CN108259762A - A kind of roaming type panorama sketch automatic shooting system and method - Google Patents
A kind of roaming type panorama sketch automatic shooting system and method Download PDFInfo
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- CN108259762A CN108259762A CN201810247610.XA CN201810247610A CN108259762A CN 108259762 A CN108259762 A CN 108259762A CN 201810247610 A CN201810247610 A CN 201810247610A CN 108259762 A CN108259762 A CN 108259762A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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Abstract
The invention discloses a kind of roaming type panorama sketch automatic shooting system and method, including：Panorama camera, control terminal and wheel undercarriage, panorama camera are connect by wiring with wheel undercarriage, and control terminal is connect by wireless communication mode with wheel undercarriage；Wheel undercarriage is used for according to the movement instruction movement from control terminal, and with predetermined time frequency collection circumferential direction environmental data, so as to which the data based on acquisition complete synchronous positioning and map structuring；In the case where completing map structuring, control terminal is used to plan the mobile route sequentially formed of multiple shooting point positions and planning along multiple shooting point positions；Wheel undercarriage drives panorama camera to move along path movement, so that panorama camera obtains the panoramic picture of each shooting point position.The present invention especially has apparent advantage to the scene of large area, has great practical value and commercial promise for exhibition and exhibition center, the digitlization in museum, visualization.
Description
Technical field
The present invention relates to image processing field, more particularly to a kind of roaming type panorama sketch automatic shooting system and method.
Background technology
Panorama sketch refers to that horizontal 360-degree and vertical 180 degree are carried out centered on certain point (hereinafter referred to as " shooting point position ") to be clapped
It takes the photograph, obtained plurality of pictures the is spliced into, cylinder around shooting point, the square bodily form or spherical picture.Compared to tradition two
Picture is tieed up, panorama sketch can make viewer drag picture or rotation on computer screen with mouse or finger according to the wish of oneself
Turn the viewing equipment (such as smart mobile phone, tablet computer, VR glasses) of the included sensor for measuring three-dimensional rotation angle to watch
Arbitrary corner in scene, to viewer with feeling on the spot in person, thus brings stronger feeling of immersion and actual experience sense.Entirely
The equipment that scape photography uses generally has slr camera, ordinary digital camera, mobile phone camera, special pan-shot camera (as managed
Light Theta S, Google Jump etc.).Using the advantages of slr camera, ordinary digital camera, mobile phone camera be initial outlay compared with
It is small, it can directly be shot using existing camera, shortcoming is to need many post-processing work are next can plurality of pictures
To be spliced into panorama sketch, use is more time-consuming, and needs camera each to shoot around shooting central point multiple rotary
The photo of angle can not be completed to shoot in real time.Special pan-shot camera uses and disposes multiple cameras in different directions
Mode obtains the picture of all angles to synchronize, while built-in splicing software is automatically performed image mosaic work, thus significantly
It reduces using threshold, the requirement of real-time can also be met.Shortcoming is exactly to need individually purchase this kind of product, initial investment ratio
It is larger.
When figure is panned, we often shoot multiple panorama sketch in different location, we can lead in this way
Cross the details that several panorama sketch more fully show entire scene.In order to realize the switching between different shooting points, we are usually
Need by hand on each panorama sketch specify redirect label, when user, which clicks these, redirects label, picture can from ought
Preceding panorama sketch is switched in another width panorama sketch.It manually adds and redirects label there are many shortcomings：(1) post-processing is increased
Workload；(2) a large amount of picture integrality for redirecting label and destroying panorama sketch, compromises user experience；(3) label nothing is redirected
Body of laws reveals the relative position of distance and each shooting point, so different shooting points is all generally distinguished by name, such as
" kitchen ", " parlor " etc.；(4) due to the presence of problem (3), one panorama sketch of shooting is typically only capable in a room, if one
If there is more than one panorama in a room, then the two panorama sketch cannot be distinguished.
