CN106056536A - Vehicle-mounted panorama image seamless splicing processing method - Google Patents

Abstract

The invention discloses a vehicle-mounted panorama image seamless splicing processing method. The method comprises the steps of: using cameras arranged around an automobile to respectively obtain original environment images; querying a target image splicing mapping table generated in advance to obtain mapping information corresponding to each target pixel point in a target image, wherein the mapping information at least comprises the sequence number of the original environment image and pixel coordinate information; and according to the mapping information of each target pixel point in the target image, obtaining the pixel value of a corresponding pixel coordinate on the original environment image of the corresponding sequence number, obtaining a final pixel value of each target pixel point in the target image according to the pixel value, and carrying out displaying after assigning the final pixel value to the corresponding target pixel point. According to the invention, the speed and effect of panorama image splicing are improved.

Description

A kind of vehicle-mounted panoramic image seamless splicing processing method

Technical field

The invention belongs to technical field of automotive electronics, particularly relate to a kind of vehicle-mounted panoramic image seamless splicing side Method.

Background technology

Panorama Mosaic, as emerging technology, was developed rapidly in recent years, also obtained more and more researcher Concern.In Panoptic visualization auxiliary is parked, the technology by Panorama Mosaic is needed to generate the panorama around vehicle body View.Wherein, seamless spliced technology is the core of panorama system, and image seamless splicing is by a series of overlap in alignment space Image, constitutes seamless a, image for high-resolution, has resolution more higher than single image and the bigger visual field.

At present, in the prior art, Panorama Mosaic generally comprises joining method based on region and distinguished point based Joining method.

In joining method based on region, the method is gray value based on image to be spliced, in image to be matched The region of the same size in one piece of region and reference picture uses method of least square or other mathematical methods to calculate gray value Difference, by comparing, judge the similarity of image overlapping region to be spliced, finally realizes splicing, it is possible to will figure by FFT Picture, is mated to frequency domain by spatial transform the most again；

In the joining method of feature based, it causes characteristics of image by image pixel, is characterized as standard with this, to figure As the character pair region of lap scans for coupling.The method mainly has two processes: feature extraction and characteristic matching. The method uses the image split-joint method of feature based, utilizes the obvious characteristic of image to the conversion estimating between image, is not required to The full detail of image to be utilized, the characteristic point (angle point or key point) of this kind of obvious characteristic such as image, profile and some are constant Square etc..

Inventor finds, in place of the existing equal Shortcomings of above two method: one, joining method based on region is permissible It is attributed to the feature point set solving image, image to be spliced is chosen some characteristic points, be directed at these characteristic points, i.e. realize The registration of two width figures.But, these characteristic points often to which decrease the speed of algorithm by manually choosing initial matching point Degree, it is impossible to adapt to the image co-registration of big data quantity；Two, the joining method of feature based, uses characteristic block matching algorithm, i.e. utilizes The image registration method of correlation criterion, owing to method of correlation is the searching method of a kind of global optimizing, amount of calculation is quite big, splicing speed Spend slower, it is difficult to ensure the real-time of algorithm.

To sum up, it is known that it is slow that above two joining method all exists splicing speed, the shortcoming that real-time is the strongest.

Summary of the invention

The technical problem to be solved is, it is provided that a kind of vehicle-mounted panoramic image seamless splicing processing method and be System, by providing target image splicing mapping table, it is achieved the multiple image captured by multiple photographic head seamless spliced, has simultaneously There is image mosaic speed fast, real-time, and overlapping region does not haves the feature of obvious distortion.

For solving above-mentioned technical problem, the embodiment of the present invention provides a kind of vehicle-mounted panoramic image seamless splicing processing method, Described method includes:

Primal environment image is obtained respectively by being arranged at the photographic head of automobile surrounding；

By a target image splicing mapping table previously generated, inquiry obtains each target pixel points in target image Corresponding map information；Wherein, described map information at least includes the sequence number of primal environment image, the picture of primal environment image Element coordinate information；

According to the map information of each target pixel points in described target image, it is thus achieved that the primal environment figure of corresponding sequence number As the pixel value on upper respective pixel coordinate, and according to described pixel value, it is thus achieved that each target pixel points in described target image Final pixel value, and be assigned to described final pixel value further after corresponding target pixel points show.

