CN107424118A - Based on the spherical panorama mosaic method for improving Lens Distortion Correction - Google Patents
Based on the spherical panorama mosaic method for improving Lens Distortion Correction Download PDFInfo
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Abstract
The invention belongs to computer vision field, for overcome the deficiencies in the prior art, for traditional camera because resolution ratio is low, monitoring range is small, distortion is larger and can not meet the defects of wide area persistently monitors demand, proposes a kind of based on the spherical panoramic mosaic technology for improving Lens Distortion Correction.The technical solution adopted by the present invention is, based on the spherical panorama mosaic method for improving Lens Distortion Correction, image impairment caused by by improving the common distortion correction of Lens Distortion Correction elimination, then panoramic mosaic is completed by spherical stitching algorithm, it is finally based on weighted mean method and light equilibrium blending algorithm eliminates the light difference of repeat region interference and different cameras, realizes high-resolution and wide area shooting.Present invention is mainly applied to computer vision to handle occasion.
Description
Technical field
The invention belongs to computer vision field, and it is a kind of based on improvement radial direction that application demand invention is persistently monitored for wide area
The spherical panoramic mosaic technology of distortion correction.
Background technology
With the rapid development of society, market quickly increases the demand of video monitoring.In video monitoring, wide area is held
Monitoring is important part long, and important function is served in important departments such as army, public security and traffic.Wide area persistently monitors
It is required that camera coverage is big, high resolution.The single resolution ratio of camera head of tradition is limited, and camera wide-angle is smaller, it is difficult to
Monitor large area；Although fisheye type camera lens can realize overall view monitoring, lens distortion is excessive, causes monitored object to be imaged
It is poor, cause very big difficulty for follow-up video analysis.Therefore, single camera and fish eye lens are all difficult to meet that wide area is lasting
Monitoring requirement.
The content of the invention
For overcome the deficiencies in the prior art, for traditional camera because resolution ratio is low, monitoring range is small, distortion is larger and nothing
Method meets the defects of wide area persistently monitors demand, proposes a kind of based on the spherical panoramic mosaic technology for improving Lens Distortion Correction.
The technical solution adopted by the present invention is, radially abnormal by improving based on the spherical panorama mosaic method for improving Lens Distortion Correction
Become correction and eliminate image impairment caused by common distortion correction, panoramic mosaic, last base are then completed by spherical stitching algorithm
The light difference of repeat region interference and different cameras is eliminated in weighted mean method and light equilibrium blending algorithm, realizes high-resolution
Rate and wide area shooting.
Further comprised the concrete steps that in one example,
(1) offline camera calibration step：8 cameras are demarcated respectively using optics black and white lattice camera calibration plate,
Obtain each photocentre position, focal length, pixel length-width ratio, distortion factor and visual field angular dimensions；
(2) video acquisition module：Video acquisition module is based on camera lens and sensor module realizes multichannel high-definition picture
Synchronous acquisition and multichannel high-resolution video real-time decoding；
(3) based on improvement Lens Distortion Correction step：Calibrating parameters of this module based on each camera realize pattern distortion
Correction, shown in conventional radial aberration correction algorithm formula such as formula (1).