Existing roaming type panorama sketch is improved on the basis of multiple spot panorama sketch.This kind equipment is generally with there are two types of
Camera：A kind of is common optical camera, and for carrying out the shooting of photochrome, one kind is depth camera, for shooting depth
Degree figure.Depth map is a two-dimension picture, and the value of each pixel is not the RGB information of photochrome or the ash of black-and-white photograph on figure
Information is spent, but is known as " depth " from camera to the distance of some point in 3D scenes, this distance.During shooting, the equipment is same
When record photochrome and depth map around shooting point all angles, then by splicing to obtain panorama to color image
Figure, the 3D models of entire scene are obtained by the fusion of the depth map of the splicing to depth map and multiple shooting points.Meanwhile from
The depth map of each shooting point can obtain the relative distance of each shooting point, so as to which we can obtain each shooting point in scene 3D moulds
Accurate location in type.3D models play the role of map in this process.But at present this is based on depth camera
The roaming type panorama sketch of head still has several shortcomings so that they can be only applied in smaller indoor scene：
(1) in order to merge the depth map of different shooting points, it would be desirable to adjacent depth map has the part to overlap each other, by
It is limited (generally within 4 meters) in the detection range of depth camera, it must not be too far away between adjacent shooting point, when scene compares
A large amount of shooting points are just needed when big, the depth map of these points, which is fused into 3D models, needs a large amount of calculate；
(2) it in order to shoot the panorama sketch of different location and depth map, needs that complete equipment is manually moved to each shooting point
Up, artificial reconnaissance depends on the experience and quality of operator, therefore not only reconnaissance quality can not ensure (density often occur not
, the problems such as leak source), and inefficiency (can only generally shoot less than 30 shooting points within an hour), therefore carrying out greatly
It is often unable to do what one wishes when scene capture.
Invention content
It is especially right the technical problem to be solved in the present invention is to provide a kind of roaming type panorama sketch automatic shooting system and method
There is apparent advantage in (thousands of square metres or more) of the scene of large area, for exhibition and exhibition center, the number in museum
Change, visualization has great practical value and commercial promise.
In order to solve the above-mentioned technical problem, the technical scheme is that：
A kind of roaming type panorama sketch automatic shooting system, including：Panorama camera, control terminal and wheel undercarriage, it is described
Panorama camera is connect by wiring with the wheel undercarriage, and the control terminal passes through wireless communication mode and the wheel undercarriage
Connection；The wheel undercarriage is used for according to the movement instruction movement from the control terminal, and with predetermined time frequency collection
Circumferential environmental data, so as to which the data based on acquisition complete synchronous positioning and map structuring；In the case where completing map structuring,
The control terminal be used for plan multiple shooting point positions and planning along the multiple shooting point position sequentially form move road
Diameter；The wheel undercarriage drives the panorama camera to be moved along the mobile route, so that the panorama camera obtains often
The panoramic picture of the one shooting point position.
Preferably, the wheel undercarriage has for controlling mobile driving wheel and stepper motor, for acquiring circumferential ring
The measurement assembly of border data and displacement information, for synchronizing microcomputer that positioning and map structuring calculate, use
In the router with the control terminal wireless telecommunications, wherein, the stepper motor, the measurement assembly, the router point
It is not connect with the microcomputer.
Preferably, the measurement assembly includes：Laser radar, sonar sensor, acceleration transducer and gyroscope.
According to another aspect of the present invention, the present invention also provides a kind of roaming type panorama sketch automatic shooting method, by
Panorama camera, control terminal and wheel undercarriage are formed, and the work relationship of three includes the following steps：
S1：The wheel undercarriage is moved according to the movement instruction from the control terminal, and is adopted with predetermined time frequency
The circumferential environmental data of collection；
S2：Data of the wheel undercarriage based on acquisition complete synchronous positioning and map structuring；
S3：On the map, the control terminal plans multiple shooting point positions and planning along the multiple shooting point
The mobile route sequentially formed of position；
S4：The wheel undercarriage drives the panorama camera to be moved along the mobile route, so that the panorama phase
Machine obtains the panoramic picture of each shooting point position.
Preferably, the wheel undercarriage is by driving wheel, stepper motor, measurement assembly, microcomputer and router structure
Into S1 specifically includes following steps：
S101：The microcomputer receives the movement instruction from the control terminal, and is transferred to the stepping electricity
Machine；
S102：The stepper motor and the driving wheel are moved according to the movement instruction；
S103：The measurement assembly is transferred to the miniature calculating with predetermined time frequency collection circumferential direction environmental data
Machine.
Preferably, in S103, the action of the measurement assembly further includes：With wheel undercarriage described in predetermined time frequency collection
Displacement information, and be transmitted to the microcomputer.
