CN108401133A - The image sewing method of panorama image - Google Patents
The image sewing method of panorama image Download PDFInfo
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- CN108401133A CN108401133A CN201710067813.6A CN201710067813A CN108401133A CN 108401133 A CN108401133 A CN 108401133A CN 201710067813 A CN201710067813 A CN 201710067813A CN 108401133 A CN108401133 A CN 108401133A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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Abstract
A kind of image sewing method of panorama image, includes the following steps：External image is captured respectively by multiple image acquisition units on car body；Two adjacent image acquisition units are obtained in the crosspoint in the same view angle in adjacent direction；Multiple crosspoints are connected to generate configuration curve；Arbitrary point on option and installment curve is as target placement；Target is established according to target placement；And it is sutured by the external image that target captures two adjacent image acquisition units to generate suture image.Through the invention, two adjacent image acquisition units are more consistent in the deformation of the image in target placement, can reduce suture program before image pre-treatment degree of difficulty, and make the image after suture more really with nature.
Description
Technical field
The present invention relates to panorama image more particularly to a kind of image sewing methods of panorama image.
Background technology
Panorama image system (Around View Monitor System, AVMS), Ke Yiti are configured in Some vehicles
For and show that panorama image is watched to driving, to reinforce traffic safety.
Specifically, multiple camera lens are typically arranged on above-mentioned vehicle, which is to obtain each camera
After the image that camera lens captures respectively, then multiple image sutured to generate suture image.Thereby, driving can be in the seam
Group photo is as the upper relativeness for directly grasping the vehicle itself relative to surrounding environment.In in the related technology, the suture image is more
Image is got a bird's eye view for one.
In general, which is to suture the image acquired by two adjacent camera lens,
Middle suture is any position (that is, a target placement) in the overlapping region of two images.Also, after making suture
Image understand, the panorama image system suture it is previous as can also image first be executed to the image to be sutured before handle.
However, image space of the target placement in two adjacent camera lens and angle and differ, therefore should
Target placement also can be different relative to the image resolution and deformation (Distortion) degree of two camera lens.To carry out
Two images of suture are larger in the resolution ratio and deformation difference of the target placement, then the processing IC of the panorama image system is in holding
Workload when the aforementioned image pre-treatment of row can be very big, and then influences the overall efficiency of the panorama image system.
Furthermore resolution ratio/deformation difference of two to be sutured images is too big, even if before performing aforementioned image
Processing can not also completely eliminate resolution ratio and deformation problems.Thus, which the suture of image will be made to have image to lose and make
At the poor quality and viewing that is unnatural, and then influencing driving of suture image.
Invention content
The main object of the present invention is to provide a kind of image sewing method of panorama image, before can reducing suture program
Image pre-treatment degree of difficulty, and make the image after suture more really with nature.
In order to reach above-mentioned purpose, image sewing method of the invention applies to the image processing system on a car body
System, the wherein image processing system have multiple image acquisition units, and the image sewing method includes：
A) it controls multiple image acquisition unit and captures external image respectively；
B) two adjacent image acquisition units are obtained in the crosspoint in multiple same view angles in adjacent direction；
C) multiple crosspoints are connected to generate a configuration curve；
D) select the arbitrary point on the configuration curve as a target placement；
E) target is established according to the target placement；And
F) external image captured to two adjacent image acquisition units by the target is sutured to produce
Raw suture image.
As described above, wherein further including a step g：In showing the suture shadow on a display unit of the image processing system
Picture.
As described above, the horizontal view angle of wherein multiple image acquisition unit is 50 degree to 250 degree.
As described above, the quantity of wherein multiple image acquisition unit is three, which sets respectively
It is placed in rear center, Left-side center and the right center of the car body, or after being respectively arranged at the rear center of the car body, left side
It looks in the mirror and right side Back mirror, and three image acquisition units are located at identical height level.
