculation expression such as following formula (9):
By expression formula (6), (7) and (9), so that it may find out the radial position h of picture pointiWith the radial direction of object point on virtual object plane
Position h0Functional relation such as following formula (10):
hi=f (h0) (10)
Obtain the radial position h of above-mentioned picture pointiWith the radial position h of virtual object plane object point0Functional relation (10) after,
The inverse function for acquiring it is such as following formula (11):
h0=f-1(hi) (11)
To restore radial distribution of the true object point on virtual object plane.In Fig. 1, limited far plane image objects
Afterwards, a certain imaging point P ' on image by inversion plane x ' o ' y ' (x ', y '), rectangular co-ordinate is first converted into polar coordinates, such as following formula
(12):
θ2=arctan (y'/x') (12)
Corresponding virtual object point P " is found out in the radial coordinate h of virtual object plane x " o " y " by expression formula (11)0, rectangular co-ordinate
Projection coordinate P " (x ", y ") is such as following formula (13):
The Target Acquisition point of coordinate points as correction image on virtual object plane, coordinate points P ' (x ', y ') and P " (x ", y ")
The value of image slices vegetarian refreshments after respectively corresponding fault image and correcting.The value of P " (x ", y ") pixel after correction passes through expression formula
(13) it is mapped to corresponding pixel P ' (x ', y ') assignment, realizes the filling of correction image pixel.
In Fig. 5, the inverse process for the process that distorts is exactly pixel correction course, P " (x ", y ") pixel after correction
Value is mapped to corresponding pixel P ' (x ', y ') assignment by expression formula (13), realizes the filling of correction image pixel.Diameter
It is the emphasis studied herein always to the functional relation between height.Purpose is exactly to find the radial position h of picture pointiAnd virtual object
The radial position h of face object point0Functional relation, hi=f (h0), spy can be obtained by numerical fitting, and wherein numerical fitting needs
It will be according to the radial position h of picture pointiWith the radial position h of virtual object plane object point0Functional relation, hi=f (h0), image curve
Distribution situation depending on, purpose is exactly to reduce error.
In the virtual projection object plane, object point P (x0,y0) point P " (x ", y ") above it, radial distance is target
The distance sought.
The method of the correction fisheye image distortion obtains image radial direction relationship h in the way of chief ray tracei
=f (h0)。
The method of the correction fisheye image distortion obtains image radial height relationship hi=f (h0) Fu is utilized later
In leaf sine series be fitted.
The method of the correction fisheye image distortion obtains h after image radial height relationshipi=f (h0) utilize and ask
Inverse function obtains target radial height expression formula h0=f-1(hi)。
The method of the correction fisheye image distortion carries out the correction of pixel using the relationship.
The method of correction fisheye image distortion of the invention solves to obtain important information portion from flake fault image
Point, by distortion partial correction at the image for meeting eye-observation.The algorithm complexity of correction is reduced to greatest extent, and the present invention discloses
A kind of to obtain image radial height relationship in virtual projection object plane and image planes in the way of chief ray trace, method is simple, only
Need the distance between radius, optical element of each optical surface and object distance image distance and the refractive index of each optical element this
Several parameters obtain image radial height relation curve in the way of chief ray trace, are fitted using Fourier's sine series
Target orthoscopic image pixel coordinate and fault image pixel coordinate correspondence relationship are acquired with inversion method, to carry out abnormal
Become correction.This method has validity, and in a certain range, shooting projective invariant image can reach radial height control errors
To preferable calibration result.Fish eye lens can be promoted in the application of the field of machine vision such as target identification, the monitoring of big visual field.This hair
Bright available image radial height relationship, is corrected fault image using the relationship, and calibration result is ideal, method letter
Single, clear principle can be applied to many fields very well.The present invention is in view of the problems of the existing technology and insufficient, solves from fish
Important information part is obtained in eye fault image, by distortion partial correction at the image for meeting eye-observation.It reduces to greatest extent
The algorithm complexity of correction, the present invention disclose a kind of utilization dimensional target point P (x0,y0) dimensional target point P (x0,y0) chief ray
The mode of trace obtains image radial height relationship in virtual projection object plane and image planes, using the fitting of Fourier's sine series and instead
The method of drilling acquires target orthoscopic image pixel coordinate and fault image pixel coordinate correspondence relationship, to carry out distortion school
Just, method is simple, it is only necessary to the distance between the radius of each optical surface, optical element and object distance image distance and each optics
These parameters of the refractive index of element utilize dimensional target point P (x0,y0) chief ray trace just can obtain image radial height pass
System, can obtain good calibration result.Existing issue is mainly the image of fish eye lens video camera shooting with very serious
These deformation patterns need to just be corrected if to utilize these information with severely deformed image and expand into people institute by distortion
The perspective projection image of habit.The camera lens of different optical textures is suitable for different correction models, usually different type flake
Camera lens is relatively difficult to select suitable correction model, and model is more complex, using the method correction fish eye images distortion of calibration, needs
It formulates accurate scaling board and inside and outside portion's parameter of camera lens and camera is demarcated, process is relatively cumbersome.
Those skilled in the art can carry out various remodel and change to the present invention.Therefore, present invention covers fall into
Various in the range of appended claims and its equivalent remodel and change.
Claims (6)
1. a kind of method of correction fisheye image distortion, which is characterized in that it uses the key light of primary optical axis, dimensional target point
Line, virtual projection object plane, first optical surface, fish eye lens, image planes, i-th of optical surface, i+1 optical surface with
The last one optical surface, for virtual projection object plane perpendicular to fish-eye primary optical axis, image planes are fish-eye imaging surfaces, are hung down
Directly in primary optical axis, the chief ray of dimensional target point passes through virtual projection object plane, fish-eye first optical surface, i-th of light
Surface, i+1 optical surface are learned, image planes are finally reached, first optical surface is the first of fish eye lens first lens
A optical surface, i-th of optical surface, i+1 optical surface are respectively fish-eye i-th optical surface and i+1
Optical surface；The chief ray of dimensional target point passes through virtual projection object plane, meets on virtual projection object plane, coordinate P " (x ", y "),
Dimensional target point corresponds to picture point P ' (x ', y ') after panorama picture of fisheye lens on image planes x ' o ' y '；Tangential distortion is more abnormal than radial
Become smaller much, ignore influence of the tangential distortion to image, only studies radial distortion and deformed to fish eye images bring, θ1Represent void
Point pole coordinate angle, θ are projected in quasi- projection object plane2Represent the angle of subpoint in image planes, therefore, θ1=θ2；Utilize dimensional target point
Chief ray trace obtain hi=f (h0) relationship, wherein hiFor picture point radial height O ' P ', h in image planes0For picture point diameter in image planes
To height O " P "；Function Fitting is carried out using Fourier's sine series, then function of negating acquires h0=f-1(hi), then utilizing should
Relationship carries out the mapping of pixel coordinate and solves, and image slices vegetarian refreshments coordinate after being corrected achievees the purpose that correction, and i is natural number,
Represent ordinal number；
Since first optical surface, the optical surface in fish eye lens system is calculated one by one, until finding out last optics
The field angle of image ω in facel, as a result obtain ωlWith ω0、βlWith ω0Between relationship, such as following formula (6):
ωl=f1(ω0), βl=f2(ω0) (6)
If the distance of first optics vertex of surface of virtual object plan range is d0, radial position of the virtual object point P " apart from optical axis be
h0, such as following formula (7):
h0=(Lp(ω0)+d0)tanω0 (7)
Lp(ω0 ) it is to define field angle as ω0When chief ray original incident position, chief ray can pass through aperture diaphragm in optical path
Center, Lp(ω0) determined using the process of the reverse trace chief ray from aperture diaphragm；
The radial position h of picture pointiCalculation expression such as following formula (9):
By expression formula (6), (7) and (9), the radial position h of picture point is found outiWith the radial position h of object point on virtual object plane0Letter
Number relational expression such as following formula (10):
hi=f (h0) (10)
H is obtained using the chief ray trace of dimensional target pointi=f (h0) relationship.
2. the method for correction fisheye image distortion according to claim 1, which is characterized in that the virtual projection object
In face, dimensional target point subpoint P " (x ", y ") on virtual projection object plane, subpoint radial height is mesh on virtual projection object plane
Mark the distance sought.
3. the method for correction fisheye image distortion according to claim 1, which is characterized in that the correction flake mirror
The method of head pattern distortion obtains image radial direction relationship h in the way of the chief ray trace of dimensional target pointi=f (h0)。
4. the method for correction fisheye image distortion according to claim 1, which is characterized in that the correction flake mirror
The method of head pattern distortion utilizes Fourier's sine series to be fitted the relation curve after obtaining image radial height relationship.
5. the method for correction fisheye image distortion according to claim 1, which is characterized in that the correction flake mirror
The method of head pattern distortion utilizes the function acquisition target radial height expression formula h that negates after obtaining image radial height relationship0
=f-1(hi)。
6. the method for correction fisheye image distortion according to claim 1, which is characterized in that the correction flake mirror
The method of head pattern distortion utilizes relationship h0=f-1(hi) carry out pixel correction.
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| CN106570938A (en) * | 2016-10-21 | 2017-04-19 | 哈尔滨工业大学深圳研究生院 | OPENGL based panoramic monitoring method and system |
| CN106910173B (en) * | 2017-02-27 | 2019-05-24 | 武汉大学 | The method for realizing flake video wicket real time roaming based on correcting fisheye image |
| CN106952236B (en) * | 2017-03-13 | 2020-04-24 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Fisheye lens shot image distortion correction method based on BP neural network |
| CN108734666B (en) * | 2017-04-13 | 2021-03-26 | 杭州海康威视数字技术股份有限公司 | Fisheye image correction method and device |
| CN107492080B (en) * | 2017-09-25 | 2021-03-23 | 杭州云栖智慧视通科技有限公司 | Calibration-free convenient monocular head image radial distortion correction method |
| CN108318224A (en) * | 2018-01-12 | 2018-07-24 | 信利光电股份有限公司 | Optical centre detection method and detection device, bearing calibration |
| CN110547803B (en) * | 2019-07-27 | 2021-12-21 | 华南理工大学 | Pedestrian height estimation method suitable for overlooking shooting of fisheye camera |
| CN110415196B (en) * | 2019-08-07 | 2023-12-29 | 上海视云网络科技有限公司 | Image correction method, device, electronic equipment and readable storage medium |
| CN111307046B (en) * | 2020-02-17 | 2021-06-01 | 东北林业大学 | Tree height measuring method based on hemispherical image |
| CN112004054A (en) * | 2020-07-29 | 2020-11-27 | 深圳宏芯宇电子股份有限公司 | Multi-azimuth monitoring method, equipment and computer readable storage medium |
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| US5434713A (en) * | 1992-03-26 | 1995-07-18 | Nikon Corporation | Fisheye lens having a short distance compensating function |
| CN101577002A (en) * | 2009-06-16 | 2009-11-11 | 天津理工大学 | Calibration method of fish-eye lens imaging system applied to target detection |
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