Preferably, the planing method in S3 specifically includes following steps：
S301：Coordinate system is established on the map, forms orthogonal X-axis and Y-axis；
S302：It either coincides with the first grid lines of X-axis with a plurality of be parallel to, a plurality of be parallel to or coincide with Y-axis
Second grid lines divides the map, per having the first spacing between adjacent two first grid lines, per adjacent two institutes
Stating has the second spacing between the second grid lines, wherein, the intersection point of first grid lines and second grid lines forms more
A shooting point position；
S303：Obtain the coordinate of each shooting point position retained；
S304：Plan the mobile route sequentially formed of multiple shooting point positions along reservation.
Preferably, the axis direction selection of S301 specifically includes following steps：
S301A：Map described in binary conversion treatment, so that visible part is denoted as " 1 ", invisible part is denoted as " 0 "；
S301B：All pixel coordinates equal to " 1 " are extracted, to form X Vector Groups and Y-direction amount group；
S301C：The matrix based on the X Vector Groups and Y-direction amount group is formed, and asks for the barycentric coodinates of the matrix；
S301D：The difference of each pixel coordinate and the barycentric coodinates is calculated, to obtain central moment；
S301E：Calculate existing angle between main shaft and the transverse direction in the map where long side or short side；
S301F：The map is rotated into the angle, so that the main shaft of the map and lateral registration, so as to obtain
Under rotating coordinate system, the standard coordinate value of each pixel seat；
S301G：Using the transverse direction as X-axis, with perpendicular to described lateral vertical for Y-axis.
Preferably, between S302 and S303, further comprising the steps of S302H：The map is resetted, so that the master
Axis returns to initial position, so as to obtain under former coordinate system, the initial coordinate values of each pixel coordinate.
Preferably, the sequence of the multiple shooting point position is：In the rotating coordinate system, with the shooting point position in the lower left corner
For starting point, from left to right, sequence from bottom to up.
Compared with prior art, the beneficial effects of the present invention are：
First, the 3D models of the depth map generation scene of fusion depth transducer shooting are not needed to, but pass through several biographies
The 2D maps of sensor and SLAM algorithms generation scene.The cost of whole system is not only reduced in this way, also greatly reduces calculating
Amount, can be done in real time the drafting of map, and user no longer needs that several hours is waited for even just to see within more than ten hour finally
Result.
Secondly, shooting point position and path planning are calculated automatically by algorithm, artificial operating mistake is avoided, ensure that reconnaissance
Quality.
Finally, panorama camera is driven to automatically snap the shooting point in scene according to the path planned by wheel undercarriage,
Substantially increase shooting speed.Such as one 1000 square metres of place, 300 shooting points are generally required, based on depth camera
The roaming type panorama sketch of head needs 7~8 hours to be shot, and roaming type panorama sketch automatic shooting system proposed by the invention
System only needs 1~2 hour can be completed.
Description of the drawings
Some specific embodiments of detailed description of the present invention by way of example rather than limitation with reference to the accompanying drawings hereinafter.
Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is a kind of structure diagram of roaming type panorama sketch automatic shooting system of the present invention；
Fig. 2 is the structure diagram of wheel undercarriage in a kind of roaming type panorama sketch automatic shooting system of the present invention；
Fig. 3 is the Simple Calculation flow chart of shooting point position in a kind of roaming type panorama sketch automatic shooting method of the present invention；
Fig. 4 in a kind of roaming type panorama sketch automatic shooting method of the present invention, shooting point position under rotating coordinate system and
Mobile route, wherein O are starting point, and S is terminal.
Meaning in figure represented by each symbol is as follows,
1- panorama cameras；2- stents；3- wheel undercarriages；4- control terminals；5- routers；6- microcomputers；7- laser
Radar；8- sonar sensors；9- stepper motors；10- driving wheels；11- acceleration transducers；12- gyroscopes.