As described above, the quantity of wherein multiple image acquisition unit is four, which sets respectively
It is placed in front center, Left-side center, right center and the rear center of the car body, or is respectively arranged in the rear of the car body
The heart, left side Back mirror, right side Back mirror and rear center, and four image acquisition units are located at identical height level.
As described above, the wherein image processing system is by the position of the image acquisition unit at the front center of car body seat
Mark is set as (0,0), and step b is the coordinate for obtaining and recording multiple crosspoint.
As described above, wherein the target is triangle target, tetragonal target, pentagon target, round target or does not advise
Then shape target.
As described above, wherein a center of the target between the configuration curve at a distance from be not more than 0.5 meter.
As described above, wherein step b includes the following steps：
B1 one first image acquisition unit) is obtained in a visual angle line of the special angle on adjacent direction；
B2 one second image acquisition unit adjacent with first image acquisition unit) is obtained in identical on adjacent direction
Another visual angle line of angle；
B3) judge whether the two visual angles line has a crosspoint；And
B4) crosspoint is recorded when the two visual angles line has the crosspoint.
As described above, wherein step b further includes the following steps：
B5) after step b4, judge whether the logging program in the crosspoint is completed；And
B6 the special angle) is adjusted when the logging program in the crosspoint does not complete, and according to the specific angle after adjustment
Degree executes step b1 to step b4 again.
As described above, wherein step b6 is to fix the number of degrees successive adjustment special angle.
As described above, it is the unit successive adjustment special angle that wherein step b6, which is with 3 degree or 5 degree,.
The present invention can enable two adjacent image acquisition units in the shape of the image in target placement compared to the relevant technologies
It is more consistent to become (distortion).Thereby, the degree of difficulty of the image pre-treatment before suture program can be reduced, and after making suture
Image more really with nature.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Description of the drawings
Fig. 1 is the image processing system block diagram of the first specific embodiment of the present invention；
Fig. 2 is the panorama image schematic diagram of the first specific embodiment of the present invention；
Fig. 3 is that the image of the first specific embodiment of the present invention sutures flow chart；
Fig. 4 is the target placement schematic diagram of the first specific embodiment of the present invention；
Fig. 5 is that the crosspoint of the first specific embodiment of the present invention records flow chart；
Fig. 6 is the panorama image schematic diagram of the second specific embodiment of the present invention；
Fig. 7 is the panorama image schematic diagram of the third specific embodiment of the present invention.
Wherein, reference numeral：
1 ... image processing system；
10 ... car bodies；
11 ... image acquisition units；
111 ... first image acquisition units；
112 ... second image acquisition units；
113 ... third image acquisition units；
114 ... the 4th image acquisition units；
12 ... image process units；
13 ... display units；
2 ... targets；
21 ... first targets；
22 ... second targets；
23 ... third targets；
24 ... the 4th targets；
3,4 ... car bodies；
31,32,33 ... image acquisition unit；
41,42,43,44,45,46 ... image acquisition unit；
C1 ... configures curve；
The visual angle L1, L2 ... line；
The first crosspoints P1 ...；
The second crosspoints P2 ...；
P3 ... thirds crosspoint；
The 4th crosspoints P4 ...；
The 5th crosspoints P5 ...；
The 6th crosspoints P6 ...；
The 7th crosspoints P7 ...；
S1 ... front regions；
The right areas S2 ...；
S3 ... rear areas；
S4 ... left areas；
The first overlapping regions S12 ...；
The second overlapping regions S23 ...；
S34 ... thirds overlapping region；
The 4th overlapping regions S41 ...；
S10~S22 ... stitching steps；
The crosspoints S120~S130 ... recording step.
Specific implementation mode
The structural principle and operation principle of the present invention are described in detail below in conjunction with the accompanying drawings：
Refering to fig. 1, the image processing system block diagram of the first specific embodiment of the invention.The invention discloses a kind of panoramas
The image sewing method (hereinafter simply referred to as this method) of image, this method applies to an image processing system 1 as shown in Figure 1.
