CN108933896B - Panoramic video image stabilization method and system based on inertial measurement unit - Google Patents
Panoramic video image stabilization method and system based on inertial measurement unit Download PDFInfo
- Publication number
- CN108933896B CN108933896B CN201810851461.8A CN201810851461A CN108933896B CN 108933896 B CN108933896 B CN 108933896B CN 201810851461 A CN201810851461 A CN 201810851461A CN 108933896 B CN108933896 B CN 108933896B
- Authority
- CN
- China
- Prior art keywords
- panoramic
- measurement unit
- inertial measurement
- rotation matrix
- shooting equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000006641 stabilisation Effects 0.000 title claims abstract description 20
- 238000011105 stabilization Methods 0.000 title claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 7
- 239000013598 vector Substances 0.000 claims description 20
- 238000013519 translation Methods 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 3
- 239000000969 carrier Substances 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Images
Classifications
-
- 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
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/60—Rotation of whole images or parts thereof
- G06T3/608—Rotation of whole images or parts thereof by skew deformation, e.g. two-pass or three-pass rotation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
The invention provides a panoramic video image stabilization method based on an inertial measurement unit, which comprises the following steps: s1: calibrating the inertial measurement unit and a main lens of the panoramic shooting equipment; s2: synchronizing the time stamp of the inertial measurement unit with the time stamp of the panoramic video frame; s3: acquiring a rotation matrix R' of the current frame in real time by using an inertia measurement unit; s4: acquiring a rotation matrix M of a current frame video; s5: and rotating the panoramic image according to the current rotation matrix to generate a stable video frame. The invention also provides a panoramic video image stabilization system for the panoramic video image stabilization method based on the inertial measurement unit, which comprises the following steps: the device comprises a panoramic shooting module, an inertia measurement unit, a calibration module, a synchronization module, a calculation module and a processing module. The invention solves the problem that the panoramic shooting equipment is placed on carriers such as automobiles, and the like, and the images of the panoramic shooting equipment are unstable in the driving process of the carriers such as automobiles, and improves the user experience.
Description
Technical Field
The invention relates to the field of panoramic video processing, in particular to a panoramic video image stabilization method and a panoramic video image stabilization system based on an inertial measurement unit.
Background
At present, panoramic video (including shooting, video recording and live broadcasting) is shot through handheld panoramic shooting equipment generally, and when the panoramic video is shot in a moving mode, due to the fact that hands are unstable, the rotating posture of the panoramic shooting equipment is unstable, a shot picture is unstable, the picture is unstable when the panoramic video is watched, and user experience is poor.
The purpose of image stabilization is to calculate these jitters and suppress them for video stabilization purposes, usually by means of an image sensor. The technology is widely applied to the application fields of automobile monitoring systems, shipborne video imaging systems and the like for video anti-shake processing to obtain smooth and stable video image sequences.
One of the current solutions is to use a pan-tilt to stabilize the panoramic shooting device, so that the shot picture is stable. However, the disadvantage is that the pan-tilt is expensive, the volume is generally large, and the problem of unstable picture when the handheld panoramic shooting device shoots the video is not completely solved.
In view of this, how to keep a stable state of a picture photographed by a panorama photographing apparatus is an urgent problem to be solved.
Disclosure of Invention
The invention provides a panoramic video image stabilization method based on an inertial measurement unit, which comprises the following steps:
s1: calibrating the inertial measurement unit and a main lens of the panoramic shooting equipment;
s2: synchronizing the time stamp of the inertial measurement unit with the time stamp of the panoramic video frame;
s3: acquiring a rotation matrix R' of the current frame in real time by using an inertia measurement unit;
s4: acquiring a rotation matrix M of a current frame video;
s5: and rotating the panoramic image according to the current rotation matrix to generate a stable video frame.