Specific embodiment
The specific embodiment of the present invention is described further below in conjunction with the accompanying drawings.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but do not form limitation of the invention.It is in addition, disclosed below
The each embodiment of the present invention in involved technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1, the roaming type panorama sketch automatic shooting system of the present invention, mainly includes：Panorama camera 1, control are eventually
End 4 and wheel undercarriage 3.Wherein, the panorama camera 1 is connect by wiring with the wheel undercarriage 3, the control terminal 4
It is connect by wireless communication mode with the wheel undercarriage 3.In the present embodiment, panorama camera 1 is supported in wheeled bottom by stent 2
The top of disk 3, so as to the most open pan-shot visual field.In other embodiments, panorama camera 1 can also be by stent 2
It is supported in most suitable position.Stent 2 is hollow, so that wiring passes through hollow stent 2.Panorama camera 1 is by various
Wiring, such as power cord, data line, connect with wheel undercarriage 3.Control terminal 4 can be intelligent mobile terminal, such as be mounted with
The tablet computer or smart mobile phone of panorama sketch automatic shooting system of the present invention.It is wireless between control terminal 4 and wheel undercarriage 3
The modes such as wifi, bluetooth may be used in communication.
As shown in Fig. 2, wheel undercarriage 3 mainly includes eight modules：Router 5, microcomputer 6, laser radar 7, sound
Receive sensor 8, stepper motor 9, driving wheel 10, acceleration transducer 11, gyroscope 12.Laser radar 7, adds sonar sensor 8
Velocity sensor 11, gyroscope 12 have collectively constituted measurement assembly.Wherein, stepper motor 9, measurement assembly, router 5 respectively with
Microcomputer 6 connects.Panorama camera 1 is not the part on chassis in Fig. 2, but the computer for chassis provides panorama sketch number
According to.Power supply (battery) is not marked out in Fig. 2 for brevity, but it should be evident that since each component part is mostly electronics electricity
Gas equipment, power supply are default devices, are come even if not marking out, those of ordinary skill in the art will also understand that its necessity and be each
Electronic electric equipment properly configures power supply.Driving wheel 10 and stepper motor 9 move integrally for controlling.7 harmony of laser radar
Sensor 8 of receiving is used to acquire circumferential environmental data.And acceleration transducer 11 and gyroscope 12 be used to acquiring wheel undercarriage 3 from
Body movable information.Router 5 is responsible for and external communication, and order and data are transmitted between wheel undercarriage 3 and control terminal 4.It is micro-
Type computer 6 can handle the various orders from control terminal 4, and execution action is sent to corresponding device.It is moreover, micro-
Type computer 6 also is able to integrate the information of each sensor feedback, synchronize positioning and map structuring (SLAM,
Simultaneous Localization And Mapping) it calculates.
Based on the structure of Fig. 1 and Fig. 2, wheel undercarriage 3 can be moved according to the movement instruction from the control terminal 4,
And with predetermined time frequency collection circumferential direction environmental data and displacement information, so as to which the data based on acquisition complete synchronous positioning
And map structuring.Wherein, predetermined time frequency can be set as needed as any number, in embodiment, be set as 0.2
Second/time.Then, in the case where completing map structuring, control terminal 4 can be used in planning multiple shooting point positions and planning along
The mobile route sequentially formed of the multiple shooting point position.Wheel undercarriage 3 drives panorama camera 1 to be moved along the mobile route
It moves, so that the panorama camera 1 obtains the panoramic picture of each shooting point position, so as to which finally roaming obtains entire big sky
Between panorama sketch combination.
To sum up, roaming type panorama sketch automatic shooting system proposed by the present invention overcomes the roaming type based on depth camera
The shortcomings that in panorama sketch：First, the 3D models of the depth map generation scene of fusion depth transducer shooting are not needed to, but are passed through
The 2D maps of several sensors and SLAM algorithms generation scene.The cost of whole system is not only reduced in this way, is also greatly reduced
Calculation amount, can be done in real time the drafting of map, and user no longer needs that several hours is waited for even just to see within more than ten hour
To final result.Secondly, shooting point position and path planning are calculated automatically by algorithm, avoids artificial operating mistake, ensured
The quality of reconnaissance.Finally, by wheel undercarriage 3 according to the path planned drive panorama camera 1 to the shooting point in scene from
Dynamic shooting, substantially increases shooting speed.Such as one 1000 square metres of place, 300 shooting points are generally required, based on depth
The roaming type panorama sketch of degree camera needs 7~8 hours to be shot, and roaming type panorama sketch proposed by the invention is automatic
Camera system only needs 1~2 hour can be completed.
Based on the above-mentioned system being made of panorama camera, control terminal and wheel undercarriage, it is according to the present invention another
Aspect, the present invention also provides a kind of roaming type panorama sketch automatic shooting methods.
First, in mainly S1 and S2 wheel undercarriage map making step.