Wherein, the step previously generating target image splicing mapping table described in specifically includes:

Target image is divided into multiple target area according to world coordinate system, and will be located in two target area intersections Preset range in region be defined as splicing regions, and determine the original ring corresponding to each target area and splicing regions Border picture numbers；

According to the mapping relations between primal environment image coordinate system and world coordinate system, and the coordinate system of target image And the mapping relations between world coordinate system, it is thus achieved that on described target image, each target pixel points and original image map mutually Map information, wherein, in the splicing regions of target image, the primal environment figure that each target pixel points is different from two width respectively As a upper specific pixel point maps mutually；

By mapping letter corresponding to the positional information of each target pixel points of described target image and each target pixel points Breath preserves, it is thus achieved that target image splicing mapping table.

Wherein, according to the map information of target pixel points each in described target image, it is thus achieved that the original ring of corresponding sequence number Pixel value on respective pixel coordinate on the image of border, and according to described pixel value, it is thus achieved that each target picture in described target image The step of the final pixel value of vegetarian refreshments, farther includes:

Target pixel points for target area, it is thus achieved that right on the primal environment image that each target pixel points is mapped Answer the pixel value on pixel coordinate, and as the final pixel value of described target pixel points；

For the target pixel points of splicing regions, obtain respectively in the two width primal environment figures that its each pixel is mapped Pixel value in corresponding pixel points, and according to predetermined weight to pixel value in corresponding pixel points in described two width primal environment figures Calculate, it is thus achieved that the final pixel value of described target pixel points.

Wherein, according to predetermined weight, the pixel value in corresponding pixel points in described two width primal environment figures is counted Calculate, it is thus achieved that the step of the final pixel value of described target pixel points particularly as follows:

Final pixel value by following formula acquisition target pixel points:

${\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_d=f1\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s1}+f2\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s2}$

Wherein, d is the sequence number of target pixel points, s1 and s2 is the sequence number of corresponding pixel points in two width primal environment figures；f1 Being predefined weight with f2, the distance between two borders of itself and described pixel and described splicing regions is associated.

Implement the embodiment of the present invention, there is following beneficial effect:

1, the vehicle-mounted panoramic image seamless splicing processing method that the present invention provides, it is possible to achieve captured by multiple photographic head Multiple image splices, and forms panorama birds-eye view, and its visual effect is basically identical with actual top view effect；

2, the embodiment that the present invention provides, by according to the coordinate of each pixel in target image and corresponding original ring The coordinate information of border image carries out map information, is formed and generates target image splicing mapping table；Carrying out the seamless spelling of panoramic picture When connecing, only i.e. need to can obtain each target pixel points on target image reflected by searching this target image splicing mapping table Pixel value on respective pixel coordinate on the corresponding primal environment image penetrated, such that it is able to be rapidly completed the seamless spelling of panoramic picture Connect, there is the advantage that image mosaic speed is fast, real-time, reduce panoramic picture seamless spliced processing system and hardware is wanted Ask and complexity；；

3, the region spliced mutually by two primal environment images in the target image, is set to splicing regions；In this splicing Region, the pixel of its image is derived from two adjacent photographic head, i.e. calculates it respectively in adjacent two shootings by weight The pixel value of pixel corresponding in head original image, the final pixel value of formation target image, meanwhile, can be to splicing regions Image carry out brightness adjustment；Such that it is able to improve validity and the display effect of splicing regions image, it is to avoid image occurs The phenomenon of distortion and deformity occurs.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used To obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is that the main flow of a kind of vehicle-mounted panoramic one embodiment of image seamless splicing processing method that the present invention provides shows It is intended to；

Fig. 2 is to generate target image splicing in a kind of vehicle-mounted panoramic image seamless splicing processing method that the present invention provides to reflect The schematic flow sheet of firing table；

Fig. 3 is the schematic diagram of the embodiment that target image carries out in Fig. 2 region division；

Fig. 4 is the schematic diagram of another embodiment that target image carries out in Fig. 2 region division；

Fig. 5 is the structural representation of a kind of vehicle-mounted panoramic image seamless one embodiment of splicing system that the present invention provides Figure.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.

As it is shown in figure 1, be a kind of one embodiment of vehicle-mounted panoramic image seamless splicing processing method of providing of the present invention Main flow schematic diagram.In this embodiment, the method just several primal environment image mosaic can become the target of a width panorama Image, specifically, the method comprises the following steps that

Step S10, by be arranged at the photographic head of automobile surrounding obtain respectively primal environment image (i.e. photographic head obtain Look down picture)；Specifically, obtain four width primal environment images by being arranged at automobile four photographic head all around, each Width primal environment image all to there being a sequence number, the coordinate position of pixel of each width primal environment image, pixel value etc. Information can be recorded；

Step S12, by a target image splicing mapping table previously generated, inquiry obtains each mesh in target image Mark map information corresponding to pixel, described map information at least includes the sequence number of primal environment image, primal environment image The information such as pixel coordinate；Wherein, target image is needs splicing the panoramic picture that shows (the most spliced to look down Figure), in this target image splicing mapping table storage have the sequence number of each pixel and primal environment image in target image, as Corresponding relation between element coordinate；

Step S14, according to the map information of each target pixel points in described target image, it is thus achieved that sequence number is former accordingly Pixel value on respective pixel coordinate in beginning ambient image, and according to described pixel value, it is thus achieved that each target picture in target image The final pixel value of vegetarian refreshments, and further described final pixel value is assigned to display after corresponding target pixel points, thus Target image shows the image content corresponding to primal environment image；Wherein, target image splicing mapping table can record each The map information of target pixel points, i.e. can record the sequence number of primal environment image corresponding to each target pixel points, and at this Pixel coordinate on the primal environment image of sequence number, therefore by inquiry target image splicing mapping table, i.e. can obtain with each Respective pixel coordinate on the primal environment image of the corresponding sequence number that target pixel points maps mutually, thus obtain this respective pixel coordinate Pixel value；

It is understood that in some other embodiment, may further include step S16 (not shown in figure 1), right The brightness of splicing regions image is adjusted, thus generates seamless spliced panoramic view on target image.

As shown in Figure 2, it is shown that pre-Mr. in a kind of vehicle-mounted panoramic image seamless splicing processing method that the present invention provides Become the schematic flow sheet of target image splicing mapping table；Wherein, generate target image splicing mapping table process specifically include as Under step:

Step S20, is divided into multiple target area by target image according to world coordinate system, and will be located in two target areas Region in the preset range of territory intersection is defined as splicing regions, and determines corresponding to each target area and splicing regions The sequence number of primal environment image；

For ease of understanding, refer to shown in Fig. 3, it illustrates the embodiment that target image carried out region division Schematic diagram, in this embodiment, in the target image, marks off concrete F, B, L, R by being in automobile region all around Four regions, wherein, point P1～P4 is four summits of surrounding of automobile, and the line segment being made up of some P3, P4 and by some P5, P6 The line segment of composition forms two borders of target image, can obtain h0～h3 in target image, w1, H_CAR, W_ by measuring The concrete range information of CAR etc., wherein, H_CAR is the length of automobile image in target image, and W_CAR is in target image The width of automobile image, it is to be understood that close with the scaling translation of the physical length etc. of automobile according to the length of this H_CAR System, may be used to determine in target image the mapping relations between the coordinate of pixel in pixel and primal environment image.With Time, it may be determined that the pixel value of the pixel in each region is from which width primal environment image, such as, the pixel in F region Pixel value can come from photographic head before automobile (with the constitutional diagram of small circle and little square frame to represent this photographic head in Fig. 3, Lower with) captured by primal environment image, original from captured by car right side photographic head of the pixel value of the pixel in Zone R territory Ambient image, the pixel value of the pixel in L region from the primal environment image captured by automobile left side photographic head, B region The pixel value of pixel is from the primal environment image captured by automotive back photographic head；Different original rings captured by photographic head Border image can be made a distinction by different ambient image sequence numbers i.

As shown in Figure 4, it is shown that target image is carried out the schematic diagram of another embodiment of region division, in this enforcement In example, in the target image, except marking off tetra-regions of concrete F, B, L, R by being in automobile region all around, also The both sides of splicing seams between two width primal environment images, expand certain limit respectively according to equal angular (for a angle in figure), To form splicing regions, i.e. A1 region shown in figure, A2 region, A3 region and A4 region.For in target image, these are spelled The pixel value connecing the pixel in region can be by calculating it in the primal environment image captured by adjacent two photographic head The pixel value of corresponding pixel is obtained, and this process is referred to as the fusion process of pixel in the present invention, hereinafter can Describe in detail.

Step S22, according to the mapping relations between primal environment image coordinate system and world coordinate system, and target image Coordinate system and world coordinate system between mapping relations, it is thus achieved that each pixel and primal environment figure on described target image As the map information mapped mutually, wherein it is possible to be understood by, in the splicing regions of target image, owing to needs carry out pixel The fusion of point, a specific pixel point on the primal environment image that each pixel is different from two width respectively maps mutually；Such as, The pixel value of the pixel in A1 region in target image, needs according to the figure captured by automobile front side photographic head and left side photographic head In sheet, the pixel of the pixel of a specified point carries out calculating acquisition respectively；

Specifically, note primal environment image coordinate is (u_0i,v_0i), target image coordinate be (u, v), described target image Each pixel upper is primal environment image coordinate (u with the mapping relations of original image_0i,v_0i) and ambient image sequence number i With target image coordinate (u, v) between mapping relations.Take world coordinates (x_w,y_w,z_w) as intermediate quantity, find out respectively (u, v) With (u_0i,v_0iWith its mapping relations both), it is hereby achieved that (u, v) with (u_0i,v_0iMapping relations between).

Specifically, in one example, the coordinate mapping relations of primal environment image are determined by imaging model, such as, take the photograph As the relation between head coordinate system and coordinates of original image coordinates system, such as scara model can be used.

And mapping relations between target image (top view) and world coordinates are relatively simple, world coordinates to top view is sat Only through scaling, the conversion process of translation between mark.In short, need the region of display to be around target image and body of a motor car Scaling relation, therefore by the coordinate of target image, can calculate corresponding vehicle body coordinate, then be joined by outside photographic head, calculate corresponding Photographic head coordinate, finally according to camera internal reference, calculate the coordinate of primal environment image.

During above-mentioned Coordinate Conversion, from (u v) is mapped to world coordinates (x_w,y_w,z_wAfter), can be according to (x_w, y_w,z_wRegion (F, L, R, B) belonging to), determines the value of sequence number i of ambient image.

Step S24, by mapping letter corresponding to the positional information of each pixel of described target image and each pixel Breath preserves, it is thus achieved that target image splicing mapping table.

Below in conjunction with Fig. 4, some steps in Fig. 1 are described in detail.

Farther include in step S14:

Target pixel points for target area, it is thus achieved that right on the primal environment image that each target pixel points is mapped Answer the pixel value on pixel coordinate, and as the final pixel value of described target pixel points；

For the target pixel points of splicing regions, obtain the two width primal environments that its each target pixel points is mapped respectively Pixel value in corresponding pixel points in figure, and according to predetermined weight in corresponding pixel points in described two width primal environment figures Pixel value calculates, it is thus achieved that the final pixel value of described target pixel points, and this process can be simply referred to as two pixel pictures The fusion process of element value；

Specifically, by following formula, the pixel value in corresponding pixel points in two width primal environment figures is calculated, it is thus achieved that The final pixel value of target pixel points:

${\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_d=f1\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s1}+f2\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s2}$

Wherein, d is the sequence number of target pixel points, s1 and s2 is the sequence number of corresponding pixel points in two width primal environment figures；f1 With the predefined weight that f2 is each pixel, the distance between its to described pixel and two borders of described splicing regions is relevant Connection.

Specifically, such as, in the A1 of region, there is a some P_d, it is 1 with the distance on the angle border being in F region, and It is 9 with the distance on the angle border being in L region, it is assumed that s1 is the corresponding primal environment figure captured by automobile front side photographic head Corresponding pixel points in Xiang；Assume that s2 is the respective pixel in the corresponding primal environment image captured by automobile left side photographic head Point；In one embodiment, can will be able to f1 value be 9, and be 1 by f2 value, Pd point can be obtained by above formula Final pixel value.By such method, phase can be taken according to the relation of the distance between pixel and two angle borders The weight answered, distance is the least, then weight is the biggest, the image of splicing regions can be enable to reduce very well, do not have The phenomenon that distortion is excessive.

Meanwhile, the step being adjusted brightness and the color of splicing regions image includes:

Precalculate the adjustment parameter of each photographic head；

The final pixel value of each pixel of described splicing regions is adjusted by the adjustment parameter using described photographic head.

Four splicing regions of splicing seams both sides (are labeled as A1, A2, A3 and A4 region, at other example in Fig. 4 In, can with Direct Mark as A, B, C, D region), add up its value in adjacent two photographic head original images respectively, for A_F、 A_L、B_F、B_R、C_L、C_T、D_R、D_TIf the adjustment parameter of four photographic head is respectively J_F、J_L、J_R、J_T, then ε=(J is made_FA_F-J_LA_L)²+ (J_FB_F-J_RB_R)²+(J_LC_L-J_TC_T)²+(J_RD_R-J_TD_T)²For minimum, the adjustment parameter of each photographic head of needs can be obtained.

It is understood that in other examples, it is also possible to obtain the adjustment of each photographic head in other manners Parameter, it is for instance possible to use the mean flow rate of adjacent photographic head obtains the adjustment parameter of each photographic head of this splicing regions.

Refer to shown in Fig. 5, it is shown that a kind of vehicle-mounted panoramic image seamless splicing system one that the present invention provides The structural representation of embodiment；In this embodiment, this vehicle-mounted panoramic image seamless splicing system can be original by several Ambient image is spliced into the target image of a width panorama, comprising:

Primal environment image acquisition unit 10, for obtaining primal environment respectively by being arranged at the photographic head of automobile surrounding Image；

Query unit 12, for the target image splicing mapping table previously generated by, inquiry obtains in target image Map information corresponding to each target pixel points, wherein, described map information at least include primal environment image sequence number, The pixel coordinate information of primal environment image；

Splicing unit 14, for according to the map information of each target pixel points in described target image, it is thus achieved that Pixel value on respective pixel coordinate on the primal environment image of corresponding sequence number, and according to described pixel value, it is thus achieved that described target The final pixel value of each target pixel points in image, and further described final pixel value is assigned to corresponding object pixel Show after Dian.

Wherein, described system also includes that target image splices mapping table signal generating unit 16, and the splicing of described target image maps Table signal generating unit 16 specifically includes:

Target image divides module, for target image is divided into multiple target area according to world coordinate system, and will The region of the preset range being positioned at two target area intersections is defined as splicing regions, and determine each target area and Primal environment picture numbers corresponding to splicing regions；

Mapping relations determine module, for closing according to the mapping between primal environment image coordinate system and world coordinate system System, and the mapping relations between the coordinate system of target image and world coordinate system, it is thus achieved that each target on described target image The map information that pixel and original image map mutually, wherein, in the splicing regions of target image, each target pixel points is divided Specific pixel point primal environment image on the most different from two width maps mutually；

Mapping table generation module, for by the positional information of each target pixel points of described target image and each target The map information that pixel is corresponding preserves, it is thus achieved that target image splicing mapping table.

Wherein, described splicing unit 14 includes:

Target area processing module, for the target pixel points for target area, it is thus achieved that each target pixel points institute Pixel value on respective pixel coordinate on the primal environment image mapped, and as the final pixel value of described target pixel points；

Splicing regions processing module, for the target pixel points for splicing regions, obtains its each object pixel respectively Pixel value in corresponding pixel points in the two width primal environment figures that mapped of point, and according to predetermined weight to described two original In environment map, the pixel value in corresponding pixel points calculates, it is thus achieved that the final pixel value of described target pixel points.

Wherein, described splicing regions processing module includes:

Calculating sub module, for obtaining the final pixel value of target pixel points by following formula:

${\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_d=f1\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s1}+f2\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s2}$

Wherein, d is the sequence number of target pixel points, s1 and s2 is the sequence number of corresponding pixel points in two width primal environment figures；f1 Being predefined weight with f2, the distance between two borders of itself and described pixel and described splicing regions is associated.