Preferably, the step S1 includes the steps of:
the method comprises the following steps: keeping the panoramic shooting equipment fixed, changing the posture position of a calibration plate, collecting images of the calibration plate, ensuring that the calibration plate is in a vertical placement state each time, calibrating a tool box based on Matlab, performing monocular calibration on a main lens of the panoramic shooting equipment by utilizing a collected image sequence of the calibration plate, and solving an internal parameter K and an external parameter Q of a fisheye lens;
step two: taking the triaxial accelerometer data and the fisheye lens external reference data collected by the inertial measurement unit in the same attitude as coordinate points { I) of the inertial measurement unit and the main lens of the panoramic shooting equipment in a world coordinate system respectivelyiAnd { C }iAnd R and T are respectively set as a rotation matrix and a translation vector between an inertial measurement unit coordinate system and a panoramic shooting equipment main lens coordinate system, and the relationship between the panoramic shooting equipment main lens coordinate system and the inertial measurement unit coordinate system is calculated as follows:
Ci＝R*Ii+T
according to a least square method, minimizing a target function of a relation between a main lens coordinate system of the panoramic shooting equipment and a coordinate system of an inertia measurement unit, and calculating to obtain a four-element q between the coordinate system of the inertia measurement unit and the main lens coordinate system of the panoramic shooting equipment as [ x, y, z, w ], so as to obtain a translation vector T;
step three: solving for the rotation vector r ═ r by the relationship between the four elements and the rotation vector1，r2，r3]And further converting the rotation vector R into a rotation matrix R, and solving a calculation formula of the rotation-resolving rotation vector by using four elements as follows:
wherein the content of the first and second substances,
the way of calculating the rotation matrix based on the rotation vectors is as follows: r ═ rot (R), where rot () is the transform function.
Preferably, the step S2 is: synchronizing the inertial measurement unit timestamp with the panoramic video frame timestamp to make tk≥tj＞tk-1Wherein t isjIs a panoramic video time stamp, tkTime stamp for the kth frame of the inertial measurement unit, tk-1Is the time stamp of the (k-1) th frame of the inertial measurement unit.
Preferably, the step S3 is: and obtaining the attitude four-element q ' of each frame when the panoramic image is shot by the panoramic shooting equipment by utilizing an inertia measuring unit, and converting the attitude four-element q ' of the current frame to obtain a rotation matrix R ' of the current frame.
Preferably, the step S4 is: obtaining a rotation matrix M of a current frame video in the panoramic video according to a rotation matrix R calibrated by an inertia measurement unit and a main lens of the panoramic shooting equipment and the rotation matrix R' of the current frame, wherein the calculation formula is as follows:
M＝R′-1*R
preferably, the step S5 is: and projecting the panoramic image of the current frame onto a panoramic spherical surface, rotating the panoramic spherical surface by using a rotation matrix M to obtain a rotated panoramic spherical surface, and projecting the rotated panoramic spherical surface onto a planar panoramic image. The formula for rotating the points on the panoramic spherical surface by using the rotation matrix M is as follows:
wherein [ X, Y, Z]TRepresents a spherical coordinate, [ X ', Y', Z 'before rotation']TRepresenting the spherical coordinates after rotation.
The invention also provides a panoramic video image stabilization system based on the inertial measurement unit, which is used for the panoramic video image stabilization method based on the inertial measurement unit, and comprises the following steps:
the panoramic shooting module is used for acquiring panoramic images and acquiring vertically placed calibration plate images when the inertial measurement unit and the main lens of the panoramic shooting device are calibrated;
the system comprises an inertia measurement unit, a control unit and a display unit, wherein the inertia measurement unit is used for acquiring a current state timestamp of the inertia measurement unit, acquiring four elements of the attitude of each frame when panoramic images are shot by panoramic shooting equipment, and acquiring triaxial accelerometer data of the inertia measurement unit corresponding to the attitude of a calibration plate when the inertia measurement unit and a main lens of the panoramic shooting equipment are calibrated;
the calibration module is used for estimating the rotation amount between the coordinate system of the inertia measurement unit and the coordinate system of the main lens of the panoramic shooting equipment based on the acquired calibration plate images vertically placed at different attitude positions and the corresponding data of the triaxial accelerometer of the inertia measurement unit;
the synchronization module is used for synchronizing the time stamp of the inertial measurement unit and the time stamp of the panoramic video;
the calculation module is used for obtaining a rotation matrix M according to a rotation matrix between the inertia measurement unit and the main lens of the panoramic shooting equipment and the four elements of the attitude of the current frame;
and the processing module is used for projecting the panoramic image of the current frame onto the panoramic spherical surface, rotating the panoramic spherical surface image by using the rotation matrix M, and projecting the rotated panoramic spherical surface image back to the panoramic plane image to obtain a stable panoramic video frame.