S1：The wheel undercarriage is moved according to the movement instruction from the control terminal, and is adopted with predetermined time frequency
The circumferential environmental data of collection；
S2：Data of the wheel undercarriage based on acquisition complete synchronous positioning and map structuring.
In sample phase, the wheel undercarriage is by driving wheel, stepper motor, measurement assembly, microcomputer and routing
Device is formed, and therefore, the work relationship in S1 between each component specifically includes S101, S102, S103 step.
S101：The microcomputer receives the movement instruction from the control terminal, and is transferred to the stepping electricity
Machine；
S102：The stepper motor and the driving wheel are moved according to the movement instruction；
S103：The measurement assembly is transferred to the miniature calculating with predetermined time frequency collection circumferential direction environmental data
Machine.
In S103, other than the circumferential environmental data of acquisition, the action of the measurement assembly further includes：With the predetermined time
The displacement information of wheel undercarriage described in frequency collection, and it is transmitted to the microcomputer.
Secondly, the shooting point position of control terminal, mobile route planning step in mainly S3.
S3：On the map, the control terminal plans multiple shooting point positions and planning along the multiple shooting point
The mobile route sequentially formed of position.
As shown in figure 3, the planing method in S3 specifically includes S301, S302, S303, S304 step, moreover, S301 may be used also
To be subdivided into S301A, S301B, S301C, S301D, S301E, S301F, S301G step.On the basis of after S301 subdivisions,
Between S302 and S303, there can also be S302H steps.Specific sequence of steps is as follows.
S301：Coordinate system is established on the map, forms orthogonal X-axis and Y-axis.
S301A：Map described in binary conversion treatment, so that visible part is denoted as " 1 ", invisible part is denoted as " 0 "；
S301B：All pixel coordinates equal to " 1 " are extracted, to form X Vector Groups X=(x1, x2..., xn) and Y-direction amount group
Y=(y1, y2..., yn)；
S301C：Formed the matrix based on the X Vector Groups and Y-direction amount group, and ask for the matrix barycentric coodinates its
In, matrix is represented with formula (1), and barycentric coodinates are represented with formula (2)；
S301D：The difference of each pixel coordinate and the barycentric coodinates is calculated, to obtain central moment, wherein, difference
It is represented with formula (3), central moment is represented with formula (4)；
S301E：Existing angle between main shaft and the transverse direction in the map where long side or short side is calculated,
In.Angle is represented with formula (5)；
S301F：The map is rotated into the angle, so that the main shaft of the map and lateral registration, so as to obtain
Under rotating coordinate system, the standard coordinate value of each pixel seat, wherein, standard coordinate value is represented with formula (6)；
S301G：Using the transverse direction as X-axis, with perpendicular to described lateral vertical for Y-axis, as shown in Figure 4；
S302：It either coincides with the first grid lines of X-axis with a plurality of be parallel to, a plurality of be parallel to or coincide with Y-axis
Second grid lines divides the map, per having the first spacing between adjacent two first grid lines, per adjacent two institutes
Stating has the second spacing between the second grid lines, wherein, the intersection point of first grid lines and second grid lines forms more
A shooting point position, wherein, the grid lines of S302 is as shown in Figure 4；
S302H：The map is resetted, so that the main shaft returns to initial position, it is each so as to obtain under former coordinate system
The initial coordinate values of the pixel coordinate, wherein, initial coordinate values are represented with formula (7)；
S303：Obtain the coordinate of each shooting point position retained；
S304：Plan the mobile route sequentially formed of multiple shooting point positions along reservation.
As shown in figure 4, after having obtained shooting point position, we are selected in the rotating coordinate system, most left in most next row
The shooting point of side is as starting point O, and according to from left to right, sequence from top to bottom is all shooting points sequences in " bow " shape, from
And incoming terminal S.The path that planning obtains in this way compares the path planned by hand and more normally, more saves time, and avoids density
It is unevenly distributed and the problems such as leak source.In order to adapt to the special circumstances in actual scene, operator can also be in control terminal to certainly
It moves the shooting point position of generation and the path of planning to be adjusted, for example deletes the shooting sequence of certain point positions, change somewhere
Deng.
Finally, based on finally determining shooting point position and mobile route, wheel undercarriage drives panorama camera in mainly S4
Carry out follow shot.
S4：The wheel undercarriage drives the panorama camera to be moved along the mobile route, so that the panorama phase
Machine obtains the panoramic picture of each shooting point position.