U=us+(us-u0)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0)[k1(x2+y2)+k2(x2+y2)2] formula (1)
Wherein, (u, v) represents the pixel coordinate after correction distortion, (xs,vs) represent image in the case of actual radial distortion
Pixel coordinate, (u0,v0) represent the principal point for camera coordinate that offline camera calibration obtains, k1, k2The distortion of two ranks is joined before representing camera
Number, consecutive image coordinate when (x, y) represents preferable undistorted, using improvement Lens Distortion Correction module, formula such as formula (2) institute
Show：
U=us+(us-u0*d)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0*d)[k1(x2+y2)+k2(x2+y2)2] formula (2)
Embodiment is as follows：
First, new image array is established based on scale factor, newly-established image array removes upper left corner a quarter face
Product is source image pixels value, and other scopes are full null matrix, and new images grow 2 times of a width of original image；Then by figure to be corrected
As moving to new images central area, image Lens Distortion Correction is then carried out, the angle point picture in image is obtained after correction
Plain position, extraction rectangular area are removed as the image after correction, zero pixel region by overlapping region Fusion Module, final real
Image correction function in the case of present non-flanged loss；
(4) panoramic mosaic module：This module by the image after correction by known photographing information, to determine multiple image
Matching connection collection, image after correction is subjected to deformation, projection, during projection, the topography of each video camera will project
On the sphere unified to one so that image has certain depth perception, can partly reflect entirely regarding when viewpoint changes
The space of points, the three-dimensional feeling of immersion more strong to observer, when being spliced using spheric coordinate system, it that is to say each image
Point transformation is a bit on sphere, shown in mapping equation such as formula (3),
Wherein, the plane coordinates of (x, y) representative image, (x ', y ') represent development of a sphere plane coordinates, and f represents that camera is burnt
Away from.Camera is fixed during pan-shot, and it can regard an occurred level rotation, vertical rotation as, not occur to rotate around optical axis, therefore phase
Machine X-axis would generally be maintained at a plane, and the normal direction u of this plane is just used as a preferable major axes orientation, obtained main shaft
Direction u is vertical with all image coordinate system X-axis, therefore obtains formula (4), and i represents camera sequence number,Represent i-th of camera institute
In plane transposed matrix, T represents transposition；
Write as least squares formalism and obtain formula 5：
This is a Linear least squares minimization problem, and optimal solution u meets formula 6：
U is 3 × 3 matrixesCharacteristic vector corresponding to minimal eigenvalue, determine that sphere is sat using u as major axes orientation
Mark system, all images are transformed to according to camera parameter and complete to splice on sphere, obtain panorama sketch；
(5) Fusion Module is spliced：This module is primarily based on zero picture that overlapping region coordinate position interception eliminates correction tape
Plain region, is then based on image weighting average and light balance policy realizes that splicing regions merge, image weighting average formula such as formula
(7) shown in：
G (x+i, y)=af1(x+i,y)+(1-a)f2(x+i, y) formula (7)
Wherein, f1(x, y) and f2(x, y) represents the pixel value of left and right two images respectively, and g (x, y) represents that overlapping region is melted
Pixel value after conjunction, i represents the ith pixel of overlapping region, if the coincidence length is L, then
Because the brightness of image of each camera shooting is inconsistent, so also needing to carry out light equilibrium, cause splicing as far as possible
Each regional luminance difference of image is minimum afterwards, and specific implementation method is：All average gray values for wanting stitching image are obtained first, so
Each width image intensity value contrasts with average gray value afterwards, obtains respective difference delta, will be respective while splicing
Delta is compensated to the gray value of correspondence image so that overall partially dark image can suitably brighten, and overall very bright image can be with
It is appropriate dimmed.
Image mosaic is with merging by the way of tabling look-up, i.e., each picture photo vegetarian refreshments computed in advance and picture after splicing
Pixel corresponding relation, the corresponding relation is stored in file, this document is directly read when subsequently splicing with merging.
The features of the present invention and beneficial effect are：
The present invention realizes that image is abnormal using Lens Distortion Correction algorithm is improved in the case where image edge information does not lose
Become correction, zero pixel region then brought by the overlapping shooting area removal correcting algorithm of adjacent cameras so that adjacent cameras
The image of shooting can realize lossless accurate splicing, and providing technology for panoramic mosaic technology ensures.
Brief description of the drawings：
Fig. 1：Based on the spherical panoramic mosaic technology frame chart for improving Lens Distortion Correction；
Fig. 2：Improve Lens Distortion Correction algorithm pattern.
