CN106339981A - Panorama stitching method - Google Patents
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- CN106339981A CN106339981A CN201610715322.3A CN201610715322A CN106339981A CN 106339981 A CN106339981 A CN 106339981A CN 201610715322 A CN201610715322 A CN 201610715322A CN 106339981 A CN106339981 A CN 106339981A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000009466 transformation Effects 0.000 claims abstract description 45
- 238000012937 correction Methods 0.000 claims abstract description 11
- 238000013507 mapping Methods 0.000 claims description 30
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000000605 extraction Methods 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000000844 transformation Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000005192 partition Methods 0.000 abstract 2
- 230000004927 fusion Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000003786 synthesis reaction Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
Classifications
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- G06T3/14—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T5/80—
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention discloses a panorama stitching method which mainly comprises the following basic steps: camera calibration; image coordinate transformation; sensor image distortion correction; image projection transformation; matching point selection; panoramic image fusion; and brightness and color balancing treatment. The beneficial effects are as follows: more than two partition images are synthesized into a panorama, a high-resolution panorama without angle-of-view dead zone within 360 degrees can be formed, detail performance is more perfect, the sense of reality and the sense of presence are enhanced, a panorama contains a small amount of data, the hardware requirement is low for display of a panorama synthesized from partition images, and a surveillance camera can produce a huge amount of data in the process of long-term operation.
Description
Technical field
The present invention relates to technical field of image processing, more particularly, to a kind of panorama mosaic method.
Background technology
In today of monitoring system fast development, system scale is increasing, and control point gets more and more, faced by staff
Increasing monitoring image is had no time to attend to, with the continuous expansion of monitoring range, needs to bed rearrangement bridge, airport, very long
One section of highway or skyscraper are monitored, and the visual field of most of video cameras does not reach so big monitoring range, therefore right
The requirement of big visual field video monitoring gradually increases, and has gradually formed a kind of high demand.Video panorama splicing solves as a kind of
Scheme, has also obtained increasing concern.
Content of the invention
The purpose of the present invention is a kind of that block plans more than two width is a kind of complete by splicing synthesis panorama sketch for providing
Scape joining method.
The present invention solves above-mentioned technical problem: a kind of panorama mosaic method, its basic step by following technological means
Specifically include that the demarcation of video camera: set video camera initial position, block plans more than collect two width is carried out image pre-
Process, set up motion mode and the imaging results variation relation function of video camera, ensure to obtain subregion to adjust camera position
The concordance of figure；Image coordinate converts: block plan is projected to two-dimensional surface, the position in conjunction with video camera and angle information are by subregion
Figure carries out calculating perspective transformation matrix, to obtain the image after coordinate transform；Sensor image distortion correction: amplified by electronics
Block plan distortion is corrected；The projective transformation of image: on the basis of the coordinate system of a width block plan, by another block plan all
Projective transformation, in this frame of reference, makes the overlay region of adjacent sectors figure align；Match point is chosen: pretreated is divided
Area's figure carries out feature extraction, using the sift method of characteristic point with scaling invariance；Panoramic picture merges: block plan is registered to
In same coordinate system, then the image after registration is synthesized a big stitching image；Brightness and the equilibrium treatment of color: logical
Cross the relation between the overlapping region of adjacent sectors figure, set up Histogram Mapping table between adjacent two width block plans, by mapping
Table does overall mapping transformation to two width images.
Preferably, block plans more than two width of projective transformation matrix is carried out calculating spin matrix.
Preferably, feature extraction is to extract sift, surf or harris characteristic point.
Preferably, calculate initial rotation vector to be calculated using method of least square.
Preferably, the coordinate transform of image adopts cylindrical surface projecting, spherical projection, cubic projection.
Preferably, described cylindrical surface projecting is that block plan is projected to a cylinder with focal length of camera as radius.
Preferably, described spherical projection is that block plan is projected to the ball portions of people by perspective transform.
The invention has the beneficial effects as follows: the present invention realizes, by block plan synthesis panorama sketch more than two width, to form 360 °
No visual angle dead band, the panorama sketch of fine definition, make details performance more perfect, enhance sense of reality and presence, the number of panorama sketch
Less according to measuring, block plan synthesis panorama sketch shows low to hardware requirement, contributes to meeting monitoring camera in long-term operation process
The huge data volume of middle generation.
Brief description
Fig. 1 is schematic flow sheet of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is described further.
Embodiment 1:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；The projective transformation of image: with a width
On the basis of the coordinate system of block plan, by all projective transformations of another block plan in this frame of reference, make adjacent sectors figure
Align in overlay region；Match point is chosen: carries out feature extraction to pretreated block plan, using the sift with scaling invariance
Method of characteristic point；Panoramic picture merges: block plan is registered in same coordinate system, then the image after registration is synthesized one
Big stitching image；Brightness and the equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure, set up adjacent
Two width images are done overall mapping transformation by mapping table by Histogram Mapping table between two width block plans.
