CN106080390A - Vehicle traveling panorama system and method thereof - Google Patents
Vehicle traveling panorama system and method thereof Download PDFInfo
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- CN106080390A CN106080390A CN201610399552.3A CN201610399552A CN106080390A CN 106080390 A CN106080390 A CN 106080390A CN 201610399552 A CN201610399552 A CN 201610399552A CN 106080390 A CN106080390 A CN 106080390A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 29
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 29
- 230000009466 transformation Effects 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 4
- 210000003128 head Anatomy 0.000 description 21
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 241000219739 Lens Species 0.000 description 2
- 210000000695 crystalline len Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/91—Television signal processing therefor
- H04N5/93—Regeneration of the television signal or of selected parts thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
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- Engineering & Computer Science (AREA)
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- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
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Abstract
The present invention provides a kind of vehicle traveling panorama system, it includes the image storage processing module that wide-angle camera and wide-angle camera are electrically connected with, image processing module includes image storage unit and image processing module, the image of the current location of the image of the prior location that image storage unit is stored by image processing module and wide-angle camera picked-up synthesizes panoramic picture and the panoramic picture of synthesis is flowed to display, the image of image storage unit storage picked-up and the panoramic picture of synthesis.Present configuration is simple and simple installation, it is achieved that the uniform and seamless panoramic picture seamlessly transitted of definition.The present invention discloses a kind of image seamless to seamlessly transit and the method for clearly uniform vehicle traveling panorama.
Description
Technical field
The present invention relates to vehicle electric field, especially a kind of vehicle traveling panorama system and method thereof.
Background technology
Automobile, as the main traffic instrument of modern society, on the basis of meeting basic use function, it is desirable to expand
Field range during big driving, and then safe driving is more effectively provided.Vehicle traveling panorama system or panorama reversing are got a bird's eye view
Field range when system is exactly to expand car steering.And existing vehicle traveling panorama system generally uses four-way CCD camera,
One photographic head is i.e. respectively installed in the front, rear, left and right of vehicle, shoots vehicle respectively before a certain position by four photographic head
Then four images of shooting are scrabbled up the panoramic view of this position of vehicle by the image of rear left and right.Due to existing vehicle row
The panoramic view entering panorama system needs four Image Mosaics, and the split of four images often occurs that mosaic transition is uncertainly
So problem.Secondly, left photographic head and the right photographic head of existing vehicle traveling panorama system are arranged on the left and right rearview mirror of vehicle,
And the difficulty installed of punching on the rearview mirror of left and right is relatively big, and as easy as rolling off a log damage rearview mirror；The most different drivers can adjust
The angle of left and right rearview mirror so that the angle of left and right photographic head shooting is also in change, and then causes left and right photographic head to be difficult to adjust
To suitable camera site, and finally affect the panoramic view of existing vehicle traveling panorama system.
Become it addition, Chinese patent literature number discloses a kind of seamless non-spliced panorama real time imaging for CN204836349U
As equipment, this patent documentation by arranging reflecting mirror and the image collection of multiple planoconvex lens composition at the top of photographic head
Assembly and image flame detection assembly realize the single panoramic view without splicing.Structure complexity and the convex curvature to multiple planoconvex lenss
And assembling position concerns mandate is accurate.
Summary of the invention
In view of this, it is necessary to the problem mentioned for background technology, it is provided that a kind of simple in construction, simple installation and image
Seamless seamlessly transit display, image definition uniform vehicle traveling panorama system and method thereof.
In order to solve the problem that prior art exists, technical scheme includes wide-angle camera and wide-angle imaging
The image storage processing module that head is electrically connected with, described image processing module includes image storage unit and image processing module,
The image of the prior location that image storage unit is stored by described image processing module and the current location of wide-angle camera picked-up
Image synthesis panoramic picture and the panoramic picture of synthesis is flowed to display, the storage of described image storage unit is described extensively
The image of angle photographic head picked-up and the panoramic picture of image processing module synthesis.
Specifically, vehicle traveling panorama system of the present invention is reversing panorama system, the wide-angle camera of reversing panorama system
It is placed in described vehicle tail.
Specifically, vehicle traveling panorama system of the present invention is vehicle advance panorama system, vehicle advance panorama system wide
Angle photographic head is placed in vehicle head.
As the improvement to vehicle traveling panorama system of the present invention, vehicle traveling panorama system of the present invention has two Radix Rumiciss
Photographic head, the most preposition wide-angle camera and rearmounted wide-angle camera, preposition wide-angle camera is placed in vehicle head, rearmounted extensively
Angle photographic head is placed in vehicle tail；The forward and backward image of the current location that wide-angle camera is absorbed by image processing module and image
The forward and backward image synthesis panoramic picture of the prior location of memory element storage, and the panoramic picture of synthesis is flowed to display.