Specifically, which is set in a car body (car body 10 as shown in Figure 2), and at the image
Reason system 1 includes mainly multiple image acquisition units 11, an image process unit 12 and a display unit 13.Multiple image is picked
It can be numerical digit or analog signal output type to take unit 11, to capture the external image of region.The image process unit 12
It is electrically connected multiple image acquisition unit 11, is carried out with the external image captured respectively to multiple image acquisition unit 11
Image processing.Also, in an embodiment, record has a computer applications formula, the computer applications in the image process unit 12
After formula is performed, each step of this method of the present invention can perform.
The display unit 13 is electrically connected the image process unit 12, and to show the image process unit 12, treated
Image, for the driving viewing in the car body 10.
In one embodiment of the invention, which mainly can be in the certain bits all around of the car body 10
It sets and establishes multiple targets 2, multiple image acquisition unit 11, can be according to those targets 2 after achieving said external image
Position those external images are sutured, to generate panorama image (the Around View around the car body 10
Monitor image,AVM image).Thus, drive can in direct viewing panorama image on the display unit 13, by
This grasps relativeness of the car body 10 relative to surrounding environment itself.
The main technical schemes of the present invention, are to count the specific position for establishing those targets 2 by this method
It calculates and records, thereby so that the panorama image after suture has smaller deformation in suture, and make the panorama image
It is more true and natural.
Referring to Fig.2, the panorama image schematic diagram of the first specific embodiment for the present invention.In the embodiment of Fig. 2, this is more
The quantity of a image acquisition unit 11 is four, which can be fish eye lens, and four shadows
As the horizontal view angle of acquisition unit 11 is at least 180 degree.In another embodiment, the level of four image acquisition units 11 regards
Angle is 50 degree to 250 degree, but is not limited.
Specifically, in this present embodiment, which has one first image acquisition unit 111, one second shadow
As acquisition unit 112, a third image acquisition unit 113 and one the 4th image acquisition unit 114, wherein first image capture
Unit 111 is set to the front center of the car body 10, which is set in the right side of the car body 10
The heart, the third image acquisition unit 113 are set to the rear center of the car body 10, and the 4th image acquisition unit 114 is set to
The Left-side center of the car body 10.Wherein, which can preferably be located at identical level height, but not be subject to
It limits.
In another embodiment, which also may be disposed on the right side Back mirror of the car body 10,
And the 4th image acquisition unit 114 also may be disposed on the left side Back mirror of the car body 10, and four image capture lists
Member 11 is located at identical level height.
In the embodiment of Fig. 2, the horizontal view angle of first image acquisition unit 111 is 180 degree, and before can covering one
Square region S1；The horizontal view angle of second image acquisition unit 112 is 180 degree, and can cover a right area S2；The third
The horizontal view angle of image acquisition unit 113 is 180 degree, and can cover a rear area S3；4th image acquisition unit 114
Horizontal view angle be 180 degree, and a left area S4 can be covered.
As noted previously, as the horizontal view angle of four image acquisition unit 11 is all 180 degree, therefore, which picks
Take unit 111 and the visual angle of second image acquisition unit 112 that can have one first overlapping region S12, second image capture
Unit 112 and the visual angle of the third image acquisition unit 113 can have one second overlapping region S23, the third image capture list
Member 113 and the visual angle of the 4th image acquisition unit 114 can have a third overlapping region S34, and the 4th image capture list
Member 114 and the visual angle of first image acquisition unit 111 can have one the 4th overlapping region S41.
In an embodiment, after which can be calculated by this method, one first target 21 is established,
And the target placement of first target 21 is set in one first specific position in the S12 of first overlapping region.Wherein, this
One target 21 is picked to the external image and second image acquisition unit 112 for providing first image acquisition unit 111 acquisition
The suture location that the external image taken is sutured.
The image processing system 1 also sets up one second target 22, and the target placement of second target 22 is set in this
One second specific position in second overlapping region S23.Wherein, second target 22 is providing second image acquisition unit
The suture location that the external image that 112 external images captured and the third image acquisition unit 113 capture is sutured.