Embodiment 2:
A kind of panorama mosaic method is it is characterised in that its basic step specifically includes that the demarcation of video camera: sets at the beginning of video camera
Beginning position, block plans more than collect two width is carried out Image semantic classification, sets up motion mode and the imaging knot of video camera
Fruit variation relation function, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is thrown
To two-dimensional surface, block plan is carried out calculating perspective transformation matrix shadow by the position in conjunction with video camera and angle information, to obtain coordinate
Image after conversion, block plans more than two width of projective transformation matrix is carried out calculating spin matrix；Sensor map image distortion
Correction: amplified by electronics and block plan distortion is corrected；The projective transformation of image: with the coordinate system of a width block plan as base
Standard, by all projective transformations of another block plan in this frame of reference, makes the overlay region of adjacent sectors figure align；Coupling clicks
Take: feature extraction is carried out to pretreated block plan, using the sift method of characteristic point with scaling invariance；Panoramic picture melts
Close: block plan is registered in same coordinate system, then the image after registration is synthesized a big stitching image；Brightness with
The equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure, set up Nogata between adjacent two width block plans
Two width images are done overall mapping transformation by mapping table by figure mapping table.
Embodiment 3:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；The projective transformation of image: with a width
On the basis of the coordinate system of block plan, by all projective transformations of another block plan in this frame of reference, make adjacent sectors figure
Align in overlay region；Match point is chosen: carries out feature extraction to pretreated block plan, using the sift with scaling invariance
Method of characteristic point, or extract sift, surf or harris characteristic point；Panoramic picture merges: block plan is registered to same
In individual coordinate system, then the image after registration is synthesized a big stitching image；The equilibrium treatment of brightness and color: by phase
Relation between the overlapping region of adjacent block plan, sets up Histogram Mapping table between adjacent two width block plans, by mapping table pair
Two width images do overall mapping transformation.
Embodiment 4:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；The projective transformation of image: with a width
On the basis of the coordinate system of block plan, by all projective transformations of another block plan in this frame of reference, make adjacent sectors figure
Align in overlay region；Match point is chosen: carries out feature extraction to pretreated block plan, using the sift with scaling invariance
Method of characteristic point；Panoramic picture merges: block plan is registered in same coordinate system, then the image after registration is synthesized one
Big stitching image；Brightness and the equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure, set up adjacent
Two width images are done overall mapping transformation by mapping table by Histogram Mapping table between two width block plans.
Embodiment 5:
A kind of panorama mosaic method is it is characterised in that its basic step specifically includes that the demarcation of video camera: sets at the beginning of video camera
Beginning position, block plans more than collect two width is carried out Image semantic classification, sets up motion mode and the imaging knot of video camera
Fruit variation relation function, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is thrown
To two-dimensional surface, block plan is carried out calculating perspective transformation matrix shadow by the position in conjunction with video camera and angle information, to obtain coordinate
Image after conversion, block plans more than two width of projective transformation matrix is carried out calculating spin matrix, calculates initial rotation square
Battle array is calculated using method of least square；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；
The projective transformation of image: on the basis of the coordinate system of a width block plan, another block plan all projective transformations to this benchmark are sat
In mark system, the overlay region of adjacent sectors figure is made to align；Match point is chosen: carries out feature extraction to pretreated block plan, adopts
With having the sift method of characteristic point of scaling invariance；Panoramic picture merges: block plan is registered in same coordinate system, then will
Image after registration synthesizes a big stitching image；The equilibrium treatment of brightness and color: overlapping by adjacent sectors figure
Relation between region, sets up Histogram Mapping table between adjacent two width block plans, does entirety by mapping table to two width images
Mapping transformation.
Embodiment 6:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture, the coordinate transform of image adopts cylindrical surface projecting, spherical projection, cubic projection；Sensor image distortion correction: by electronics
Amplify and block plan distortion is corrected；The projective transformation of image: on the basis of the coordinate system of a width block plan, by another subregion
Figure all projective transformations, in this frame of reference, make the overlay region of adjacent sectors figure align；Match point is chosen: to pretreated
Block plan carry out feature extraction, using have scaling invariance sift method of characteristic point；Panoramic picture merges: by subregion caption
Volume synthesizes a big stitching image in same coordinate system, then by the image after registration；The equilibrium place of brightness and color
Reason: by the relation between the overlapping region of adjacent sectors figure, set up Histogram Mapping table between adjacent two width block plans, pass through
Mapping table does overall mapping transformation to two width images.