By shooting point position and mobile route, mode is transferred to microcomputer to operator from control terminal by radio communication
On, so as to start automatic shooting program.Wheel undercarriage is immediately according to the mobile route of planning, each shooting point of passing by order
Position, and in each point position photographs panorama sketch.Then each panorama sketch is sent back into control terminal.When all shooting point positions are all clapped
After the completion of taking the photograph, we have just obtained a roaming type panorama sketch, can be watched in control terminal or upload to network in webpage
On share, watch.
Embodiments of the present invention are explained in detail above in association with attached drawing, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (10)
1. a kind of roaming type panorama sketch automatic shooting system, which is characterized in that including：Panorama camera, control terminal and wheeled
Chassis, the panorama camera are connect by wiring with the wheel undercarriage, and the control terminal passes through wireless communication mode and institute
State wheel undercarriage connection；The wheel undercarriage is used for according to the movement instruction movement from the control terminal, and with pre- timing
Between frequency collection circumferential direction environmental data, so as to which the data based on acquisition complete synchronous positioning and map structuring；Complete map structure
In the case of building, the control terminal is used to plan the sequence shape of multiple shooting point positions and planning along the multiple shooting point position
Into mobile route；The wheel undercarriage drives the panorama camera to be moved along the mobile route, so that the panorama
Camera obtains the panoramic picture of each shooting point position.
A kind of 2. roaming type panorama sketch automatic shooting system according to claim 1, which is characterized in that the wheel undercarriage
With for controlling mobile driving wheel and stepper motor, the measurement group for acquiring circumferential environmental data and displacement information
Part, for synchronizing microcomputer that positioning and map structuring calculate, for the road with the control terminal wireless telecommunications
By device, wherein, the stepper motor, the measurement assembly, the router are connect respectively with the microcomputer.
A kind of 3. roaming type panorama sketch automatic shooting system according to claim 2, which is characterized in that the measurement assembly
Including：Laser radar, sonar sensor, acceleration transducer and gyroscope.
4. a kind of roaming type panorama sketch automatic shooting method, which is characterized in that by panorama camera, control terminal and wheel undercarriage
It forms, the work relationship of three includes the following steps：
S1：The wheel undercarriage is moved according to the movement instruction from the control terminal, and with predetermined time frequency collection week
To environmental data；
S2：Data of the wheel undercarriage based on acquisition complete synchronous positioning and map structuring；
S3：On the map, the control terminal plans multiple shooting point positions and planning along the multiple shooting point position
The mobile route sequentially formed；
S4：The wheel undercarriage drives the panorama camera to be moved along the mobile route, so that the panorama camera obtains
Take the panoramic picture of each shooting point position.
A kind of 5. roaming type panorama sketch automatic shooting method according to claim 4, which is characterized in that the wheel undercarriage
It is made of driving wheel, stepper motor, measurement assembly, microcomputer and router, S1 specifically includes following steps：
S101：The microcomputer receives the movement instruction from the control terminal, and is transferred to the stepper motor；
S102：The stepper motor and the driving wheel are moved according to the movement instruction；
S103：The measurement assembly is transferred to the microcomputer with predetermined time frequency collection circumferential direction environmental data.
6. a kind of roaming type panorama sketch automatic shooting method according to claim 5, which is characterized in that described in S103
The action of measurement assembly further includes：With the displacement information of wheel undercarriage described in predetermined time frequency collection, and it is transmitted to institute
State microcomputer.
A kind of 7. roaming type panorama sketch automatic shooting method according to claim 4, which is characterized in that the planning side in S3
Method specifically includes following steps：
S301：Coordinate system is established on the map, forms orthogonal X-axis and Y-axis；
S302：It either coincides with the first grid lines of X-axis with a plurality of be parallel to, a plurality of be parallel to or coincide with the second of Y-axis
Grid lines divides the map, per having the first spacing between adjacent two first grid lines, described the per adjacent two articles
There is the second spacing between two grid lines, wherein, the intersection point of first grid lines and second grid lines forms multiple bats
Take the photograph a position；
S303：Obtain the coordinate of each shooting point position retained；
S304：Plan the mobile route sequentially formed of multiple shooting point positions along reservation.