A kind of method of vehicle traveling panorama, comprises the steps:
Step S1: the image that wide-angle camera picked-up vehicle is advanced；
Step S2: the image of image storage unit storage picked-up；
Step S3: it is some that image processing module identifies in the image of image and the prior location absorbed current location respectively
Characteristic point；
Step S4: the some characteristic points in the image that current location is absorbed and the some features in the image of prior location
Point registration, calculates the transformation relation of two width images；
Step S5: according to the transformation relation of two width images, the image of prior location is transformed to the figure of current location picked-up
In Xiang, retain the image synthesis panoramic picture outside the image-region of current location picked-up, and the image of synthesis is stored figure
As memory element；
Step S6: repeat step S3 to S5, set up panoramic picture.
Further, the method for vehicle traveling panorama of the present invention in step s3, extracts image by image recognition algorithm
In some characteristic points.
Further, the method for vehicle traveling panorama of the present invention in step s 4, asks Y-factor method Y to calculate two by iteration
The two dimensional image transformation matrix of width image.
Further, the image of prior location in step s 5, is done the change that two width image transformation relations are contrary by the present invention
Change and the picture registration of current location picked-up.
It is preferred that the method for vehicle traveling panorama of the present invention was provided with step S0 before step S1: correct wide-angle camera
External parameter and inner parameter.
Relative to prior art, vehicle traveling panorama system simple in construction of the present invention, simple installation.Taken the photograph by Radix Rumicis simultaneously
Being stored in image storage unit after head picked-up image, then image processing module is by the image of current location and prior location
Form panoramic picture after image synthesis and flow to display, it is achieved that image seamless seamlessly transits and definition is uniform.And
The present invention can form reversing panorama system or vehicle advance panorama system according to the position of wide-angle camera.Vehicle of the present invention is advanced
The method of panorama is by the characteristic point in the image of the image and prior location that identify current location picked-up, feature to two width figures
Point registrates, calculates the transformation relation of two width images, the image of prior location transforms to the image of current location picked-up, it is achieved
Image seamless seamlessly transits and definition is uniform.
Accompanying drawing explanation
Fig. 1 is vehicle traveling panorama system schematic diagram of the present invention；
Fig. 2 is that image processing module synthesizes panoramic picture schematic diagram；
Fig. 3 is front and back's dual camera synthesis panoramic picture schematic diagram；
Fig. 4 is the method flow schematic diagram of vehicle traveling panorama of the present invention.
In figure, 1 is wide-angle camera；2 store processing module for image；
21 is image storage unit；22 is image processing module；
3 is display.
Detailed description of the invention
The detailed description of the invention of vehicle traveling panorama system of the present invention is described in conjunction with accompanying drawing.
Referring to shown in Fig. 1, one vehicle traveling panorama system of the present invention, including image capturing part i.e. wide-angle camera
1 and wide-angle camera 1 be electrically connected with image storage processing module 2, image processing module 2 includes image storage unit 21 He
Image processing module 22, image and the wide-angle camera of the prior location that image storage unit is stored by image processing module 22 are taken the photograph
The image of the current location taken synthesizes panoramic picture and the panoramic picture of synthesis is flowed to display 3, image storage unit 21
The image of storage wide-angle camera 1 picked-up and the panoramic picture of image processing module 22 synthesis.
Wherein, image storage unit 21 can be that the contracting of Double Data Rate synchronous DRAM claims DDR, it is also possible to is it
His memorizer；Image processing module 22 can be that central processing unit contracting claims CPU；Display 3 can be independent display, it is possible to
To be Vehicular display device.
The working method of the present invention a kind of vehicle traveling panorama system is: wide-angle camera 1 images the figure during vehicle is advanced
Picture, and the image of picked-up is stored in image storage unit 21, image processing module 22 by the image that currently absorbs with previous
The image of position picked-up synthesizes a secondary panoramic picture after processing and calculating, as in figure 2 it is shown, when vehicle advances to next position
Time, the image of next position and the image of current synthesis are synthesized a secondary panoramic picture by image processing module 22 more again.
Vehicle traveling panorama system of the present invention is reversing panorama system, and the wide-angle camera 1 of reversing panorama system is placed in institute
State vehicle tail, specifically, can be at the license plate frame of vehicle tail or at boot handle.