Embodiment
For the present invention for traditional camera because resolution ratio is low, monitoring range is small, distortion is larger and can not meet that wide area is lasting
The defects of monitoring demand, propose a kind of based on the spherical panoramic mosaic technology for improving Lens Distortion Correction.The skill that the present invention uses
Art scheme is：Image impairment caused by by improving the common distortion correction of Lens Distortion Correction elimination, then passes through spherical splicing
Algorithm completes panoramic mosaic, is finally based on weighted mean method and light equilibrium blending algorithm eliminates repeat region interference and different shootings
The light difference of head, high-resolution and wide area shooting are realized, solves that single resolution ratio of camera head is low, monitoring range is small, fish
The defects of distortion of Eye imaging head is big, realizes that wide area persistently monitors.
Specific steps are further refined as：
To solve the problems, such as edge penalty that General calibration algorithm is brought, the present invention improves Lens Distortion Correction module, improves
Formula is as follows：
U=us+(us-u0*d)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0*d)[k1(x2+y2)+k2(x2+y2)2]
The present invention adds scale factor d in original distortion correction formula.First, new figure is established based on scale factor
As matrix, because edge penalty scope is smaller caused by distortion correction, therefore scale factor elects 2 as can meet majority of case
It is required that newly-established image array is source image pixels value except upper left corner a quarter area, other scopes are full null matrix, newly
Image grows 2 times of a width of original image；Then by image translation to be corrected to new images central area, image is then carried out radially
Distortion correction, four corner pixels positions in image are obtained after correction, extraction rectangular area is as the image after correction.This
The complete information of image is all retained after the correction that sample obtains, but can introduce zero pixel region at edge, due to adjacent phase
Machine shooting area has lap, therefore zero pixel region can be removed by overlapping region Fusion Module, final to realize
Image correction function in the case of non-flanged loss.
It is proposed by the present invention as shown in Figure 1 based on the spherical panoramic mosaic technology frame chart for improving Lens Distortion Correction.It is overall
Block diagram is divided into five big modules, and offline camera calibration module, video acquisition module improve Lens Distortion Correction module, and panorama is spelled
Connection module and splicing Fusion Module.Camera calibration module is demarcated using optical camera scaling board to each camera, is obtained
The parameters such as its photocentre position, focal length, pixel length-width ratio, distortion factor；Video acquisition module gathers 8 tunnels using camera module and regarded
Frequency evidence；Distortion correction module is based on improving Lens Distortion Correction algorithm and camera parameter information completes distortion correction；Panorama is spelled
Connection module is based on sphere change, 8 road video-splicings are realized in projection；Fusion Module is based on weighted mean method and light equalization algorithm merges
Repeat region, it is final to obtain output video.Its key step is as follows：
(1) offline camera calibration module：This module is carried out respectively using optics black and white lattice camera calibration plate to 8 cameras
Demarcation, obtains each photocentre position, focal length, pixel length-width ratio, distortion factor and visual field angular dimensions.First, taken the photograph for each
As head, the scaling board photo of 20 frame different angles, different distance, different deviations is shot using camera module, then detects and shines
Angle point (intersection points of black and white lattice) position in piece, the internal reference matrix parameter of camera is calculated using Zhang Zhengyou calibration algorithms, wrapped
Include the transverse and longitudinal coordinate of principal point, the scale factor on transverse axis, y direction, and between world coordinate system and camera coordinates system before
Two rank distortion parameters.By demarcation, the average re-projection error of camera is 0.14 pixel, and demarcation works well.
(2) video acquisition module：Video acquisition module is based on camera lens and sensor module realizes multichannel high-definition picture
Synchronous acquisition and multichannel high-resolution video real-time decoding, the module can realize Real Time Compression and output more than 10M pixels.
(3) based on improvement Lens Distortion Correction module：Calibrating parameters of this module based on each camera realize pattern distortion
Correction, conventional radial aberration correction algorithm formula are as shown in Equation 1.