A kind of 8. roaming type panorama sketch automatic shooting method according to claim 7, which is characterized in that the axis side of S301
Following steps are specifically included to selection：
S301A：Map described in binary conversion treatment, so that visible part is denoted as " 1 ", invisible part is denoted as " 0 "；
S301B：All pixel coordinates equal to " 1 " are extracted, to form X Vector Groups and Y-direction amount group；
S301C：The matrix based on the X Vector Groups and Y-direction amount group is formed, and asks for the barycentric coodinates of the matrix；
S301D：The difference of each pixel coordinate and the barycentric coodinates is calculated, to obtain central moment；
S301E：Calculate existing angle between main shaft and the transverse direction in the map where long side or short side；
S301F：The map is rotated into the angle, so that the main shaft of the map and lateral registration, so as to be rotated
Under coordinate system, the standard coordinate value of each pixel seat；
S301G：Using the transverse direction as X-axis, with perpendicular to described lateral vertical for Y-axis.
9. a kind of roaming type panorama sketch automatic shooting method according to claim 8, which is characterized in that in S302 and S303
Between, further comprising the steps of S302H：The map is resetted, so that the main shaft returns to initial position, so as to obtain former seat
Under mark system, the initial coordinate values of each pixel coordinate.
10. a kind of roaming type panorama sketch automatic shooting method according to claim 8 or claim 9, which is characterized in that the multiple
The sequence of shooting point position is：In the rotating coordinate system, using the shooting point position in the lower left corner as starting point, from left to right, from down toward
On sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247610.XA CN108259762A (en) | 2018-03-23 | 2018-03-23 | A kind of roaming type panorama sketch automatic shooting system and method |
Applications Claiming Priority (1)
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116842A (en) * | 2018-07-18 | 2019-01-01 | 广东数相智能科技有限公司 | A kind of photographic method, electronic equipment and storage medium of the setting through rest point |
| CN109186618A (en) * | 2018-08-31 | 2019-01-11 | 平安科技（深圳）有限公司 | Map constructing method, device, computer equipment and storage medium |
| CN110036411A (en) * | 2019-02-27 | 2019-07-19 | 香港应用科技研究院有限公司 | The device and method for generating electronics three-dimensional range environment |
| WO2020019299A1 (en) * | 2018-07-27 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Control method and device for panorama photographing, imaging system, and storage medium |
| CN112383745A (en) * | 2020-10-26 | 2021-02-19 | 北京中铁建建筑科技有限公司 | Panoramic image-based digital presentation method for large-scale clustered construction project |
| CN112584033A (en) * | 2019-09-29 | 2021-03-30 | 浙江宇视科技有限公司 | Image acquisition parameter adjusting method, device and equipment |
| CN113747044A (en) * | 2020-05-29 | 2021-12-03 | 华为技术有限公司 | Panoramic shooting method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116842A (en) * | 2018-07-18 | 2019-01-01 | 广东数相智能科技有限公司 | A kind of photographic method, electronic equipment and storage medium of the setting through rest point |
| WO2020019299A1 (en) * | 2018-07-27 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Control method and device for panorama photographing, imaging system, and storage medium |
| CN110771138A (en) * | 2018-07-27 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Control method and control device for panoramic shooting, imaging system and storage medium |
| CN110771138B (en) * | 2018-07-27 | 2022-08-30 | 深圳市大疆创新科技有限公司 | Control method and control device for panoramic shooting, imaging system and storage medium |
| CN109186618A (en) * | 2018-08-31 | 2019-01-11 | 平安科技（深圳）有限公司 | Map constructing method, device, computer equipment and storage medium |
| CN110036411A (en) * | 2019-02-27 | 2019-07-19 | 香港应用科技研究院有限公司 | The device and method for generating electronics three-dimensional range environment |
| CN110036411B (en) * | 2019-02-27 | 2023-07-28 | 香港应用科技研究院有限公司 | Apparatus and method for generating electronic three-dimensional roaming environment |
| CN112584033A (en) * | 2019-09-29 | 2021-03-30 | 浙江宇视科技有限公司 | Image acquisition parameter adjusting method, device and equipment |
| CN113747044A (en) * | 2020-05-29 | 2021-12-03 | 华为技术有限公司 | Panoramic shooting method and device |
| CN112383745A (en) * | 2020-10-26 | 2021-02-19 | 北京中铁建建筑科技有限公司 | Panoramic image-based digital presentation method for large-scale clustered construction project |
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