The image processing system 1 also sets up a third target 23, and the target placement of the third target 23 is set in this
A third specific position in the S34 of third overlapping region.Wherein, the third target 23 is providing the third image acquisition unit
The suture location that the external image that 113 external images captured and the 4th image acquisition unit 114 capture is sutured.
The image processing system 1 also sets up one the 4th target 24, and the target placement of the 4th target 24 is set in this
One the 4th specific position in 4th overlapping region S41.Wherein, the 4th target 24 is providing the 4th image acquisition unit
The suture location that the external image that 114 external images captured and first image acquisition unit 111 capture is sutured.
In the embodiment of Fig. 2, those targets 21-24 is by taking triangle target as an example, to enable those image acquisition units
11 can recognize that three points on those triangle targets, and carry out image based on three points and suture program.Only, in other
In embodiment, those targets 21-24 also can be that there are five the pentagon target put, tools there are four the tetragonal target put, tool for tool
There are the irregular shape target of multiple points or round target etc., is not limited.
Specifically, in order to enable to be sutured two external images can be consistent in the resolution ratio of suture and deformation, with drop
The degree of difficulty of low image pre-treatment, and enable the image after suture clearer, in the present embodiment, this method mainly calculates adjacent
Two image acquisition units in the crosspoint in same view angle, and with the crosspoint as above-mentioned first specific position, should
Second specific position, the third specific position and the 4th specific position (that is, those suture locations).
Please refer to Fig. 3, the image for the first specific embodiment of the present invention sutures flow chart.Generate above-mentioned ring
Scape image, the external image which needs nationality to be captured all image acquisition units 11 by this method all carry out
Suture.For convenience of description, following example by with two external images that two adjacent image acquisition units are captured into
Row sutures to illustrate.
As shown in figure 3, to generate panorama image, which controls multiple image capture thereon first
Unit 11 captures external image (step S10) respectively.Then, which obtains two adjacent image captures
Unit 11 is in the crosspoint (step S12) in multiple same view angles in adjacent direction.With first image acquisition unit of Fig. 2
111 with for second image acquisition unit 112, and first image acquisition unit 111 is relative to second image acquisition unit
112 adjacent direction is the right, and second image acquisition unit 112 is relative to the adjacent of first image acquisition unit 111
Direction is then the left side.
Furthermore as described in the text, those image acquisition units 11 can have the horizontal view angle such as 50 degree to 250 degree.And
And in this present embodiment, multiple image acquisition unit 11 on the image processing system 1 can be the image capture of same size
Unit (that is, multiple image acquisition unit 11 can be with resolution ratio having the same and angular field of view).In step S12, the shadow
As processing system 1 is mainly to look for multiple same view angle (examples in the angular field of view of two adjacent image acquisition units 11
Such as 10 degree, 20 degree, 30 degree) on crosspoint (being detailed later).In an embodiment, the image processing system 1 can directly with
The multiple crosspoints sought wherein as a target placement.Specifically, which is in the target placement
On establish above-mentioned target, that is to say, that the target placement is the above-mentioned specific position or the suture location.
In another embodiment, this method can also further connect the multiple crosspoints sought, bent to generate a configuration
Line (step S14), and the arbitrary point on the reselection configuration curve is as the target placement (step S16).In turn, then foundation
The target placement establishes the target (step S18).
Please refer to Fig. 4, for the target placement schematic diagram of the first specific embodiment of the present invention.In the embodiment of Fig. 4
In, which is sequentially to look for first image acquisition unit 111 with second image acquisition unit 112 in 5 degree
One first crosspoint P1 on visual angle, on 10 degree of visual angles one second crosspoint P2, intersect in the third on 15 degree of visual angles
Point P3, on 20 degree of visual angles one the 4th crosspoint P4, on 25 degree of visual angles one the 5th crosspoint P5, on 30 degree of visual angles
One the 6th crosspoint P6 and in one the 7th crosspoint P7 on 35 degree of visual angles.