Embodiment 7:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture, the coordinate transform of image adopts cylindrical surface projecting, and described cylindrical surface projecting is block plan to be projected to one be with focal length of camera
The cylinder of radius；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；The projection of image becomes
Change: on the basis of the coordinate system of a width block plan, by all projective transformations of another block plan in this frame of reference, make adjacent
The overlay region alignment of block plan；Match point is chosen: carries out feature extraction to pretreated block plan, scaling is constant using having
The sift method of characteristic point of property；Panoramic picture merges: block plan is registered in same coordinate system, then the image after registration is closed
Become a big stitching image；Brightness and the equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure,
Set up Histogram Mapping table between adjacent two width block plans, overall mapping transformation is done to two width images by mapping table.
Embodiment 8:
A kind of panorama mosaic method, its basic step specifically includes that the demarcation of video camera: sets video camera initial position, will adopt
The block plan more than two width collecting carries out Image semantic classification, sets up motion mode and the imaging results variation relation letter of video camera
Number, ensures to obtain the concordance of block plan to adjust camera position；Image coordinate converts: block plan is projected to two-dimensional surface,
Block plan is carried out calculating perspective transformation matrix by the position in conjunction with video camera and angle information, to obtain the figure after coordinate transform
Picture, the coordinate transform of image adopts spherical projection, and described spherical projection is that block plan is projected to the eye of people by perspective transform
Ball portion；Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；The projective transformation of image: with
On the basis of the coordinate system of one width block plan, by all projective transformations of another block plan in this frame of reference, make adjacent sectors
The overlay region alignment of figure；Match point is chosen: carries out feature extraction to pretreated block plan, scales invariance using having
Sift method of characteristic point；Panoramic picture merges: block plan is registered in same coordinate system, then the image after registration is synthesized
One big stitching image；Brightness and the equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure, set up
Two width images are done overall mapping transformation by mapping table by Histogram Mapping table between adjacent two width block plans.
Those skilled in the art, can also be it is to be understood that the protection scheme of the present invention is not limited only to the above embodiments
Carry out various permutation and combination and conversion, on the premise of spiritual without prejudice to the present invention, to the present invention on the basis of above-described embodiment
The various conversion carrying out all fall within protection scope of the present invention.
Claims (7)
1. a kind of panorama mosaic method is it is characterised in that its basic step specifically includes that
The demarcation of video camera: set video camera initial position, block plans more than collect two width is carried out Image semantic classification,
Set up motion mode and the imaging results variation relation function of video camera, ensure to obtain the one of block plan to adjust camera position
Cause property；
Image coordinate converts: block plan is projected to two-dimensional surface, block plan is carried out by the position in conjunction with video camera and angle information
Calculate perspective transformation matrix, to obtain the image after coordinate transform；
Sensor image distortion correction: amplified by electronics and block plan distortion is corrected；
The projective transformation of image: on the basis of the coordinate system of a width block plan, by all projective transformations of another block plan to this base
In conventional coordinates, the overlay region of adjacent sectors figure is made to align；
Match point is chosen: carries out feature extraction to pretreated block plan, using the sift characteristic point with scaling invariance
Method；
Panoramic picture merges: block plan is registered in same coordinate system, then by the image after registration synthesize one big
Stitching image；
Brightness and the equilibrium treatment of color: by the relation between the overlapping region of adjacent sectors figure, set up adjacent two width subregions
Two width images are done overall mapping transformation by mapping table by Histogram Mapping table between figure.
2. panorama mosaic method according to claim 1 it is characterised in that by more than two width of projective transformation matrix point
Area's figure carries out calculating spin matrix.
3. panorama mosaic method according to claim 1 it is characterised in that feature extraction be extract sift, surf or
Harris characteristic point.
4. panorama mosaic method according to claim 2 adopts least square it is characterised in that calculating initial rotation vector
Method is calculated.
5. panorama mosaic method according to claim 1 it is characterised in that image coordinate transform adopt cylindrical surface projecting,
Spherical projection, cubic projection.
6. panorama mosaic method according to claim 5 is it is characterised in that described cylindrical surface projecting is that block plan is projected to
One cylinder with focal length of camera as radius.
7. panorama mosaic method according to claim 5 is it is characterised in that described spherical projection is to pass through thoroughly block plan
Project to the ball portions of people depending on conversion.
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| CN106878628A (en) * | 2017-02-23 | 2017-06-20 | 珠海数字动力科技股份有限公司 | A kind of method that video-splicing is carried out by camera |
| CN107330849A (en) * | 2017-06-12 | 2017-11-07 | 浙江大华技术股份有限公司 | A kind of method of Panorama Mosaic, device, equipment and storage medium |
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| CN109829851A (en) * | 2019-01-17 | 2019-05-31 | 厦门大学 | A kind of Panorama Mosaic method and storage equipment based on spherical surface alignment estimation |
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