Vehicle traveling panorama system of the present invention is vehicle advance panorama system, the wide-angle camera of vehicle advance panorama system
It is placed in vehicle head, specifically, can be at the license plate frame of vehicle front.
Vehicle traveling panorama system of the present invention is by being stored in image storage unit, then after wide-angle camera picked-up image
Image processing module forms panoramic picture and flows to display after the image of current location and the image synthesis of prior location,
Achieve image seamless to seamlessly transit and definition is uniform.Simple in construction, simple installation simultaneously.And the present invention takes the photograph according to Radix Rumicis
As the position of head can form reversing panorama system or vehicle advance panorama system.
It is preferred that vehicle traveling panorama system of the present invention has two wide-angle cameras, the most preposition wide-angle camera
With rearmounted wide-angle camera, preposition wide-angle camera is placed in vehicle head, and rearmounted wide-angle camera is placed in vehicle tail；Such as Fig. 3
Shown in, before the forward and backward image of the current location that wide-angle camera is absorbed by image processing module and image storage unit storage
The forward and backward image synthesis panoramic picture of one position, and the panoramic picture of synthesis is flowed to display.Another way, reversing
Time, it is previous that the forward and backward image of the current location that wide-angle camera is absorbed by image processing module and image storage unit store
The rear image synthesis panoramic picture of position can be better achieved the uniform and seamless panoramic picture seamlessly transitted of definition；Or
When automobile advances, the forward and backward image of the current location that wide-angle camera is absorbed by image processing module and image storage unit are deposited
The front image synthesis panoramic picture of the prior location of storage.And the most double vehicle traveling panorama system putting photographic head can reduce
The problem of image time delay when speed is relatively low.Image latency issue, such as speed is there will be when being 5km/h, often because speed is the lowest
The distance of second movement is 5000/3600=1.39 rice, if processing data each second is 30 frames, then the vehicle between frame and frame moves
Move is 0.046, it is assumed that a length of 5 meters of vehicle, shows that then maximum time delay is 5 seconds in the range of two meters of scopes of vehicle body, and car
The time delay in key safety region (such as around vehicle body) then needs less than 4 seconds, and image processing module the most double will put photographic head
Current location and prior location picked-up image through process synthesis so that image delays time to control is in 4 seconds.
The present invention also provides for a kind of method of vehicle traveling panorama, refers to Fig. 4, comprises the steps:
Step S1: the image that wide-angle camera picked-up vehicle is advanced；
Step S2: the image of image storage unit storage picked-up；
Step S3: it is some that image processing module identifies in the image of image and the prior location absorbed current location respectively
Characteristic point；
Step S4: the some characteristic points in the image that current location is absorbed and the some features in the image of prior location
Point registration, calculates the transformation relation of two width images；
Step S5: according to the transformation relation of two width images, the image of prior location is transformed to the figure of current location picked-up
In Xiang, retain the image synthesis panoramic picture outside the image-region of current location picked-up, and the image of synthesis is stored figure
As memory element；
Step S6: repeat step S3 to S5, set up panoramic picture.
Wherein, for step S4, when vehicle travels with 120km/h speed, the distance of movement per second is 120000/3600
=33.33 meters, if the frame number that each second processes is 30 frames, then the movement of the vehicle between frame and frame is 1.1 meters, between two frames
Intersecting area can reach 1.9 meters, meets the demand of image registration.And about the transformation relation of two width images, be i.e. vehicle
Speed and turn to data.
Further, the method for vehicle traveling panorama of the present invention in step s3, extracts image by image recognition algorithm
In some characteristic points.
Further, the method for vehicle traveling panorama of the present invention in step s 4, asks Y-factor method Y to calculate two by iteration
The two dimensional image transformation matrix of width image, contains translation and the rotation transformation of image, the i.e. speed of vehicle and turns to data, i.e.
It is to say this matrix it is to be understood that it have expressed vehicle in the time interval of two width images, the first width figure is moved
Distance and the angle of turning.
Further, the image of prior location in step s 5, is done the change that two width image transformation relations are contrary by the present invention
Changing and the picture registration of current location picked-up, now the image of current location is supplied in some region in the image of prior location
Respective regions outside field range.Consequently, it is possible in the moving process that vehicle is advanced, repeat this process, through extremely short one
The section time, i.e. can set up 360 degree of panoramic pictures by photographic head.