U=us+(us-u0)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0)[k1(x2+y2)+k2(x2+y2)2] formula (1)
Wherein, (u, v) represents the pixel coordinate after correction distortion, (xs,vs) represent image in the case of actual radial distortion
Pixel coordinate, (u0,v0) represent the principal point for camera coordinate that offline camera calibration obtains, k1, k2The distortion of two ranks is joined before representing camera
Number, consecutive image coordinate when (x, y) represents preferable undistorted.Conventional correction algorithm can realize distortion correction, but image
Edge due in trimming process part pixel correct recoil village outside image coordinate scope, therefore be ignored, cause
Edge penalty.The loss at edge can cause the image of No. 8 camera shootings can not realize panoramic mosaic because of loss of learning.To solve
Edge penalty problem, the present invention propose improvement Lens Distortion Correction module, and improvement project is as shown in Fig. 2 formula is as shown in Equation 2.
U=us+(us-u0*d)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0*d)[k1(x2+y2)+k2(x2+y2)2] formula (2)
The present invention adds scale factor d in original distortion correction formula, and embodiment is as follows：
First, new image array is established based on scale factor, because edge penalty scope is smaller caused by distortion correction,
Therefore scale factor, which elects 2 as, can meet majority of case requirement, and newly-established image array removes upper left corner a quarter area
For source image pixels value, other scopes are full null matrix, and new images grow 2 times of a width of original image；Then by image to be corrected
New images central area is moved to, then carries out image Lens Distortion Correction, the corner pixels in image are obtained after correction
Position, extraction rectangular area is as the image after correction.The complete information of image is all retained after the correction so obtained, but
It is zero pixel region that can introduce edge, because adjacent cameras shooting area has a lap, therefore zero pixel region can be with
Removed by overlapping region Fusion Module, the final image correction function realized in the case where non-flanged is lost.
(4) panoramic mosaic module：This module by the image after correction by known photographing information, to determine multiple image
Matching connection collection.Then image carries out deformation, projection after correcting.During projection, the topography of each video camera will
Project on a unified sphere so that image has certain depth perception, can partly reflect when viewpoint changes whole
Individual view space, the three-dimensional feeling of immersion more strong to observer.When being spliced using spheric coordinate system, that is to say will be each
Picture point is transformed on sphere a bit, and mapping equation is as shown in Equation 3.
Wherein, the plane coordinates of (x, y) representative image, (x ', y ') represent development of a sphere plane coordinates, and f represents that camera is burnt
Away from.Camera is fixed during pan-shot, and it can regard an occurred level rotation, vertical rotation as, not occur to rotate around optical axis, therefore phase
Machine X-axis would generally be maintained at a plane, and the normal direction u of this plane is just used as a preferable major axes orientation.Obtained main shaft
Direction u is vertical with all image coordinate system X-axis, therefore obtains formula 4 (i represents camera sequence number).
Write as least squares formalism and obtain formula 5：
This is a Linear least squares minimization problem, and optimal solution u meets formula 6：
U is 3 × 3 matrixesCharacteristic vector corresponding to minimal eigenvalue.Determine that sphere is sat using u as major axes orientation
Mark system, all images are transformed to according to camera parameter and complete to splice on sphere, obtain panorama sketch.
(5) Fusion Module is spliced：This module is primarily based on zero picture that overlapping region coordinate position interception eliminates correction tape
Plain region, is then based on image weighting average and light balance policy realizes that splicing regions merge, image weighting average formula such as formula 7
It is shown.
G (x+i, y)=af1(x+i,y)+(1-a)f2(x+i, y) formula (7)
Wherein, f1(x, y) and f2(x, y) represents the pixel value of left and right two images respectively, and g (x, y) represents that overlapping region is melted
Pixel value after conjunction, i represent the ith pixel of overlapping region.If the coincidence length is L, then
Because the brightness of image of each camera shooting is inconsistent, therefore need to carry out light equilibrium, scheme after causing splicing as far as possible
As each regional luminance difference is minimum.Specific implementation method is：All average gray values for wanting stitching image are obtained first, then often
Piece image gray value contrasts with average gray value, obtains respective difference delta, mends respective delta while splicing
Repay to the gray value of correspondence image so that overall partially dark image can suitably brighten, and overall very bright image can suitably become
Secretly.This method realizes that simply computation complexity is low.