Drawings
FIG. 1 is a flowchart of a panoramic video image stabilization method based on an inertial measurement unit according to an embodiment of the present invention;
fig. 2 is a structural block diagram of a panoramic video image stabilization system based on an inertial measurement unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, the method for stabilizing an image of a panoramic video based on an inertial measurement unit provided in this embodiment includes the following steps:
s1: and the inertia measurement unit is calibrated with the main lens of the panoramic shooting equipment.
An inertial measurement unit is added in the panoramic shooting equipment, a coordinate system of the inertial measurement unit is not overlapped with a coordinate system of a main lens of the panoramic shooting equipment, and the coordinate system of the inertial measurement unit and the coordinate system of the main lens of the panoramic shooting equipment are calibrated in relative pose to enable the two coordinate systems to be overlapped through the relationship between the two coordinate systems and a world coordinate system. The method specifically comprises the following steps:
the method comprises the following steps: the method comprises the steps of keeping the panoramic shooting equipment fixed, changing the posture position of a calibration plate, collecting images of the calibration plate, ensuring that the calibration plate is in a vertical placement state at each time, calibrating a tool box based on Matlab, carrying out monocular calibration on a main lens of the panoramic shooting equipment by utilizing a collected calibration plate image sequence, and solving an internal parameter K and an external parameter Q of a fisheye lens.
Step two: the inertial measurement unit is adopted under the same attitudeThe three-axis accelerometer data and the fisheye lens external parameter data are respectively used as coordinate points { I) of the inertial measurement unit and the main lens of the panoramic shooting equipment in a world coordinate systemiAnd { C }i}. And setting R and T as a rotation matrix and a translation vector between the inertial measurement unit coordinate system and the panoramic shooting equipment main lens coordinate system respectively, and calculating the relationship between the panoramic shooting equipment main lens coordinate system and the inertial measurement unit coordinate system as follows:
Ci＝R*Ii+T
and according to a least square method, minimizing an objective function according to the relation between the main lens coordinate system of the panoramic shooting equipment and the inertial measurement unit coordinate system, and calculating to obtain a four-element q between the inertial measurement unit coordinate system and the main lens coordinate system of the panoramic shooting equipment, wherein the four-element q is [ x, y, z, w ], so as to obtain a translation vector T.
Step three: solving for the rotation vector r ═ r by the relationship between the four elements and the rotation vector1，r2，r3]And then converts the rotation vector R into a rotation matrix R. The calculation formula for solving the rotation-resolving steering quantity by using the four elements is as follows:
wherein the content of the first and second substances,
the way of calculating the rotation matrix based on the rotation vectors is as follows: r ═ rot (R), where rot () is the transform function.
S2: synchronizing the inertial measurement unit timestamp with a timestamp of the panoramic video frame.
Synchronizing inertial measurement unit timestampsTime stamping with panoramic video frame, let tk≥tj＞tk-1Wherein t isjIs a panoramic video time stamp, tkTime stamp for the kth frame of the inertial measurement unit, tk-1Is the time stamp of the (k-1) th frame of the inertial measurement unit.
S3: and acquiring a rotation matrix R' of the current frame in real time by using an inertial measurement unit.
Specifically, the inertial measurement unit obtains the pose four-element q ' of each frame when the panoramic shooting device shoots the panoramic image, and transforms the pose four-element q ' of the current frame to obtain the rotation matrix R ' of the current frame.
S4: and acquiring a rotation matrix M of the current frame video.
Obtaining a rotation matrix M of a current frame video in the panoramic video according to a rotation matrix R calibrated by an inertia measurement unit and a main lens of the panoramic shooting equipment and the rotation matrix R' of the current frame, wherein the calculation formula is as follows:
M＝R′-1*R
s5: and rotating the panoramic image according to the current rotation matrix to generate a stable video frame.
And projecting the panoramic image of the current frame onto a panoramic spherical surface, rotating the panoramic spherical surface by using a rotation matrix M to obtain a rotated panoramic spherical surface, and projecting the rotated panoramic spherical surface onto a planar panoramic image. The formula for rotating the points on the panoramic spherical surface by using the rotation matrix M is as follows:
wherein [ X, Y, Z]TRepresents a spherical coordinate, [ X ', Y', Z 'before rotation']TRepresenting the spherical coordinates after rotation.