In first embodiment, which can be after obtaining above-mentioned seven crosspoint P1-P7, directly with this
Seven crosspoint P1-P7 wherein as the target placement.In second embodiment, which is first to connect
After seven crosspoint P1-P7 are met to generate a configuration curve C1, then with any point on configuration curve C1 as the mark
Target position.Specifically, in the first embodiment, the number of candidates of the target placement is equal to the quantity in the crosspoint；In this
In two embodiments, the number of candidates of the target placement is unlimited number of.
It is noted that in order to enable the image energy after suture have resolution ratio more appropriate, in an embodiment, those marks
A center (that is, center of the target placement) for target 2 between configuration curve C1 at a distance from be not more than 0.5 meter.By
This, can avoid the target placement because apart from configuration curve C1 it is too far and make suture after image in joint quality not
It is good and unnatural.Above-mentioned 0.5 meter is only a specific embodiment, those visual image acquisition units 11 of the image processing system 1
Resolution ratio and imaging capability and adjust the distance, should not be as limit.
In an embodiment, which can be when configuring those image acquisition units 11, by the car body 10
The location coordinate of first image acquisition unit 111 at front center is set as (0,0).It, should in the step S12 of earlier figures 3
Method is to look for and record the coordinate in multiple crosspoint, and select any coordinate in those coordinates as the target placement.
Referring again to Fig. 3.After step S18, which has been adjacent two image acquisition units
11 establish the target, and then, which can be by the target to adjacent two image acquisition units 11
The external image captured is sutured, to generate a suture image (step S20).Specifically, if only being configured on the car body 10
Two image acquisition units 11, then the suture image is the panorama image above-mentioned；If being configured with two on the car body 10
A above image acquisition unit 11, then the suture image is the panorama image of part (such as when the image capture list
When the quantity of member 11 is three, need to three external images be carried out with suture program twice, to generate the panorama image).
After the suture image generates, the display unit 13 which can further thereon is shown
The suture image (step S22) is watched for the driving of the car body 10.Furthermore when the quantity of the image acquisition unit 11 is two
When a above, which also can be after a complete panorama image generates, and display should on the display unit 13
Panorama image, is not limited.
Flow chart is recorded please refer to the crosspoint that Fig. 4 and Fig. 5, wherein Fig. 5 are the first specific embodiment of the present invention,
To be described in further detail to the step 12 in Fig. 3.
It is first to obtain one when which will look for crosspoint above-mentioned as shown in figure 5, in an embodiment
First image acquisition unit (the first image acquisition unit 111 as shown in Figure 2) is in one on a special angle in adjacent direction
Visual angle line (step S120) then, then obtains one second image acquisition unit adjacent with first image acquisition unit (as schemed
First image acquisition unit 112 shown in 2) in another visual angle line (step S122) in the equal angular in adjacent direction.
After step S122, which judges whether the two visual angles line has a crosspoint (step S124).
If the two visual angles line does not have crosspoint, the image processing system 1 is without any processing；If the two visual angles line has crosspoint,
Then the image processing system 1 records the crosspoint (step S126).Specifically, which records the crosspoint
Coordinate.
Specifically, since the target placement (that is, suture location) is one or more recorded from the image processing system 1
It is selected in crosspoint, and the target placement relative to the angle and resolution ratio of two adjacent image acquisition units it is all identical or
It is close, therefore the external image that two image acquisition unit captures can be quite approximate in the deformation in the target placement.Such one
Come, two external images sutured according to the target placement, then the image after suturing can it is more clear, true and from
So.
Then, which then judges whether the logging program in the crosspoint is completed (step S128).Yu Yi
In embodiment, a threshold amount in the 1 predeterminable crosspoint of image processing system, and what is recorded in step S126 is somebody's turn to do
When crosspoint quantity is more than the threshold amount, judge that the logging program is completed.In another embodiment, the image processing system 1
One maximum value of the also predeterminable special angle, and the special angle after adjustment will be greater than judging the note when maximum value
Program is recorded to complete.