In terms of algorithm acceleration, it will not change because each camera position is relative, therefore the position of each picture and coincidence
Region will not also change substantially, so for speed up processing, image mosaic is with merging by the way of tabling look-up.It is i.e. prior
The corresponding relation of each picture photo vegetarian refreshments and the pixel of picture after splicing is calculated, the corresponding relation is stored in file,
This document is directly read when subsequently splicing with merging, real-time calculating process is eliminated, greatly improves processing speed.
Spherical panoramic mosaic technology proposed by the present invention based on improvement Lens Distortion Correction, its test environment and experiment number
According to for：
Test environment：
System environments：Windows7；
Depended software：Visual Studio 2013, Matlab 2015, OpenCV 2.4.9；
Hardware environment：Algorithm development：CPU：I5-4300M@2.60GHz, internal memory：4GB, hard disk：1TB；
Board model：AHB70XXT8-3521；
Camera lens：3.6mm, CMOS, 1/3 inch of sensor.
Experimental data
Our unit data of the test experiments data of the present invention from camera collection module shooting, test result prove this hair
Bright to realize precise image correction and panoramic mosaic, embedded system can gather 8 road videos and real-time exhibition panorama in real time
Splicing result, practicality are good.
Claims (4)
1. it is a kind of based on the spherical panorama mosaic method for improving Lens Distortion Correction, it is characterized in that, by improving radial distortion school
Image impairment caused by just eliminating common distortion correction, panoramic mosaic is then completed by spherical stitching algorithm, be finally based on and add
Weight average method and light equilibrium blending algorithm eliminate the light difference of repeat region interference and different cameras, realize high-resolution with
And wide area shooting.
2. as claimed in claim 1 based on the spherical panorama mosaic method for improving Lens Distortion Correction, it is characterized in that, a reality
Further comprised the concrete steps that in example,
(1) offline camera calibration step：8 cameras are demarcated respectively using optics black and white lattice camera calibration plate, obtained
Each photocentre position, focal length, pixel length-width ratio, distortion factor and visual field angular dimensions；
(2) video acquisition module：Video acquisition module is based on camera lens and sensor module realizes the synchronization of multichannel high-definition picture
Collection and multichannel high-resolution video real-time decoding；
(3) based on improvement Lens Distortion Correction step：Calibrating parameters of this module based on each camera realize image distortion correction,
Shown in conventional radial aberration correction algorithm formula such as formula (1).
U=us+(us-u0)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0)[k1(x2+y2)+k2(x2+y2)2] formula (1)
Wherein, (u, v) represents the pixel coordinate after correction distortion, (xs,vs) represent the picture of image in the case of actual radial distortion
Plain coordinate, (u0,v0) represent the principal point for camera coordinate that offline camera calibration obtains, k1, k2Two rank distortion parameters before camera are represented,
Consecutive image coordinate when (x, y) represents preferable undistorted, using Lens Distortion Correction module is improved, formula such as formula (2) is shown：
U=us+(us-u0*d)[k1(x2+y2)+k2(x2+y2)2]
V=vs+(vs-v0*d)[k1(x2+y2)+k2(x2+y2)2] formula (2)
Embodiment is as follows：
First, new image array is established based on scale factor, newly-established image array is except upper left corner a quarter area
Source image pixels value, other scopes are full null matrix, and new images grow 2 times of a width of original image；Then image to be corrected is put down
New images central area is moved to, then carries out image Lens Distortion Correction, the corner pixels position in image is obtained after correction
Put, extraction rectangular area is removed as the image after correction, zero pixel region by overlapping region Fusion Module, final to realize
Image correction function in the case of non-flanged loss；
(4) panoramic mosaic module：This module by the image after correction by known photographing information, to determine the matching of multiple image