In the embodiment, the attitude four-element q ' of each frame when the panoramic shooting device shoots the panoramic image is obtained through the inertia measurement unit, the attitude four-element q ' is converted into the rotation matrix R ', the rotation relation R between the inertia measurement unit and the main lens of the panoramic shooting device is combined, the frame video rotation matrix M of the panoramic video is calculated, and then the rotation matrix M is utilized to rotate to obtain the stable panoramic video, so that the panoramic video is in a stable state, the problem that the picture is unstable when the panoramic shooting device is held by a hand to shoot the picture is solved, meanwhile, the problem that the panoramic shooting device is placed on a carrier such as an automobile and the like, the picture of the panoramic shooting device is unstable in the driving process due to the carrier such as the automobile and the like is solved, and.
The structural block diagram of the panoramic video image stabilization system 100 based on the inertial measurement unit according to the embodiment of the present invention, as shown in fig. 2, includes: the panoramic shooting module 110, the inertial measurement unit 120, the calibration module 130, the synchronization module 140, the calculation module 150 and the processing module 160.
And the panoramic shooting module 110 is used for collecting panoramic images and collecting vertically placed calibration plate images when the inertial measurement unit and the main lens of the panoramic shooting device are calibrated.
And the inertia measurement unit 120 is configured to obtain a timestamp of a current state of the inertia measurement unit, obtain four elements of a posture of each frame when the panoramic image is shot by the panoramic shooting device, and obtain triaxial accelerometer data of the inertia measurement unit corresponding to the posture of the calibration plate when the inertia measurement unit and the main lens of the panoramic shooting device are calibrated.
And the calibration module 130 estimates the rotation amount between the coordinate system of the inertial measurement unit and the coordinate system of the main lens of the panoramic shooting device based on the acquired calibration plate images in different vertically-placed attitude positions and the corresponding data of the triaxial accelerometer of the inertial measurement unit.
And a synchronization module 140 for synchronizing the time stamp of the inertial measurement unit with the time stamp of the panoramic video.
The calculation module 150 obtains a rotation matrix M according to the rotation matrix between the inertial measurement unit and the main lens of the panoramic shooting device and the four elements of the attitude of the current frame.
The processing module 160 projects the panoramic image of the current frame onto the panoramic spherical surface, rotates the panoramic spherical image by using the rotation matrix M, and projects the rotated panoramic spherical image back to the panoramic plane image, so as to obtain a stable panoramic video frame.
Claims (4)
1. A panoramic video image stabilization method based on an inertial measurement unit is characterized by comprising the following steps:
s1: calibrating the inertial measurement unit and a main lens of the panoramic shooting equipment; the step S1 includes the steps of:
the method comprises the following steps: keeping the panoramic shooting equipment fixed, changing the posture position of a calibration plate, collecting images of the calibration plate, ensuring that the calibration plate is in a vertical placement state each time, calibrating a tool box based on Matlab, performing monocular calibration on a main lens of the panoramic shooting equipment by utilizing a collected image sequence of the calibration plate, and solving an internal parameter K and an external parameter Q of a fisheye lens;
step two: taking the triaxial accelerometer data and the fisheye lens external reference data collected by the inertial measurement unit in the same attitude as coordinate points { I) of the inertial measurement unit and the main lens of the panoramic shooting equipment in a world coordinate system respectivelyiAnd { C }iAnd R and T are respectively set as a rotation matrix and a translation vector between an inertial measurement unit coordinate system and a panoramic shooting equipment main lens coordinate system, and the relationship between the panoramic shooting equipment main lens coordinate system and the inertial measurement unit coordinate system is calculated as follows:
Ci＝R*Ii+T
according to a least square method, minimizing a target function of a relation between a main lens coordinate system of the panoramic shooting equipment and a coordinate system of an inertia measurement unit, and calculating to obtain a four-element q between the coordinate system of the inertia measurement unit and the main lens coordinate system of the panoramic shooting equipment as [ x, y, z, w ], so as to obtain a translation vector T;