If the image processing system 1 judges that the logging program in the crosspoint is not yet completed, the image processing system 1 adjustment
The above-mentioned special angle (step S130), and step S120 is executed again to step according to the special angle after adjustment
S126, to record two adjacent image acquisition units in the crosspoint on other visual angles.
The multiple visual angle line L1, those visual angles line L1 of first image acquisition unit 111 are disclosed refering to Fig. 4, Fig. 4 simultaneously
It is respectively corresponding to each different special angle.Also, Fig. 4 also discloses multiple visual angles of second image acquisition unit 112
Line L2, those visual angles line L2 is also respectively corresponding to each different special angle, and those special angles are identical to those and regard
The angle of linea angulata L1.
Specifically, in the step S130 of Fig. 5, which is to carry out successive adjustment to fix the number of degrees this is specific
Angle.For example, which can carry out the successive adjustment special angle as unit of 3 degree or 5 degree, and look for this
Crosspoint.
For 5 degree, when looking for for the first time, the image processing system 1 can obtain first image acquisition unit 111 in
5 degree of visual angle line L1 and the second image acquisition unit 111 obtain the friendship of two visual angle line L1, L2 in 5 degree of visual angle line L2
Crunode P1.When looking for for the second time, which can obtain first image acquisition unit 111 in 10 degree of visual angle
Line L1 and the second image acquisition unit 111 obtain the crosspoint P2 of two visual angle line L1, L2 in 10 degree of visual angle line L2.
When looking for for the third time, which can obtain first image acquisition unit 111 in 15 degree of visual angle line L1 and
Two image acquisition units 111 obtain the crosspoint P3 of two visual angle line L1, L2 in 15 degree of visual angle line L2, and so on.
It is found it is noted that being tested through applicant, is located at 10 degree when those above-mentioned targets 2 are positioned over the special angle
When between to 35 degree, the image after suture can have preferable effect.However, above-mentioned 10 degree to 35 degree are only a specific embodiment,
The range of the special angle can also differ for 20 degree to 70 degree, should not be as limit.
Refering to Fig. 6, for the panorama image schematic diagram of the second specific embodiment of the present invention.The embodiment of Fig. 6 discloses separately
One car body 3, there are three image acquisition unit 31-33 for configuration on the car body 3, wherein three image acquisition unit 31-33 difference
It is arranged at right side Back mirror, rear center and the left side Back mirror of the car body 3, and three image acquisition unit 31-33
Positioned at identical height level.
In another embodiment, which can also respectively be arranged in the right side of the car body 3
The heart, rear center and Left-side center, and it is located at identical height level, it is not limited.
Refering to Fig. 7, for the panorama image schematic diagram of the third specific embodiment of the present invention.The embodiment of Fig. 7 disclose and
One car body 4, there are six image acquisition unit 41-46 for configuration on the car body 4, wherein six image acquisition unit 41-46 difference
It is arranged at front center, right center, rear center, Left-side center, right side Back mirror and the left side Back mirror of the car body 3,
And six image acquisition unit 41-46 are located at identical height level.
Specifically, above-described embodiment is all only specific embodiments of the present invention, those car bodies are real visual actually required, or regard
Depending on the operational capability of the image processing system 1, selects the image acquisition unit of different number and be set on those car bodies
Different location should not be limited.
In conclusion this method through the invention, can enable two adjacent image acquisition units in suture location
Deformation is more consistent, executes the degree of difficulty of image pre-treatment to reduce image processing system, and keep the image after suture more true
It is real and natural.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding change and deformations, but these corresponding changes and change in accordance with the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (12)
1. a kind of image sewing method of panorama image, applies to the image processing system on a car body, the image processing system
System has multiple image acquisition units, which is characterized in that the image sewing method includes：
A) it controls multiple image acquisition unit and captures external image respectively；
B) two adjacent image acquisition units are obtained in the crosspoint in multiple same view angles in adjacent direction；
C) multiple crosspoints are connected to generate a configuration curve；
D) select the arbitrary point on the configuration curve as a target placement；
E) target is established according to the target placement；And
F) external image captured to two adjacent image acquisition units by the target is sutured to generate one
Suture image.