Connection collection, image after correction is subjected to deformation, projection, during projection, the topography of each video camera will project to one
On individual unified sphere so that image has certain depth perception, can partly reflect that whole viewpoint is empty when viewpoint changes
Between, the three-dimensional feeling of immersion more strong to observer, when being spliced using spheric coordinate system, it that is to say and become each picture point
A bit is changed on sphere, shown in mapping equation such as formula (3),
<mrow>
<msup>
<mi>x</mi>
<mo>&prime;</mo>
</msup>
<mo>=</mo>
<mi>s</mi>
<mi> </mi>
<msup>
<mi>tan</mi>
<mrow>
<mo>-</mo>
<mn>1</mn>
</mrow>
</msup>
<mfrac>
<mi>x</mi>
<mi>f</mi>
</mfrac>
</mrow>
Wherein, the plane coordinates of (x, y) representative image, (x ', y ') represent development of a sphere plane coordinates, and f represents camera focus.Entirely
Camera is fixed when scape is shot, and it can regard an occurred level rotation, vertical rotation as, not occur to rotate around optical axis, therefore camera X-axis
A plane would generally be maintained at, the normal direction u of this plane is just used as a preferable major axes orientation, obtained major axes orientation u
It is vertical with all image coordinate system X-axis, therefore formula (4) is obtained, i represents camera sequence number,Plane where representing i-th of camera
Transposed matrix, T represent transposition；
Write as least squares formalism and obtain formula 5：
This is a Linear least squares minimization problem, and optimal solution u meets formula 6：
<mrow>
<mo>&dtri;</mo>
<msubsup>
<mi>&Sigma;</mi>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mn>8</mn>
</msubsup>
<mo>|</mo>
<mo>|</mo>
<msubsup>
<mi>X</mi>
<mi>i</mi>
<mi>T</mi>
</msubsup>
<mi>u</mi>
<mo>|</mo>
<mo>|</mo>
<mo>=</mo>
<mn>0</mn>
</mrow>
U is 3 × 3 matrixesCharacteristic vector corresponding to minimal eigenvalue, spherical coordinate is determined using u as major axes orientation
System, all images are transformed to according to camera parameter and complete to splice on sphere, obtain panorama sketch；
(5) Fusion Module is spliced：This module is primarily based on zero pixel region that overlapping region coordinate position interception eliminates correction tape
Domain, is then based on image weighting average and light balance policy realizes that splicing regions merge, image weighting average formula such as formula (7) institute
Show：
G (x+i, y)=af1(x+i,y)+(1-a)f2(x+i, y) formula (7)
Wherein, f1(x, y) and f2After (x, y) represents that the pixel value of left and right two images, g (x, y) represent overlapping region fusion respectively
Pixel value, i represent overlapping region ith pixel, if the coincidence length is L, then0≤i≤L。
3. as claimed in claim 1 based on the spherical panorama mosaic method for improving Lens Distortion Correction, it is characterized in that, due to every
The brightness of image of individual camera shooting is inconsistent, so also needing to carry out light equilibrium, each region of image is bright after causing splicing as far as possible
It is minimum to spend difference, specific implementation method is：All average gray values for wanting stitching image are obtained first, then the ash per piece image
Angle value contrasts with average gray value, obtains respective difference delta, compensates respective delta to corresponding diagram while splicing
The gray value of picture so that overall partially dark image can suitably brighten, and overall very bright image can be suitably dimmed.
4. as claimed in claim 1 based on the spherical panorama mosaic method for improving Lens Distortion Correction, it is characterized in that, image is spelled
Connect with merging by the way of tabling look-up, i.e., each picture photo vegetarian refreshments computed in advance with splice after picture pixel it is corresponding
Relation, the corresponding relation is stored in file, this document is directly read when subsequently splicing with merging.
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| CN108734681A (en) * | 2018-05-31 | 2018-11-02 | 天津煋鸟科技有限公司 | One kind being based on Embedded on piece radial distortion bearing calibration |
| CN108760767A (en) * | 2018-05-31 | 2018-11-06 | 电子科技大学 | Large-size LCD Screen defect inspection method based on machine vision |
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| CN110099220A (en) * | 2019-06-17 | 2019-08-06 | 广东中星微电子有限公司 | A kind of panorama mosaic method and device |
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