step three: solving for the rotation vector r ═ r by the relationship between the four elements and the rotation vector1，r2，r3]And further converting the rotation vector R into a rotation matrix R, and solving a calculation formula of the rotation-resolving rotation vector by using four elements as follows:
wherein the content of the first and second substances,
the way of calculating the rotation matrix based on the rotation vectors is as follows: r ═ rot (R), where rot () is a transform function;
s2: synchronizing the time stamp of the inertial measurement unit with the time stamp of the panoramic video frame;
s3: acquiring a rotation matrix R' of the current frame in real time by using an inertia measurement unit;
the step S3 is: acquiring the attitude four-element q ' of each frame when the panoramic image is shot by the panoramic shooting equipment by using an inertial measurement unit, and converting the attitude four-element q ' of the current frame to obtain a rotation matrix R ' of the current frame;
s4: acquiring a rotation matrix M of a current frame video;
s5: rotating the panoramic image according to the current rotation matrix to generate a stable video frame;
the step S5 is: projecting the panoramic image of the current frame onto a panoramic spherical surface, rotating the panoramic spherical surface by using a rotation matrix M to obtain a rotated panoramic spherical surface, projecting the rotated panoramic spherical surface onto a planar panoramic image, and rotating points on the panoramic spherical surface by using the rotation matrix M according to the following formula:
wherein [ X, Y, Z]TRepresents a spherical coordinate, [ X ', Y', Z 'before rotation']TRepresenting the spherical coordinates after rotation.
2. The method of claim 1, wherein the panoramic video image stabilization method based on the inertial measurement unitCharacterized in that, the step S2 is: synchronizing the inertial measurement unit timestamp with the panoramic video frame timestamp to make tk≥tj＞tk-1Wherein t isjIs a panoramic video time stamp, tkTime stamp for the kth frame of the inertial measurement unit, tk-1Is the time stamp of the (k-1) th frame of the inertial measurement unit.
3. The method for panoramic video image stabilization based on the inertial measurement unit of claim 1, wherein the step S4 is: obtaining a rotation matrix M of a current frame video in the panoramic video according to a rotation matrix R calibrated by an inertia measurement unit and a main lens of the panoramic shooting equipment and the rotation matrix R' of the current frame, wherein the calculation formula is as follows:
M＝R′-1*R。
4. an inertial measurement unit-based panoramic video image stabilization system for the inertial measurement unit-based panoramic video image stabilization method of claim 1, comprising:
the panoramic shooting module is used for acquiring panoramic images and acquiring vertically placed calibration plate images when the inertial measurement unit and the main lens of the panoramic shooting device are calibrated;
the system comprises an inertia measurement unit, a control unit and a display unit, wherein the inertia measurement unit is used for acquiring a current state timestamp of the inertia measurement unit, acquiring four elements of the attitude of each frame when panoramic images are shot by panoramic shooting equipment, and acquiring triaxial accelerometer data of the inertia measurement unit corresponding to the attitude of a calibration plate when the inertia measurement unit and a main lens of the panoramic shooting equipment are calibrated;
the calibration module is used for estimating the rotation amount between the coordinate system of the inertia measurement unit and the coordinate system of the main lens of the panoramic shooting equipment based on the acquired calibration plate images vertically placed at different attitude positions and the corresponding data of the triaxial accelerometer of the inertia measurement unit;
the synchronization module is used for synchronizing the time stamp of the inertial measurement unit and the time stamp of the panoramic video;
the calculation module is used for obtaining a rotation matrix M according to a rotation matrix between the inertia measurement unit and the main lens of the panoramic shooting equipment and the four elements of the attitude of the current frame;
and the processing module is used for projecting the panoramic image of the current frame onto the panoramic spherical surface, rotating the panoramic spherical surface image by using the rotation matrix M, and projecting the rotated panoramic spherical surface image back to the panoramic plane image to obtain a stable panoramic video frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851461.8A CN108933896B (en) | 2018-07-30 | 2018-07-30 | Panoramic video image stabilization method and system based on inertial measurement unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810851461.8A CN108933896B (en) | 2018-07-30 | 2018-07-30 | Panoramic video image stabilization method and system based on inertial measurement unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108933896A CN108933896A (en) | 2018-12-04 |