2. the image sewing method of panorama image according to claim 1, which is characterized in that further include a step g：In this
The suture image is shown on one display unit of image processing system.
3. the image sewing method of panorama image according to claim 1, which is characterized in that multiple image acquisition unit
Horizontal view angle be 50 degree to 250 degree.
4. the image sewing method of panorama image according to claim 1, which is characterized in that multiple image acquisition unit
Quantity be three, which is respectively arranged at rear center, Left-side center and the right center of the car body,
Or it is respectively arranged at rear center, left side Back mirror and the right side Back mirror of the car body, and three image acquisition units
Positioned at identical height level.
5. the image sewing method of panorama image according to claim 1, which is characterized in that multiple image acquisition unit
Quantity be four, four image acquisition units be respectively arranged at the front center of the car body, Left-side center, right center and
Rear center, or it is respectively arranged at rear center, left side Back mirror, right side Back mirror and the rear center of the car body, and
Four image acquisition units are located at identical height level.
6. the image sewing method of panorama image according to claim 5, which is characterized in that the image processing system should
The location coordinate of the image acquisition unit at the front center of car body is set as (0,0), and step b) is to obtain and record this
The coordinate in multiple crosspoints.
7. the image sewing method of panorama image according to claim 1, which is characterized in that the target is triangle mark
Target, tetragonal target, pentagon target, round target or irregular shape target.
8. the image sewing method of panorama image according to claim 1, which is characterized in that a center of the target
It is not more than 0.5 meter at a distance between the configuration curve.
9. the image sewing method of panorama image according to claim 1, which is characterized in that step b) includes following step
Suddenly：
B1 one first image acquisition unit) is obtained in a visual angle line of the special angle on adjacent direction；
B2 one second image acquisition unit adjacent with first image acquisition unit) is obtained in the equal angular on adjacent direction
Another visual angle line；
B3) judge whether the two visual angles line has a crosspoint；And
B4) crosspoint is recorded when the two visual angles line has the crosspoint.
10. the image sewing method of panorama image according to claim 9, which is characterized in that step b) is further included down
Row step：
B5) step b4) after, judge whether the logging program in the crosspoint is completed；And
B6 the special angle) is adjusted when the logging program in the crosspoint does not complete, and again according to the special angle after adjustment
Secondary execution step b1) to step b4).
11. the image sewing method of panorama image according to claim 10, which is characterized in that step b6) it is with fixation
The number of degrees successive adjustment special angle.
12. the image sewing method of panorama image according to claim 11, which is characterized in that step b6) be with 3 degree or
5 degree are the unit successive adjustment special angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710067813.6A CN108401133A (en) | 2017-02-07 | 2017-02-07 | The image sewing method of panorama image |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710067813.6A CN108401133A (en) | 2017-02-07 | 2017-02-07 | The image sewing method of panorama image |
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| Publication Number | Publication Date |
|---|---|
| CN108401133A true CN108401133A (en) | 2018-08-14 |
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| CN111693254A (en) * | 2019-03-12 | 2020-09-22 | 纬创资通股份有限公司 | Vehicle-mounted lens offset detection method and vehicle-mounted lens offset detection system |
| US12023565B2 (en) | 2021-08-26 | 2024-07-02 | Industrial Technology Research Institute | Projection system and projection calibration method using the same |
| US12028642B2 (en) | 2022-10-25 | 2024-07-02 | Industrial Technology Research Institute | Target tracking system and target tracking method using the same |
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| US12028642B2 (en) | 2022-10-25 | 2024-07-02 | Industrial Technology Research Institute | Target tracking system and target tracking method using the same |
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