Implement the present invention, there is following beneficial effect:

1, the vehicle-mounted panoramic image seamless splicing processing method that the present invention provides, it is possible to achieve captured by multiple photographic head Multiple image splices, and forms panorama birds-eye view, and its visual effect is basically identical with actual top view effect；

2, the embodiment that the present invention provides, by according to the coordinate of each pixel in target image and corresponding original ring The coordinate information of border image carries out map information, is formed and generates target image splicing mapping table；Carrying out the seamless spelling of panoramic picture When connecing, only i.e. need to can obtain each target pixel points on target image reflected by searching this target image splicing mapping table Pixel value on respective pixel coordinate on the corresponding primal environment image penetrated, such that it is able to be rapidly completed the seamless spelling of panoramic picture Connect, there is the advantage that image mosaic speed is fast, real-time, reduce panoramic picture seamless spliced processing system and hardware is wanted Ask and complexity；

3, the region spliced mutually by two primal environment images in the target image, is set to splicing regions；In this splicing Region, the pixel of its image is derived from two adjacent photographic head, i.e. calculates it respectively in adjacent two shootings by weight The pixel value of pixel corresponding in head original image, the final pixel value of formation target image, meanwhile, can be to splicing regions Image carry out brightness adjustment；Such that it is able to improve validity and the display effect of splicing regions image, it is to avoid image occurs The phenomenon of distortion and deformity occurs.

Above disclosed it is only one preferred embodiment of the present invention, certainly can not limit the power of the present invention with this Profit scope, the equivalent variations therefore made according to the claims in the present invention, still belong to the scope that the present invention is contained.

Claims (4)

1. a vehicle-mounted panoramic image seamless splicing processing method, it is characterised in that described method includes:

Primal environment image is obtained respectively by being arranged at the photographic head of automobile surrounding；

By a target image splicing mapping table previously generated, it is right that inquiry obtains each target pixel points institute in target image The map information answered；Wherein, described map information at least includes the sequence number of primal environment image, the pixel of primal environment image is sat Mark information；

Map information according to target pixel points each in described target image, it is thus achieved that right on the primal environment image of corresponding sequence number Answer the pixel value on pixel coordinate, and according to described pixel value, it is thus achieved that in described target image, each target pixel points is final Pixel value, and further described final pixel value is assigned to display after corresponding target pixel points.

2. the method for claim 1, it is characterised in that described in previously generate target image splicing mapping table step tool Body includes:

Target image is divided into multiple target area according to world coordinate system, and will be located in the pre-of two target area intersections Region in the range of Ding is defined as splicing regions, and determines the primal environment figure corresponding to each target area and splicing regions The sequence number of picture；

According to the mapping relations between primal environment image coordinate system and world coordinate system, and the coordinate system of target image and generation Mapping relations between boundary's coordinate system, it is thus achieved that the mapping that on described target image, each target pixel points and original image map mutually Information；Wherein, in the splicing regions of target image, on the primal environment image that each target pixel points is different from two width respectively A specific pixel point map mutually；

Map information corresponding to the positional information of each target pixel points of described target image and each target pixel points is entered Row preserves, it is thus achieved that target image splicing mapping table.

3. method as claimed in claim 2, it is characterised in that according to the mapping of target pixel points each in described target image Information, it is thus achieved that the pixel value on respective pixel coordinate on the primal environment image of corresponding sequence number, and according to described pixel value, it is thus achieved that The step of the final pixel value of each target pixel points in described target image, farther includes:

Target pixel points for target area, it is thus achieved that respective pixel on the primal environment image that each target pixel points is mapped Pixel value on coordinate, and as the final pixel value of described target pixel points；

For the target pixel points of splicing regions, obtain respectively in the two width primal environment figures that its each target pixel points is mapped Pixel value in corresponding pixel points, and according to predetermined weight to the pixel in corresponding pixel points in described two width primal environment figures Value calculates, it is thus achieved that the final pixel value of described target pixel points.

4. method as claimed in claim 3, it is characterised in that described according to predetermined weight to described two width primal environment figures Pixel value in middle corresponding pixel points calculates, it is thus achieved that the step of the final pixel value of described target pixel points particularly as follows:

Final pixel value by following formula acquisition target pixel points:

${\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_d=f1\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s1}+f2\·{\left(\begin{array}{c}r\\ g\\ b\end{array}\right)}_{s2}$

Wherein, d is the sequence number of target pixel points, s1 and s2 is the sequence number of corresponding pixel points in two width primal environment figures；F1 and f2 For predefined weight, the distance between two borders of itself and described pixel and described splicing regions is associated.