| CN108933896B true CN108933896B (en) | 2020-10-02 |
Family
ID=64445270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810851461.8A Active CN108933896B (en) | 2018-07-30 | 2018-07-30 | Panoramic video image stabilization method and system based on inertial measurement unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108933896B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109561253B (en) * | 2018-12-18 | 2020-07-10 | 影石创新科技股份有限公司 | Method and device for preventing panoramic video from shaking, portable terminal and storage medium |
| CN109561254B (en) | 2018-12-18 | 2020-11-03 | 影石创新科技股份有限公司 | Method and device for preventing panoramic video from shaking and portable terminal |
| WO2020198963A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Data processing method and apparatus related to photographing device, and image processing device |
| CN110933309A (en) * | 2019-12-03 | 2020-03-27 | 深圳市圆周率软件科技有限责任公司 | Panoramic anti-shake method and system for multi-view panoramic camera |
| CN114040128B (en) * | 2021-11-24 | 2024-03-01 | 视辰信息科技(上海)有限公司 | Time stamp delay calibration method, system, equipment and computer readable storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104333675A (en) * | 2014-10-20 | 2015-02-04 | 长春理工大学 | Panoramic electronic image stabilization method based on spherical projection |
| CN106251305A (en) * | 2016-07-29 | 2016-12-21 | 长春理工大学 | A kind of realtime electronic image stabilizing method based on Inertial Measurement Unit IMU |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10012504B2 (en) * | 2014-06-19 | 2018-07-03 | Regents Of The University Of Minnesota | Efficient vision-aided inertial navigation using a rolling-shutter camera with inaccurate timestamps |
-
2018
- 2018-07-30 CN CN201810851461.8A patent/CN108933896B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104333675A (en) * | 2014-10-20 | 2015-02-04 | 长春理工大学 | Panoramic electronic image stabilization method based on spherical projection |
| CN106251305A (en) * | 2016-07-29 | 2016-12-21 | 长春理工大学 | A kind of realtime electronic image stabilizing method based on Inertial Measurement Unit IMU |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108933896A (en) | 2018-12-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108933896B (en) | Panoramic video image stabilization method and system based on inertial measurement unit | |
| Karpenko et al. | Digital video stabilization and rolling shutter correction using gyroscopes | |
| CN106875451B (en) | Camera calibration method and device and electronic equipment | |
| US9967463B2 (en) | Method for camera motion estimation and correction | |
| JP5659305B2 (en) | Image generating apparatus and image generating method | |
| CN108038886B (en) | Binocular camera system calibration method and device and automobile | |
| CN107113376B (en) | A kind of image processing method, device and video camera | |
| JP5769813B2 (en) | Image generating apparatus and image generating method | |
| CN103873758B (en) | The method, apparatus and equipment that panorama sketch generates in real time | |
| JP5865388B2 (en) | Image generating apparatus and image generating method | |
| EP3296952B1 (en) | Method and device for blurring a virtual object in a video | |
| JP2020506487A (en) | Apparatus and method for obtaining depth information from a scene | |
| EP1946567A2 (en) | Device for generating three dimensional surface models of moving objects | |
| CN107370941B (en) | Information processing method and electronic equipment | |
| US10602067B2 (en) | Image processing apparatus, image processing method, image pickup apparatus and storage medium that calculates a correction quality to correct a shake of viewpoint images and a mixture ratio for generation of a virtual viewpoint when generating the virtual viewpoint image using an amount of change in position of an imaging unit | |
| CN107231526B (en) | Image processing method and electronic device | |
| CN108053375B (en) | Image data correction method and device and automobile | |
| CN110022444A (en) | The panorama photographic method of unmanned flight's machine and the unmanned flight's machine for using it | |
| CN112204946A (en) | Data processing method, device, movable platform and computer readable storage medium | |
| US11212510B1 (en) | Multi-camera 3D content creation | |
| CN110337668B (en) | Image stability augmentation method and device | |
| WO2019119597A1 (en) | Method for implementing planar recording and panoramic recording by coordination between mobile terminal and lens assembly and lens assembly | |
| CN111712857A (en) | Image processing method, device, holder and storage medium | |
| CN110800023A (en) | Image processing method and equipment, camera device and unmanned aerial vehicle | |
| CN114390186A (en) | Video shooting method and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |