CN106060523A

CN106060523A - Methods for collecting and displaying panoramic stereo images, and corresponding devices

Info

Publication number: CN106060523A
Application number: CN201610500635.7A
Authority: CN
Inventors: 孙立; 候永竞
Original assignee: Beijing Qihoo Technology Co Ltd; Qizhi Software Beijing Co Ltd
Current assignee: Beijing 360 Zhiling Technology Co ltd
Priority date: 2016-06-29
Filing date: 2016-06-29
Publication date: 2016-10-26
Anticipated expiration: 2036-06-29
Also published as: CN106060523B

Abstract

This invention relates to a method and device for collecting panoramic stereo images, and a method and device for displaying panoramic stereo images. The method for generating stereo images in the device for collecting panoramic stereo images comprises the steps of: receiving plane images collected by at least three pairs of camera units; based on spatial orientation information of the camera units, processing the plane images into a left eye regional image and a right eye regional image used for stereo imaging; and merging the left eye regional image and the right eye region image at a same time into a same data frame and transmitting to a display device/a server. The method for displaying stereo images by the display device comprises the steps of: through acquiring data of a sensor, determining the spatial orientation information; scanning the received regional images; and calling corresponding regional images to be displayed on the screen of the display device according to tag information of the regional images. The methods and devices provided by the invention improve the imaging quality and the transmission efficiency of stereo images. The processing efficiency and the transmission efficiency of the server or the display terminal are increased, particularly the power consumption of the display terminal is saved, and the user experience is improved.

Description

Panoramic stereo image collection, display packing and corresponding device

Technical field

The present invention relates to panoramic stereo image field of cameras, specifically, the present invention relates to a kind of panoramic stereo image Collection, display packing and corresponding device thereof.

Background technology

In recent years, virtual reality technology quickly grows, and has become as new development in science and technology trend in the short time.360 degree Panoramic stereo image, as the one of virtual reality technology, is widely used in the virtual guide to visitors in tourist attractions, urban environment three-dimensional entirely Scape is virtual, navigation streetscape is virtual etc., has actual using value, and the three-dimensional environment of virtual reality needs image acquisition Equipment can be with 360 degree of omnidirectional shootings, and this increases the technology requirement of shooting greatly.

In prior art, its method some can cover whole visible space for being gathered in different azimuth by single camera Plane picture or video, process through stereo-picture and generate panoramic stereo image after software processes, in the method, owing to user claps Shooting direction and moving direction when taking the photograph are irregular, and therefore, the panoramic stereo image being processed into can produce defect or distortion；Another Method carries out image taking to different directions, in the method, due to each shooting for using multiple video cameras in fixed position simultaneously Machine independently shoots, and captured plane picture needs later stage otherwise processed, and cost is high and cannot show in virtual reality at any time and sets Standby middle viewing.

Summary of the invention

The primary and foremost purpose of the present invention aims to provide method and the corresponding original device thereof that a kind of panoramic stereo image gathers

A kind of method that another object of the present invention is to provide panoramic stereo image to show and corresponding original device thereof.

To achieve these goals, the invention provides a kind of panoramic stereo image acquisition method, comprise the steps:

Receive the plane picture that each image unit at least three pairs of image units covering panorama visual angle is gathered；

Described plane picture is processed into the left eye region for three-dimensional imaging by the attitude information in conjunction with image unit Image and right eye region image；

Left eye region image and right eye region image are associated and are sent to display device/server.

Preferably, at least three pairs of image units gather the plane picture around same circumference range simultaneously, and every pair of shooting is single Two image units in unit gather the two width plane graphs being suitable to form left eye region image and right eye region image respectively respectively Picture.

Preferably, the plane picture that each image unit is gathered is adjacent the planar image sections that image unit is gathered Overlapping.Usually, image unit is the most, and the plane picture lap of collection is the biggest, needs the part carrying out cutting the least, produces The raw stereo-picture distortion factor is the lowest.

Preferably, every pair of image unit is positioned at plane picture that the image unit on the left side gathered for forming left eye district Area image, is positioned at the plane picture that gathered of image unit on the right for for forming right eye region image.

Above-mentioned employing multipair binocular camera shooting unit simulation people's eyes gather the implementation of image, due to binocular camera shooting unit Gather two width plane pictures from different angles, be the most substantially the detection adjusted the distance, calculated by binocular real-time deep, extensive Appear again three-dimensional geometric information, thus produce stereoscopic vision.

Preferably, in conjunction with the attitude information of image unit, plane picture is processed into the left eye district for three-dimensional imaging The step of area image and right eye region image specifically includes:

The two sheet of planar images gathered by every pair of image unit are cut out according to binocular stereo imaging principle, form phase Corresponding left eye region image and right eye region image, wherein, left eye region image and right eye region image at least part scape Thing content overlaps；

Set up the corresponding relation of the attitude information of each area image and corresponding image unit thereof, make display device end The area image that can mate and call corresponding attitude information shows in plane both sides.

Plane picture acquired in the image unit of the same side of each pair of image unit is spliced into panoramic plane image；

According to binocular stereo imaging principle, the two width panoramic plane images formed are processed so that it is respectively become Left eye region image and right eye region image；

Attitude information based on image unit sets up the left eye region image concrete part with right eye region image Between corresponding relation, the area image making display device end can mate and call corresponding attitude information shows in plane two Side.

Preferably, left eye region image and right eye region image are associated in the step being sent to display device, pass through The left eye region image obtained by synchronization and generate and right eye region image are merged in same Frame transmission and realize It is associated.

Preferably, display device is mobile terminal or virtual reality head shows equipment.

Preferably, in same described Frame, comprise according to the occupied locus of image unit be correspondingly arranged Left eye region image and the attitude information of right eye region image.

Preferably, attitude information indicates with label information.

Preferably, image unit is in photograph mode and obtains described plane picture with real-time, and this method is according to image unit Frame rate under this image pickup mode, obtains each frame plane picture for image unit and corresponding circulation performs once.

Preferably, this method is configured to receive the plane picture that four pairs of image units at covering panorama visual angle are gathered, Wherein, the plane picture acquired in each image unit has the space Radix Rumicis more than 90 degree.

Second aspect, the invention provides a kind of panoramic stereo image harvester, including at least three to imaging list above Unit, for gathering the image covering panorama visual angle, this device includes:

Receiver module, is gathered for receiving each image unit at least three pairs of image units covering panorama visual angle Plane picture；

Image processing module, is processed into described plane picture for standing for combining the attitude information of image unit The left eye region image of body imaging and right eye region image；

Transport module, for being associated left eye region image and right eye region image and being sent to display device/service Device.

Preferably, at least three pairs of image units are equidistantly surrounded on outside device, gather the plane around same circumference range Image, two image units in every pair of image unit gather respectively and suitably form left eye region image and right eye region image Two width plane pictures.

Preferably, the plane picture that each image unit is gathered is adjacent the planar image sections that image unit is gathered Overlapping.

Preferably, every pair of image unit is positioned at the plane picture that gathered of image unit in left side for forming left eye district Area image, is positioned at the plane picture that gathered of image unit on right side for for forming right eye region image.

Preferably, image processing module includes:

Cutting unit, the two sheet of planar images gathered by every pair of image unit are cut according to binocular stereo imaging principle Cutting out, form corresponding left eye region image and right eye region image, wherein, left eye region image and right eye region image are at least Part scene content is had to overlap；

Indicate unit, set up the corresponding relation of the attitude information of each area image and corresponding image unit thereof.

Preferably, image processing module includes:

Concatenation unit, helps for being spliced by the plane picture acquired in the image unit of the same side of each pair of image unit Scape plane picture；

The two width panoramic plane images formed, according to binocular stereo imaging principle, are processed by processing unit so that it is Respectively become left eye region image and right eye region image；

Indicating unit, attitude information based on described image unit sets up left eye region image and right eye region image Concrete part between corresponding relation.

Preferably, transport module includes:

Combining unit, the described left eye region image being obtained by synchronization and generating and right eye region image are merged into same One Frame realizes association；

Delivery unit, after being associated, left eye area image and right eye region image are sent to display device/server.

Preferably, in same Frame, comprise according to the occupied locus of image unit be correspondingly arranged left eye district Area image and the attitude information of right eye region image.

Preferably, attitude information indicates with label information.

Preferably, image unit is in photograph mode and obtains described plane picture with real-time, takes the photograph at this according to image unit As the frame rate under pattern, obtain, for image unit, the method correspondence circulation that each frame plane picture panoramic stereo image gathers Perform once.

Preferably, this device is configured with the four pairs of image units covering panorama visual angle, wherein, acquired in each image unit Plane picture there is the space Radix Rumicis more than 90 degree.

The third aspect, the invention provides a kind of method showing panoramic stereo image, comprises the steps:

Obtain sensing data, determine attitude information according to sensing data；

Received data frame is resolved, obtains the left eye region corresponding with attitude information wherein loaded Image and right eye region image；

By the most corresponding to the left eye region image corresponding with attitude information and right eye region image display at screen Both sides.

Specifically, obtain in sensing data step, by obtaining sensor measurement current spatial azimuth information and the number of people Portion's motion trace data estimates next attitude information, using next attitude information as the dimensional orientation letter determined Breath.

Specifically, resolving received data frame, it is corresponding with attitude information that acquisition wherein loads The step of left eye region image and right eye region image specifically includes:

According to the attitude information measured by sensor, read the area image in received data frame；

According to the label information of area image, determine the left eye district corresponding with the attitude information measured by sensor Area image and right eye region image；

Call the corresponding left eye region image of this attitude information and right eye region image.

Specifically, by the left eye region image corresponding with attitude information and the corresponding display respectively of right eye region image In the step that screen sides shows, display device screen is equally divided into left hand display area and right hand display area, a described left side Eye area image shows that, in left hand display area, right eye region image shows in right hand display area.

Specifically, display device is according to the frame rate receiving data frames under image unit image pickup mode, for by sensing Each attitude information that device data determine, display device often receives a Frame, and the circulation of this method correspondence performs once.

Fourth aspect, the invention provides a kind of device showing panoramic stereo image, and this device includes control portion and shows Display screen, described control portion specifically includes:

Acquisition module, is used for obtaining sensing data, determines attitude information according to sensing data；

Parsing module, for resolving received data frame, what acquisition wherein loaded believes with described dimensional orientation Left eye region image that manner of breathing is corresponding and right eye region image；

Display module, for dividing the described left eye region image corresponding with attitude information and right eye region image Not corresponding display is in screen sides.

Preferably, next is estimated by acquisition sensor measurement current spatial azimuth information and head part's motion trace data Attitude information, using next attitude information as the attitude information determined.

Preferably, parsing module includes:

Read unit, for according to the attitude information measured by sensor, reading the region in received data frame Image；

Matching unit, for the label information according to area image, determines and the attitude information measured by sensor Corresponding left eye region image and right eye region image；

Extraction unit, for calling the left eye region image corresponding with this attitude information and right eye region image.

Preferably, display device screen is equally divided into left hand display area and right hand display area, described left eye region figure As display is in left hand display area, right eye region image shows in right hand display area.

Preferably, display device is according to the frame rate receiving data frames under image unit image pickup mode, for by sensing Each attitude information that device data determine, display device often receives a Frame, the method pair of display panoramic stereo image Execution should be circulated once.

Compared to existing technology, the solution of the present invention has the advantage that

The present invention, based on binocular imaging principle, obtains full-view stereo to above image unit around same circumference by three The basic material of image, is sent to recipient after preliminary treatment, for keeping in or directly displaying.Owing to it is from hardware view Solving the problem that the picture material of three-dimensional imaging obtains, therefore, image of its output can just can be without replication processes in addition Utilize, improve image quality and the efficiency of transmission of stereo-picture.Further, it also is able to bigger at server or display terminal In degree, saving processes time, raising process and efficiency of transmission, enables in particular to save the power consumption of display terminal, improves shown The fluency of stereo-picture and overall image quality, improve Consumer's Experience.

Aspect and advantage that the present invention adds will part be given in the following description, and these will become from the following description Obtain substantially, or recognized by the practice of the present invention.

Accompanying drawing explanation

For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for From the point of view of those skilled in the art, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings Figure.

Fig. 1 is the flow chart that one embodiment of the invention panoramic stereo image generates method

Fig. 2 is that one embodiment of the invention image unit covers field of view block diagram

Fig. 3 is one embodiment of the invention panoramic stereo image harvester structured flowchart

Fig. 4 is the module map of one embodiment of the invention panoramic stereo image harvester central processor CPU

Fig. 5 is the detailed block diagram of the image processing module of one embodiment of the invention

Fig. 6 is the detailed block diagram of the image processing module of another embodiment of the present invention

Fig. 7 is the detailed block diagram of one embodiment of the invention transport module

Fig. 8 is the flow chart of the method for one embodiment of the invention display panoramic stereo image

Fig. 9 is the module map in the control portion of one embodiment of the invention display device

Figure 10 is the detailed block diagram of one embodiment of the invention parsing module

Detailed description of the invention

In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with in the embodiment of the present invention Accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention.

In some flow processs of description in description and claims of this specification and above-mentioned accompanying drawing, contain according to Particular order occur multiple operations, but it should be clearly understood that these operation can not according to its occur in this article suitable Sequence performs or executed in parallel, the sequence number of operation such as 101,102 etc., is only used for distinguishing each different operation, sequence number Itself does not represent any execution sequence.It addition, these flow processs can include more or less of operation, and these operations can To perform in order or executed in parallel.It should be noted that " first ", " second " herein etc. describe, it is for distinguishing not Message together, equipment, module etc., do not represent sequencing, and not limiting " first " and " second " is different types.

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, the every other enforcement that those skilled in the art are obtained under not making creative work premise Example, broadly falls into the scope of protection of the invention.

Proper noun for using in the present invention is explained as follows:

Left eye region image, right eye region image, in the present invention, left eye region image and right eye region image refer to Plane picture can be used for producing stereoscopic vision after treatment and show the image at display device.

Attitude information, in the present invention, the orientation that attitude information refers to when image unit gathers picture is believed Breath.

Frame, the protocol Data Unit of data link layer, including three parts: frame head, data division, postamble.Frame head and Postamble comprises the control information of some necessity, such as synchronizing information, address information, error control information etc.；Data division then wraps The data handed down containing Internet, such as IP packet.

Frame rate, refers to shown frozen frozen mass lattice number per second.

Sensing data, refers to the attitude information that sensor detects in the present invention.

First aspect, in an embodiment in the present invention, it is provided that the method stream that a kind of panoramic stereo image gathers Journey figure is as it is shown in figure 1, include:

S310: receive the plane graph that each image unit at least three pairs of image units covering panorama visual angle is gathered Picture.

It will be understood by those skilled in the art that at least three pairs of image units are equidistantly arranged in harvester in around array Outside, as a example by four pairs of image units, refer to Fig. 2, the plane picture acquired in each image unit collection has and is more than The space Radix Rumicis of 90 degree, the space Radix Rumicis sum of the plane picture acquired in 8 image units is more than 360 degree, i.e. covers panorama Visual angle.

Specifically, at least three pairs of image units gather the plane picture around same circumference range simultaneously, and every pair of shooting is single Two image units in unit gather the two width plane graphs being suitable to form left eye region image and right eye region image respectively respectively Picture.It will be understood by those skilled in the art that the logarithm of image unit is the most in the range of certain space angle, the plane of collection Image lap is the most, and 3 D stereo reduction degree is the highest.

Specifically, the plane picture that each image unit is gathered is adjacent the planar image sections that image unit is gathered Overlapping.It will be understood by those skilled in the art that the three-dimensional geometric information obtaining captured image according to triangle principle, the left side is taken the photograph As any point on the plane picture that unit is gathered can image unit gathers on the right the same level of plane picture Find match point on polar curve, build triangle relation, extrapolate three-dimensional relationship i.e. solid space relation.

Specifically, every pair of image unit is positioned at plane picture that the image unit on the left side gathered for forming left eye district Area image, is positioned at the plane picture that gathered of image unit on the right for for forming right eye region image.

Specifically, this method is configured to receive the described plane graph that four pairs of image units at covering panorama visual angle are gathered Picture, wherein, the plane picture acquired in each image unit has the space Radix Rumicis more than 90 degree.Those skilled in the art are permissible Understanding, when there being four pairs of image units, the plane picture acquired in each image unit has the space Radix Rumicis more than 90 degree, when When having N to image unit, the plane picture acquired in each image unit has the space Radix Rumicis more than 360/N degree, thus, respectively The plane picture that image unit is gathered can cover panorama visual angle.

One of purpose of this method is capturing panoramic view image, therefore uses at least three pairs of image units to gather around same simultaneously The plane picture of one circumference range, the plane picture that each image unit is gathered is adjacent the plane graph that image unit is gathered Picture partly overlaps and the shooting visual angle sum of each image unit is more than 360 degree, and the plane picture of collection covers panorama visual angle.We The two of the purpose of method are to generate stereo-picture, according to binocular stereo imaging principle, two image units in every pair of image unit Gather respectively and be suitable to be formed respectively two width plane pictures of left eye region image and right eye region image.Position in every pair of image unit The plane picture gathered in the image unit on the left side is for forming left eye region image, and the image unit being positioned at the right is gathered Plane picture for being used for forming right eye region image.Owing to the left side image unit in every pair of image unit and right side image single Unit gathers two width plane pictures from different angles, is the most substantially the detection adjusted the distance, is calculated by binocular real-time deep Recover three-dimensional geometric information, thus produce stereoscopic vision.

S320: described plane picture is processed into the left eye for three-dimensional imaging by the attitude information combining image unit Area image and right eye region image.

In the present invention, multipair image unit is equidistantly fixed on outside device in around array, therefore, and each image unit Having specific dimensional orientation, described attitude information refers to the space side of the image unit that every sheet of planar image is corresponding when generating Position.

Specifically, process provides a kind of left eye region image being processed into by plane picture for three-dimensional imaging and the right side The specific embodiment of eye area image, concrete steps include:

Set up the corresponding relation of the attitude information of each area image and corresponding image unit thereof.

It will be understood by those skilled in the art that binocular stereo imaging is principle based on parallax, take the photograph with two, left and right respectively As unit carries out camera coordinate system imaging to the world coordinate system of target object, corresponding in recycling image unit coordinate system Coordinate and video camera central point distance, focal length carry out mathematics conversion, obtain impact point true three-dimension information with this.Gather mesh Need during punctuate, by different angles, the image that different angles shoot to carry out the detection of distance, finally realizes reflection object The three-dimensional information of body.Binocular image is the most all to be gathered one by two image units of same level under different parallax angles Two width images of individual target object.

Usually, the plane picture gathered with left side image unit in a pair image unit and right side image unit gather Plane picture has most of region all to essentially coincide, yet with left side image unit and image unit position, right side Viewpoint inconsistent, the plane picture of left side image unit collection and the plane picture of right side image unit collection have necessarily certainly Deviation, certainly there is misaligned region in i.e. two images.Typically, a left side for the plane picture that left side image unit is gathered Edge is that the plane picture that right side image unit is gathered is unexistent, and the right side of the plane picture that right side image unit is gathered Edge is that the plane picture that side image unit is gathered is unexistent, i.e. above-mentioned two marginal portion is misaligned region, needs Puncturing, two marginal portions of the stereo-picture of follow-up synthesis remain the plane picture of two dimension.Therefore, implement at this In example, the plane picture gathered with the left side image unit in a pair image unit and right side image unit is carried out image and cuts Sanction includes: the heaviest between the plane picture that the plane picture gathered by left side image unit respectively and right side image unit gather The part closed punctures.The left hand edge part being typically the plane picture that left side image unit gathers punctured and right side shooting The right hand edge part of the plane picture that unit gathers.Plane picture after cutting respectively becomes left eye region image and right eye region Image.The area of visual field of left eye region image and right eye region image is completely superposed, but due to left eye region image and Right eye region image is respectively with the left side image unit in a pair image unit and right side image unit collection and generates, because of And left side image unit and right side image unit have certain parallax, display time by left eye region image with have a region The sight line of image is isolated, i.e. left eye is only seen left eye region image, had eye only to see right eye region image, and thus, two width exist parallax Area image through the synthesis of brain, at the eyes of user, produce stereo-picture.

Owing to subsequent step needing be merged in same Frame by the area image gathering in the same time and generating and root The sensing data coupling obtained according to display device to the left eye region image of attitude information and right eye region image, because of This, need to indicate area image with relative with the attitude information gathering the also image unit of formation zone image Should.The present embodiment indicates in the way of label information, the most each Frame includes sign attitude information Field.As a example by four pairs of image units, eight image units are fixing to there being a dimensional orientation respectively, therefore have eight skies Between azimuth information, it is assumed that this field has three bytes, and 000 represents the dimensional orientation of first image unit, and 001 represents second The dimensional orientation of image unit, pushes away with this example, and the dimensional orientation of eight image units all has corresponding numerical value the most corresponding.When aobvious Show equipment needs call as top-right in Fig. 2 this to the area image of image unit time, according to receiving and parsing through Frame acceptance of the bid Show that the label information of the attitude information of area image just can be found out the image unit of corresponding direction in space and be gathered and generate Area image.In the present invention, to setting up the administrative division map that image unit attitude information gathers with image unit and generates Between Xiang, the technology of corresponding relation does not limits, however not excluded that has and uses the technology that can set up this corresponding relation.

Specifically, process provides the second plane picture is processed into for three-dimensional imaging left eye region image and The specific embodiment of right eye region image, concrete steps include:

Attitude information based on described image unit sets up the concrete portion of left eye region image and right eye region image / corresponding relation.

It will be understood by those skilled in the art that usually, panorama sketch on the left of the left field image mosaic one-tenth that will be extracted Picture, panoramic picture on the right side of the right side area image mosaic one-tenth that will extract, method of its splicing can use Block-matching to splice method, first Two width adjacent images are carried out feature point extraction, then determines the big of formwork according to the position of characteristic point at the first sub-picture Little, determine hunting zone at the second width image, then carry out matching primitives, complete image mosaic.Single to shooting with shown in Fig. 2 four As a example by unit, four plane pictures of image unit collection on the left of synchronization are spliced, first extract piece image and The characteristic point of two width images, determines the size of module board according to the position of characteristic point at piece image, true at the second width image Determine hunting zone, carry out matching primitives, complete the first width plane picture and the splicing of the second width plane picture, the 3rd width plane graph Picture and the 4th width image repeat this process, fourth officer is shot in different azimuth cover panorama visual angle plane picture be spliced into one Width panoramic plane image.In the present invention, to not limiting of joining method image, however not excluded that use splicing based on grid, base The plane picture gathered is spliced by the methods such as splicing and the relevant splicing of phase place based on FFT in ratio method.

Usually, after the plane picture of the image unit collection of the same side is spliced to form panoramic plane image, need Panoramic plane image is further processed the left eye region image and right eye region image that could be formed for display.Example As, carrying out image enhaucament, image typically can not increase original image information, but can be convex by weak signal for part image-forming condition Aobvious so that image information is easier to differentiate.Image enhaucament includes frequency domain and spatial domain two parts, and spatial domain method is mainly in image Each pixel operates；Frequency domain method is to revise if Fourier coefficient, DTC conversion coefficient are to figure in a transform domain of image As operating.In the present invention, the process to panoramic plane image not only comprises image enhancement technique, however not excluded that use other Contribute to panoramic plane image and generate the other technologies of the area image for display three-dimensional imaging, as image stitching, image melt Conjunction technology etc..

Further, the area image gathering in the same time and generating is merged into same data owing to subsequent step needing The sensing data coupling obtained in frame and according to display device is to the left eye region image of attitude information and right eye district Concrete part in area image, accordingly, it would be desirable to indicate area image relation specifically and between part with collection also The attitude information of the image unit of formation zone image is corresponding.The present embodiment is marked in the way of label information Show, the most each Frame includes the field indicating attitude information.As a example by four pairs of image units, eight shootings are single Unit is fixing to there being a dimensional orientation respectively, therefore has eight attitude informations, it is assumed that this field has three bytes, and 000 Representing the dimensional orientation of first image unit, 001 represents the dimensional orientation of second image unit, pushes away with this example, takes the photograph for eight As the dimensional orientation of unit all has corresponding numerical value the most corresponding.When display device need call as top-right in Fig. 2 this to taking the photograph During as the area image of unit, according to the label information receiving and parsing through the attitude information indicating area image in Frame Just can find out the image that image unit gathered and generated of corresponding direction in space, this image is of the area image of panorama Point.In the present invention, to setting up in image unit attitude information and area image the technology of corresponding relation between concrete part Do not limit, however not excluded that have and use the technology that can set up this corresponding relation.

S330: left eye region image and right eye region image are associated and are sent to display device/server.

It will be understood by those skilled in the art that the panoramic stereo image harvester in the present invention is in captured in real-time mould Formula, therefore will produce the image of magnanimity, and server is as the intermediate transit point of network, and it possesses the feature having memory capacity big, will Image transmitting stores to server, beneficially the management of image and data sharing, and display device can be by sending a request to service Device, the area image of its corresponding dimensional orientation of request transmission of response is shown to display device by server.

It will be understood by those skilled in the art that the plane picture that in the present invention, panoramic stereo image harvester gathers can be straight Connect transmission to show to display device.

Specifically, described left eye region image and right eye region image by being obtained by synchronization and generating are merged into Same Frame transmits and realizes being associated.It will be understood by those skilled in the art that the left eye region image of synchronization It is merged in same Frame with right eye region image and is transmitted being favorably improved data processing speed.

Specifically, in same Frame, comprise according to the occupied locus of image unit be correspondingly arranged described in a left side Eye area image and the attitude information of right eye region image.

Specifically, described attitude information indicates with label information.It will be understood by those skilled in the art that each In Frame, include the field indicating attitude information, i.e. label information.

Specifically, described image unit is in photograph mode and obtains described plane picture with real-time, and this method is according to shooting Unit frame rate under this image pickup mode, obtains each frame plane picture for image unit and corresponding circulation performs once. It will be understood by those skilled in the art that typical frame rate is 24 frames/second～30 frames/second, under this frame rate, it is possible to produce flat Slide and continuous print effect.

Second aspect, in one embodiment of the invention, it is provided that a kind of panoramic stereo image harvester 1000 is used Method is generated, with reference to shown in Fig. 3, including the shooting list no less than three pairs in performing the panoramic stereo image described in first aspect Unit 100, for gathering the plane picture covering panorama visual angle.

It will be understood by those skilled in the art that at least three pairs of image units are equidistantly arranged and harvester in around array Outside, as a example by four pairs of image units, refer to Fig. 2, the plane picture acquired in each image unit collection has and is more than The space Radix Rumicis of 90 degree, the space Radix Rumicis sum of the plane picture acquired in 8 image units is more than 360 degree, is referred to as covering entirely Scape visual angle.

Specifically, described at least three pairs of image units are equidistantly surrounded on outside device, gather around same circumference range Plane picture, two image units in every pair of image unit gather respectively and suitably form left eye region image and right eye region figure Two width plane pictures of picture.It will be understood by those skilled in the art that the logarithm of image unit in the range of certain space angle The most, the plane picture lap of collection is the most, and 3 D stereo reduction degree is the highest.

Specifically, every pair of image unit is positioned at the plane picture that gathered of image unit in left side for forming left eye district Area image, is positioned at the plane picture that gathered of image unit on right side for for forming right eye region image.

Specifically, this device is configured with and can gather the four pairs of image units of plane picture covering panorama visual angle, wherein, Plane picture acquired in each image unit has the space Radix Rumicis more than 90 degree.It will be understood by those skilled in the art that and work as When having four pairs of image units, the plane picture acquired in each image unit has the space Radix Rumicis more than 90 degree, when having N to taking the photograph During as unit, the plane picture acquired in each image unit has the space Radix Rumicis more than 360/N degree, thus, respectively images list The plane picture that unit is gathered can cover panorama visual angle.

One of purpose of this device is capturing panoramic view image, therefore uses at least three pairs of image units to gather around same simultaneously The plane picture of one circumference range, the plane picture that each image unit is gathered is adjacent the plane graph that image unit is gathered Picture partly overlaps and the shooting visual angle sum of each image unit is more than 360 degree, and the plane picture of collection covers panorama visual angle.This dress The two of the purpose put are to generate stereo-picture, according to binocular stereo imaging principle, two image units in every pair of image unit Gather respectively and be suitable to be formed respectively two width plane pictures of left eye region image and right eye region image.Position in every pair of image unit The plane picture gathered in the image unit on the left side is for forming left eye region image, and the image unit being positioned at the right is gathered Plane picture for being used for forming right eye region image.Owing to the left side image unit in every pair of image unit and right side image single Unit gathers two width plane pictures from different angles, is the most substantially the detection adjusted the distance, is calculated by binocular real-time deep Recover three-dimensional geometric information, thus produce stereoscopic vision.

This device also includes central processor CPU 200.It is mainly used in receiving the plane picture that image unit gathers, to institute The plane picture received further is processed and is incorporated into same data frame transfer to display device or server.With four to taking the photograph As, as a example by unit, each image unit 100 gathers the space Radix Rumicis plane picture more than 90 degree and transmits to central processing unit CPU200, the plane picture received is processed, and synchronization generates left eye region image and the right side by central processing unit 200 Eye area image is also merged in same Frame, and transmission is to display device end or server.

Specifically, central processor CPU 200 includes:

Receiver module 201, for receiving each image unit institute at least three pairs of image units covering panorama visual angle The plane picture gathered；It will be understood by those skilled in the art that at least three pairs of image units in around array equidistantly arrange with The outside of harvester, as a example by four pairs of image units, refers to Fig. 2, the plane picture acquired in the collection of each image unit Having the space Radix Rumicis more than 90 degree, the space Radix Rumicis sum of the plane picture acquired in 8 image units is more than 360 degree, i.e. Cover panorama visual angle.

Image processing module 202, is processed into use for combining the attitude information of image unit by described plane picture Left eye region image and right eye region image in three-dimensional imaging；In the present invention, multipair image unit is in equidistant around array Being fixed on outside device, therefore, each image unit has specific dimensional orientation, and described attitude information refers to every sheet of planar The dimensional orientation of the image unit that image is corresponding when generating.

Transport module 203, for being associated left eye region image and right eye region image and being sent to display device/clothes Business device.It will be understood by those skilled in the art that the panoramic stereo image harvester in the present invention is in captured in real-time pattern, because of This will produce the image of magnanimity, and server is as the intermediate transit point of network, and it possesses the feature having memory capacity big, is passed by image Transporting to management and the data sharing of server storage, beneficially image, display device can service by sending a request to server The area image of the response corresponding dimensional orientation of request transmission is shown to display device by device.

Further, image processing module includes:

Cutting unit 2021, the two sheet of planar images gathered by every pair of image unit enter according to binocular stereo imaging principle Row is cut out, and forms corresponding left eye region image and right eye region image, wherein, left eye region image and right eye region image At least part scene content overlaps；

Usually, the plane picture gathered with left side image unit in a pair image unit and right side image unit gather Plane picture has most of region all to essentially coincide, yet with left side image unit and image unit position, right side Viewpoint inconsistent, the plane picture of left side image unit collection and the plane picture of right side image unit collection exist certain Deviation, there is misaligned region in i.e. two images certainly.Typically, the left side of the plane picture that left side image unit is gathered Edge is that the plane picture that right side image unit is gathered is unexistent, and the right of the plane picture that right side image unit is gathered Edge is that the plane picture that side image unit is gathered is unexistent, i.e. above-mentioned two marginal portion is misaligned region, needs Puncturing, two marginal portions of the stereo-picture of follow-up synthesis remain the plane picture of two dimension.Therefore, in this embodiment In, the plane picture gathered with the left side image unit in a pair image unit and right side image unit is carried out image cutting-out Including: do not overlap between the plane picture that the plane picture gathered by left side image unit respectively and right side image unit gather Part puncture.The left hand edge part being typically the plane picture that left side image unit gathers and the right side shooting that puncture are single The right hand edge part of the plane picture that unit gathers.Plane picture after cutting respectively becomes left eye region image and right eye region figure Picture.The area of visual field of left eye region image and right eye region image is completely superposed, but due to left eye region image and the right side Eye area image is respectively with the left side image unit in a pair image unit and right side image unit collection and generates, thus Left side image unit and right side image unit there is again certain parallax, display time by left eye region image with have an administrative division map The sight line of picture is isolated, i.e. left eye is only seen left eye region image, had eye only to see right eye region image, and thus, two width exist parallax Area image, through the synthesis of brain, produces stereo-picture at the eyes of user.

Indicate unit 2022, set up the corresponding pass of the attitude information of each area image and corresponding image unit thereof System.Owing to subsequent step needing be merged in same Frame and according to display by the area image gathering in the same time and generating The sensing data coupling that equipment obtains, to the left eye region image of attitude information and right eye region image, therefore, needs Area image is indicated with corresponding with the attitude information gathering the also image unit of formation zone image.This reality Execute in example and indicate in the way of label information.The most each Frame includes the field indicating attitude information. As a example by four pairs of image units, eight image units are fixing to there being a dimensional orientation respectively, therefore have eight dimensional orientations Information, it is assumed that this field has three bytes, and 000 represents the dimensional orientation of first image unit, and 001 represents second shooting list The dimensional orientation of unit, pushes away with this example, and the dimensional orientation of eight image units all has corresponding numerical value the most corresponding.Work as display device Need to call as top-right in Fig. 2 this to the area image of image unit time, according to receiving and parsing through sign region in Frame The label information of the attitude information of image just can find out the region that image unit gathered and generated of corresponding direction in space Image.In the present invention, to setting up between the area image that image unit attitude information and image unit gather and generate The technology of corresponding relation does not limits, however not excluded that has and uses the technology that can set up this corresponding relation.

Further, image processing module includes:

Concatenation unit 2023, for splicing the plane picture acquired in the image unit of the same side of each pair of image unit Become panorama plane picture；

It will be understood by those skilled in the art that usually, panorama sketch on the left of the left field image mosaic one-tenth that will be extracted Picture, panoramic picture on the right side of the right side area image mosaic one-tenth that will extract, method of its splicing can use Block-matching to splice method, first Two width adjacent images are carried out feature point extraction, then determines the big of formwork according to the position of characteristic point at the first sub-picture Little, determine hunting zone at the second width image, then carry out matching primitives, complete image mosaic.Single to shooting with shown in Fig. 2 four As a example by unit, four plane pictures of image unit collection on the left of synchronization are spliced, first extract piece image and The characteristic point of two width images, determines the size of module board according to the position of characteristic point at piece image, true at the second width image Determine hunting zone, carry out matching primitives, complete the first width plane picture and the splicing of the second width plane picture, the 3rd width plane graph Picture and the 4th width image repeat this process, fourth officer is shot in different azimuth cover panorama visual angle plane picture be spliced into one Width panoramic plane image.In the present invention, the working method of the concatenation unit of image is not limited, however not excluded that use based on grid The method such as splicing, splicing based on ratio method and the relevant splicing of phase place based on FFT the plane picture gathered is spliced.

The two width panoramic plane images formed, according to binocular stereo imaging principle, are processed by processing unit 2024, It is made to respectively become left eye region image and right eye region image；

Indicating unit 2025, attitude information based on described image unit sets up left eye region image and right eye region Corresponding relation between the concrete part of image.

Further, transport module includes:

Combining unit 2031, the described left eye region image being obtained by synchronization and generating and right eye region image merge Association is realized in same Frame；It will be understood by those skilled in the art that the left eye region image of synchronization and the right side Eye area image is merged in same Frame and is transmitted being favorably improved data processing speed.

Delivery unit 2032, after being associated, left eye area image and right eye region image are sent to display device/service Device.It will be understood by those skilled in the art that the panoramic stereo image harvester in the present invention is in captured in real-time pattern, therefore Will produce the image of magnanimity, server is as the intermediate transit point of network, and it possesses the feature having memory capacity big, by image transmitting To management and the data sharing of server storage, beneficially image, display device can be by sending a request to server, server The area image of the response corresponding dimensional orientation of request transmission is shown to display device.

Specifically, described display device is mobile terminal or virtual reality head shows equipment.

Specifically, in same described Frame, the institute being correspondingly arranged according to the occupied locus of image unit is comprised The left eye region image stated and the attitude information of right eye region image.

Further, described image unit 100 is in photograph mode and obtains described plane picture with real-time, single according to shooting Unit's frame rate under this image pickup mode, obtains, for image unit, the method that each frame plane picture panoramic stereo image gathers Corresponding circulation performs once.It will be understood by those skilled in the art that typical frame rate is 24 frames/second～30 frames/second, at this frame Under speed, it is possible to produce effect smoothly and continuously.

It is preferred that this device is configured with the four pairs of image units covering panorama visual angle, wherein, acquired in each image unit Plane picture there is the space Radix Rumicis more than 90 degree.It will be understood by those skilled in the art that when there being N to image unit, often Plane picture acquired in individual image unit has the space Radix Rumicis more than 360/N degree, and thus, it is flat that each image unit is gathered Face image can cover panorama visual angle.

Further, CPU processor 200 also includes communication module 204 and memory module 205.

Communication module 204 is mainly used in performing the data communication with display device/server, specifically includes:

Landline communication unit, Landline communication unit can be HDMI unit or the USB unit providing interface to display device；

Wireless communication unit, wireless communication unit includes short-range communication unit and telecommunication unit, closely leads to Letter unit can be at least one in WiFi communication unit, infrared communication unit or bluetooth-communication unit；Telecommunication unit Can be at least one in cellular communication, 3G mobile comm unit or 4G mobile comm unit.

Memory module 205 is mainly used to store the plane picture that each image unit is gathered and the left side formed after treatment Eye area image and right eye region image.

The third aspect, present invention also offers a kind of method showing panoramic stereo image, as shown in Figure 8, and including:

S410: obtain sensing data, determines attitude information according to sensing data；

Specifically, next is estimated by acquisition sensor measurement current spatial azimuth information and head part's motion trace data Attitude information, using next attitude information as the attitude information determined.

Described motion-sensing data are multiple samplings that in display device moving process, at least one aspect sensor gathers The data of point, described head part's movement locus is to be formed by the data connecting multiple sampled points.The life of head part's movement locus One-tenth method is in accordance with the method connected point into line, and sampled point is the most, then the preliminary track generated is the most accurate.In the present embodiment, raw The method of adult head movement locus is the motion-sensing data of multiple sampled points to be connected point into line, and generates a head movement rail The motion-sensing data of mark both can be the data of single sensor acquisition, it is also possible to is the data of multiple sensor acquisition.Example As, one having two inertial sensors and a direction sensor on the display device, inertial sensor is gyroscope and acceleration Degree sensor, the orbiting motion delta data through inertial sensor can obtain the state of equipment, and direction sensor is magnetic force Meter, absolute geographic direction changes as the course bearing determining described space operation track to use gaussmeter to detect Data, then the data matching of multiple points that Article 1 head movement track can be gathered by acceleration transducer generates；Article 2 The data matching of multiple points that the aggregation of data magnetometer of multiple points that head movement track can be gathered by gyroscope gathers is raw Become；The aggregation of data magnetometer matching of multiple points that Article 3 head movement track can be gathered by acceleration transducer generates. After finally determining a plurality of head movement track, space operation track and sky can be determined according to the extent of deviation of a plurality of track Between azimuth information.

S420: resolve received data frame, it is corresponding with described attitude information that acquisition wherein loads Left eye region image and right eye region image.

Specifically, described received data frame is resolved, obtain that wherein load with described attitude information Corresponding left eye region image and the concrete steps of right eye region image include:

Usually, the attitude information that in the Frame of inclusion region image, also inclusion region image is corresponding simultaneously, as Described in before, Frame being assigned the field of the attitude information of inclusion region image, i.e. label information, thus, obtain The information such as the attitude information of area image and its correspondence need to resolve the information in Frame, usually, and bag Include data frame format to resolve and the parsing of data frame parameter.Such as, can use the analysis mode of tree structure that Frame is solved Analysis, first carries out abstract to data handling procedure, lists tree structure according to the feature of data handling procedure successively condition resolution. Initial data frame resolves through analytic tree root node, obtains frame parameter and data to be resolved, and analytic tree will select according to frame parameter Next step resolution path；Data to be resolved are given analytic tree two node layer continue to resolve；The rest may be inferred, successively resolves.? This resolving, comprises the parsing of attitude information to area image each in Frame.The present invention parsing to Frame Mode does not limits, however not excluded that the analysis mode that other applicable image data frames resolve, the Frame driven such as formalized description Resolve and chain structure data frame analyzing etc..

It will be understood by those skilled in the art that and determine the region corresponding with the data space azimuth information of sensor measurement After image, display device can automatically load this area image and call this area image and show on the display screen.

S430: by the most corresponding to the described left eye region image corresponding with attitude information and right eye region image aobvious Show in screen sides.

Specifically, by the most corresponding to the described left eye region image corresponding with attitude information and right eye region image Display is in the step that screen sides shows, display device screen is equally divided into left hand display area and right hand display area, institute State left eye region image and show that, in left hand display area, right eye region image shows in right hand display area.People in the art Member is appreciated that the present invention uses parallax method to build three-dimensional imaging, according to binocular stereo imaging principle, need left eye and The sight line isolation of right eye, makes left eye and right eye watch the two width area images with parallax respectively, after brain synthesizes, two Stereoscopic vision is produced at Yan.

Specifically, display device is according to the frame rate receiving data frames under image unit image pickup mode, for by sensing Each attitude information that device data determine, display device often receives a Frame, the method pair of display panoramic stereo image Execution should be circulated once.It will be understood by those skilled in the art that display device according to image unit under image pickup mode frame speed Rate receives image, shows on a display screen by this speed after treatment, and typical frame rate is 24 frames/second～30 frames/second, Under this frame rate, effect smoothly and continuously could be produced.

Fourth aspect, present invention also offers a kind of device showing panoramic stereo image, is used for performing to show that panorama stands The method of body image, described device includes that control portion 500 and display screen, control portion 500 described in reference diagram 9 specifically include:

Acquisition module 510, is used for obtaining sensing data, determines attitude information according to sensing data；

Described sensor can be inertial sensor and direction sensor.

Inertial sensor, for gyroscope and acceleration transducer, the orbiting motion delta data through inertial sensor can To obtain the state of equipment.

Direction sensor, use gaussmeter can detect absolute geographic direction and as determining described space operation rail The course bearing delta data of mark.

Specifically, next is estimated by acquisition sensor measurement current spatial azimuth information and head part's motion trace data Attitude information, using next attitude information as the attitude information determined.Usually, described motion-sensing number According to the data of the multiple sampled points gathered at least one aspect sensor in display device moving process, described head part moves Track is to be formed by the data connecting multiple sampled points.In this device, sensor generates the mode of head part's movement locus Being the motion-sensing data of multiple sampled points to be connected point into line, the motion-sensing data generating a head movement locus are the most permissible It is the data of single sensor acquisition, it is also possible to be the data of multiple sensor acquisition.Such as, one two are had on the display device Individual inertial sensor and a direction sensor, then Article 1 head movement track can by acceleration transducer gather multiple The data matching of point generates；The aggregation of data magnetometer of multiple points that Article 2 head movement track can be gathered by gyroscope is adopted The data matching of multiple points of collection generates；The number of multiple points that Article 3 head movement track can be gathered by acceleration transducer Generate according to comprehensive magnetic meter matching.After finally determining a plurality of head movement track, can be according to the extent of deviation of a plurality of track Determine space operation track and attitude information.

It will be understood by those skilled in the art that by multiple sensing datas are connected point into line, head movement rail can be generated Mark, sampled point is the most, then head movement track is the most accurate, this movement locus can determine that the attitude information of correspondence.

Parsing module 520, for resolving received data frame, obtains that wherein load with described dimensional orientation Left eye region image that information is corresponding and right eye region image；It will be understood by those skilled in the art that inclusion region image The attitude information that in Frame, also inclusion region image is corresponding simultaneously, area image to be obtained and the space side of its correspondence The information such as position information need to resolve the information in Frame.

Specifically, as shown in Figure 10, described parsing module includes:

Read unit 5201, for according to the attitude information measured by sensor, read in received data frame Area image.It will be understood by those skilled in the art that in reading unit reads data frame for marked area area image dimensional orientation The label information of information, such as, as a example by four pairs of image units, in read data frame three of representation space azimuth information field Binary numeral corresponding in byte, such as 000, inquires about the attitude information of image unit corresponding to this binary numeral.

Matching unit 5202, according to the label information of area image, determines and the attitude information measured by sensor Corresponding left eye region image and right eye region image；

Extraction unit 5203, calls the left eye region image corresponding with this attitude information and right eye region image.

Display module 530, for by the described left eye region image corresponding with attitude information and right eye region figure As correspondence shows in screen sides respectively.

Usually, data frame analyzing includes that data frame format resolves and data frame parameter resolves.Such as, tree-like knot can be used Frame is resolved by the analysis mode of structure, first carries out abstract to data handling procedure, according to data handling procedure successively The feature of condition resolution lists tree structure.Initial data frame resolves through analytic tree root node, obtains frame parameter and to be resolved Data, analytic tree will select next step resolution path according to frame parameter；Data to be resolved are given analytic tree two node layer continue Continuous parsing；The rest may be inferred, successively resolves.In this resolving, comprise the attitude information to area image each in Frame Parsing.The analysis mode of Frame is not limited by the present invention, however not excluded that the parsing side that other applicable image data frames resolve Formula, the data frame analyzing driven such as formalized description and chain structure data frame analyzing etc..

Specifically, display device screen is equally divided into left hand display area and right hand display area, described left eye region figure As display is in left hand display area, right eye region image shows in right hand display area.It will be understood by those skilled in the art that this Invention use parallax method build three-dimensional imaging, according to binocular stereo imaging principle, need by the sight line of left eye and right eye every From, make left eye and right eye watch the two width area images with parallax respectively, after brain synthesizes, at two, produce solid Vision.

Specifically, display device is according to the frame rate receiving data frames under image unit image pickup mode, for by sensing Each attitude information that device data determine, display device often receives a Frame, the method pair of display panoramic stereo image Execution should be circulated once.It will be understood by those skilled in the art that display device according to image unit under image pickup mode frame speed Rate receives image, shows on a display screen by this speed after treatment, and typical frame rate is 24 frames/second～30 frames/second, Under this frame rate, it is possible to produce effect smoothly and continuously.

In sum, the invention provides a kind of method that panoramic stereo image gathers, by configuring on harvester The image unit of at least three pairs, gathers the plane picture covering panorama；The plane picture gathered is carried out the later stage such as cutting, splicing Process, plane picture is processed into the area image for three-dimensional imaging；Synchronization collection the area image that generates are closed And directly display or transmit to server to transmitting to display device after same Frame with temporary.This method is according to image unit Carrying out the speed of captured in real-time at image pickup mode, often obtain a frame plane picture for image unit, corresponding circulation performs once. Present invention also offers a kind of panoramic stereo image harvester, for performing the method that panoramic stereo image gathers.Further Ground, the invention provides a kind of method showing panoramic stereo image, by obtaining the sensing on the display device that user wears Device data, determine display device to dimensional orientation；The Frame received from harvester is resolved, mates and obtain The area image corresponding with the attitude information that sensing data determines；According to parallax 3 D stereo construction method, respectively Left eye region image and right eye region image are shown in the left hand display area of display screen and right hand display area, make user double Eye independent viewing scene, produces stereoscopic visual effect after brain synthesizes at eyes.This method is imaging according to image unit Carrying out the speed receiving area image of captured in real-time under pattern, for the two field picture often received, corresponding circulation performs once.This Invention additionally provides a kind of device for showing panoramic stereo image, for the method performing to show panoramic stereo image.Logical Cross embodiments of the present invention, can realize watching panoramic stereo image, it is provided that to the experience that user is on the spot in person.Owing to it is from firmly Part aspect solves the problem that the picture material of three-dimensional imaging obtains, and therefore, the image of its output can without replication processes just Can be used, improve image quality and the efficiency of transmission of stereo-picture.Further, it also is able at server or display terminal Saving largely processes time, raising process and efficiency of transmission, enables in particular to save the power consumption of display terminal, improves The fluency of shown stereo-picture and overall image quality, improve Consumer's Experience.

The above is only the some embodiments of the present invention, it is noted that for the ordinary skill people of the art For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims

1. a panoramic stereo image acquisition method, it is characterised in that comprise the steps:

In conjunction with the attitude information of image unit, described plane picture is processed into the left eye region image for three-dimensional imaging With right eye region image；

Panoramic stereo image acquisition method the most according to claim 1, it is characterised in that combine the dimensional orientation of image unit Information described plane picture is processed into for the left eye region image of three-dimensional imaging and the step of right eye region image include as Lower concrete steps:

The two sheet of planar images gathered by every pair of image unit are cut out according to binocular stereo imaging principle, are formed corresponding Left eye region image and right eye region image, wherein, in left eye region image and right eye region image at least part scenery Appearance overlaps；

Panoramic stereo image acquisition method the most according to claim 1, it is characterised in that the space of described combination image unit Plane picture is processed into by azimuth information specifically to be wrapped for the left eye region image of three-dimensional imaging and the step of right eye region image Include:

According to binocular stereo imaging principle, the two width panoramic plane images formed are processed so that it is respectively become left eye Area image and right eye region image；

Attitude information based on described image unit sets up the left eye region image concrete part with right eye region image Between corresponding relation.

4. according to the panoramic stereo image acquisition method described in claims 1 to 3 any one, it is characterised in that described shooting Unit is in photograph mode to obtain in real time described plane picture, and this method is according to image unit frame speed under this image pickup mode Rate, obtains each frame plane picture for image unit and corresponding circulation performs once.

5. a panoramic stereo image harvester, it is characterised in that include at least three to above image unit, covering for collection The image at lid panorama visual angle, described device includes:

Receiver module, it is flat that each image unit at least three pairs of image units receiving covering panorama visual angle is gathered Face image；

Image processing module, is processed into described plane picture to become for solid for combining the attitude information of image unit The left eye region image of picture and right eye region image；

Transport module, for being associated left eye region image and right eye region image and being sent to display device/server.

6. the method showing panoramic stereo image, it is characterised in that comprise the steps:

Received data frame is resolved, obtains the left eye region corresponding with described attitude information wherein loaded Image and right eye region image；

By the most corresponding to the described left eye region image corresponding with attitude information and right eye region image display at screen Both sides.

The method showing panoramic stereo image the most according to claim 6, it is characterised in that described acquisition sensing data walks In Zhou, estimate that next dimensional orientation is believed by obtaining sensor measurement current spatial azimuth information and head part's motion trace data Breath, using next attitude information as the attitude information determined.

The method showing panoramic stereo image the most according to claim 6, it is characterised in that described to received data frame Resolve, obtain the left eye region image corresponding with described attitude information that wherein load and right eye region image Step specifically includes:

According to the label information of area image, determine the left eye region figure corresponding with the attitude information measured by sensor Picture and right eye region image；

9. the method showing panoramic stereo image according to claim 6～8, it is characterised in that display device is according to shooting Frame rate receiving data frames under unit image pickup mode, for each attitude information determined by sensing data, aobvious Showing that equipment often receives a Frame, the circulation of this method correspondence performs once.

10. the device showing panoramic stereo image, it is characterised in that described device includes control portion and display screen, described Control portion specifically includes:

Parsing module, for resolving received data frame, obtains that wherein load with described attitude information phase Corresponding left eye region image and right eye region image；

Display module, for by the most right to the described left eye region image corresponding with attitude information and right eye region image Should show in screen sides.