It is preferred that the method for vehicle traveling panorama of the present invention was provided with step S0 before step S1: correct wide-angle camera
External parameter and inner parameter, wide-angle camera correct after the ground that can cover from the distance of headstock or the tailstock more than 3 meters.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that, for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (9)
1. a vehicle traveling panorama system, it is characterised in that include the figure that wide-angle camera and wide-angle camera are electrically connected with
As storage processing module, described image processing module includes image storage unit and image processing module, described image procossing mould
The image synthesis panorama of the current location of the image of the prior location that image storage unit is stored by block and wide-angle camera picked-up
Image also flows to display the panoramic picture of synthesis, and described image storage unit stores the picked-up of described wide-angle camera
Image and the panoramic picture of image processing module synthesis.
Vehicle traveling panorama system the most according to claim 1, it is characterised in that described vehicle traveling panorama system is for falling
Car panorama system, the wide-angle camera of reversing panorama system is placed in described vehicle tail.
Vehicle traveling panorama system the most according to claim 1, it is characterised in that described vehicle traveling panorama system is car
Advance panorama system, the wide-angle camera of vehicle advance panorama system is placed in vehicle head.
Vehicle traveling panorama system the most according to claim 1, it is characterised in that described vehicle traveling panorama system has
Two wide-angle cameras, the most preposition wide-angle camera and rearmounted wide-angle camera, preposition wide-angle camera is placed in vehicle head
Portion, rearmounted wide-angle camera is placed in vehicle tail；The forward and backward figure of the current location that wide-angle camera is absorbed by image processing module
The forward and backward image synthesis panoramic picture of the prior location of picture and image storage unit storage, and the panoramic picture conveying of synthesis
To display.
5. the method for a vehicle traveling panorama, it is characterised in that comprise the steps:
Step S1: the image that wide-angle camera picked-up vehicle is advanced；
Step S2: the image of image storage unit storage picked-up；
Step S3: image processing module identifies the some features in the image of image and the prior location absorbed current location respectively
Point；
Step S4: the some characteristic points in the image absorb current location and the some characteristic points in the image of prior location are joined
Standard, calculates the transformation relation of two width images；
Step S5: according to the transformation relation of two width images, transforms in the image of current location picked-up by the image of prior location,
Retain the image synthesis panoramic picture outside the image-region of current location picked-up, and the image of synthesis is stored image storage
Unit；
Step S6: repeat step S3 to S5, set up panoramic picture.
The method of vehicle traveling panorama the most according to claim 5, it is characterised in that in step s3, known by image
Other algorithm extracts the some characteristic points in image.
The method of vehicle traveling panorama the most according to claim 5, it is characterised in that in step s 4, asked by iteration
Y-factor method Y calculates the two dimensional image transformation matrix of two width images.
The method of vehicle traveling panorama the most according to claim 5, it is characterised in that in step s 5, by prior location
Image do the picture registration of the contrary conversion of two width image transformation relations and current location picked-up.
The method of vehicle traveling panorama the most according to claim 5, it is characterised in that be provided with step before step S1
S0: the external parameter of correction wide-angle camera and inner parameter.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610399552.3A CN106080390A (en) | 2016-06-07 | 2016-06-07 | Vehicle traveling panorama system and method thereof |
| PCT/CN2017/071938 WO2017211089A1 (en) | 2016-06-07 | 2017-01-20 | Vehicle panoramic view system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610399552.3A CN106080390A (en) | 2016-06-07 | 2016-06-07 | Vehicle traveling panorama system and method thereof |
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| CN201610399552.3A Pending CN106080390A (en) | 2016-06-07 | 2016-06-07 | Vehicle traveling panorama system and method thereof |
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| WO (1) | WO2017211089A1 (en) |
Cited By (2)
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| WO2017211089A1 (en) * | 2016-06-07 | 2017-12-14 | 深圳市灵动飞扬科技有限公司 | Vehicle panoramic view system and method thereof |
| CN107878330A (en) * | 2017-12-06 | 2018-04-06 | 湖北航天技术研究院特种车辆技术中心 | A kind of vehicle chassis perspective method and vehicle chassis arrangement for perspective |
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| CN111767910B (en) * | 2020-06-15 | 2023-01-06 | 重庆长安汽车股份有限公司 | Vehicle self-adaptive sensor system based on scene recognition |
| CN111968243B (en) * | 2020-06-28 | 2023-04-11 | 成都威爱新经济技术研究院有限公司 | AR image generation method, system, device and storage medium |
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| CN113002531B (en) * | 2021-02-08 | 2022-09-30 | 深圳市海沃德科技有限公司 | Vehicle panoramic looking-around method, system, equipment and computer readable storage medium |
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| WO2017211089A1 (en) | 2017-12-14 |
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