CN108965827A - Panoramic video monitoring device and imaging method based on the device - Google Patents

Panoramic video monitoring device and imaging method based on the device Download PDF

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Publication number
CN108965827A
CN108965827A CN201810962005.0A CN201810962005A CN108965827A CN 108965827 A CN108965827 A CN 108965827A CN 201810962005 A CN201810962005 A CN 201810962005A CN 108965827 A CN108965827 A CN 108965827A
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China
Prior art keywords
camera
image
parabolic mirror
video monitoring
imaging
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CN201810962005.0A
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Chinese (zh)
Inventor
鲁檬
蒋大伟
布仁吉日嘎
申研
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Beijing Machinery Equipment Research Institute
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Beijing Machinery Equipment Research Institute
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Publication of CN108965827A publication Critical patent/CN108965827A/en
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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
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

The present invention provides a kind of panoramic video monitoring device and based on the imaging method of the device, belong to field of video monitoring, which includes: first camera, second camera, parabolic mirror and single-chip microcontroller；The reflecting surface of the angle of view face parabolic mirror of first camera, the first camera angle of view can cover parabolic mirror, second camera camera lens is contrary with the field angle of first camera camera lens, and the optical axis of first camera and second camera and the axis of parabolic mirror are coaxial, single-chip microcontroller can obtain the image information of first camera and second camera acquisition, and image information is carried out splicing fusion.The device and its imaging method can generate two kinds of emphasis differences but the mutual corresponding panoramic picture of image information, solve blind zone problem caused by traditional refractive and reflective panorama imaging device is blocked because of camera, and can show two kinds of panoramic pictures, user selects corresponding display area according to actual monitored demand.

Description

Panoramic video monitoring device and imaging method based on the device
Technical field
The present invention relates to technical field of video monitoring, and in particular to a kind of panoramic video monitoring device and based on the device Imaging method.
Background technique
Currently, the method for obtaining panoramic imagery is mainly formed by image mosaic and using special optical element two major classes.Figure As splicing system includes rotating camera system and multicamera system, special optical element system includes fish eye lens system, annular Lens system and mirror-lens system.The features such as wherein Catadioptric omnidirectional imaging system has camera quantity few, and real-time is good is applicable in In big visual field real time imagery occasion.Although its available 360 ° of visual field scope in the horizontal direction, due to the screening of camera Gear, there are certain blind areas for device lower section, can not obtain complete scene overhead view image.In protection and monitor field, monitoring device Focus on 360 ° of level and overlook region obtain full scene information ability.Therefore, traditional refractive and reflective panorama imaging Device affects it in the extensive use of protection and monitor field there are this defect of blind area.
Summary of the invention
The first object of the present invention is to provide a kind of panoramic video monitoring device, which can be real The splicing of the image of existing different imaging modes generates two kinds of emphasis differences but the mutual corresponding panoramic picture of image information, solution Blind zone problem caused by certainly traditional refractive and reflective panorama imaging device is blocked because of camera, and two kinds of panoramic pictures can be shown simultaneously, User selects corresponding display area according to actual monitored demand.
The second object of the present invention is to provide a kind of imaging method based on above-mentioned panoramic video monitoring device, utilizes this Method can guarantee the picture quality of catadioptric imaging moiety, and be overlooked in blind area using second camera supplemented with first camera Image information.
The third object of the present invention is to provide a kind of another imaging method based on above-mentioned panoramic video monitoring device, Perspective projection method is used using this method, emphasis guarantees the picture quality of second camera imaging moiety, refractive and reflective panorama imaging System extends the visual field of second camera.
Based on above-mentioned first purpose, panoramic video monitoring device provided by the invention, comprising: first camera, second camera, Parabolic mirror and single-chip microcontroller；
The first camera and the second camera are located at the same side of the reflecting surface of the parabolic mirror, and described The reflecting surface of parabolic mirror described in the angle of view face of one camera, the first camera angle of view can cover The parabolic mirror, the second camera camera lens is contrary with the field angle of first camera camera lens, and described first Camera and the optical axis of the second camera and the axis of the parabolic mirror are coaxial, and the single-chip microcontroller can obtain described The image information of one camera and second camera acquisition, and image information is subjected to splicing fusion.
Further, by the reflection of parabolic mirror, the limited field angle of the first camera can extend to 360 Degree；
The second camera synchronous imaging, the field angle of the second camera can be covered to be blocked by the first camera and be made At blind area, and the image content of the second camera and the first camera can generate overlapping region.
Further, the imaging process of the first camera:
The inverse projection process being imaged using paraboloid, the coordinate mapping established between actual imaging plane and virtual image planes are closed System, inverse mapping formula are as follows:
Wherein, DMFor the bore of parabolic mirror, θmaxIt is first camera in the field angle of short transverse, β is industrial phase Machine telecentric lens spatial magnification；(xp 2, yp 2, zp 2) be space any point P coordinate, (xq, yq) it is point P in first camera reality The coordinate of the picture point q of border imaging plane.
Further, further include shell for accommodating the first camera and the parabolic mirror.
Further, the shell includes upper cover, light-transmission tube and support tube；
The upper cover is connect with light-transmission tube one end, and the support tube and the light-transmission tube connect far from one end of the upper cover It connects；
The parabolic mirror is connect with upper cover lower end, and the first camera passes through first camera mounting rack and the branch Stay tube is connected close to one end of the parabolic mirror, and the second camera passes through second camera mounting rack and the support tube One end far from the parabolic mirror connects.
Further, the light-transmission tube uses tapered glass tube, and the major diameter open end of the light-transmission tube connects on described The minor diameter open end of lid, the light-transmission tube connects the support tube.
Further, the shell further includes the light permeable protection to accommodate the second camera, the light transmission protection Cover is connect with the support tube.
It further, further include mounting bracket, the mounting bracket and the cage connection are set inside the mounting bracket Set the electric source line interface and data line interface with the monolithic mechatronics.
Based on above-mentioned second purpose, the present invention provides a kind of imaging sides based on above-mentioned panoramic video monitoring device Method, the imaging method the following steps are included:
Step S1, the virtual image planes that first camera is arranged are the plane vertical with imaging system symmetry axis Z, obtain catadioptric The perspective image of panoramic imagery so that the image of first camera and second camera projects in unified plane, it is described at The axis as where the axis that symmetry system having symmetry axis Z is the first camera, the optical axis of the second camera and the parabolic mirror；
Step S2, the splicing carried out to the image of the first camera and second camera projected in unified plane are merged.
Based on above-mentioned third purpose, the present invention provides a kind of imaging sides based on above-mentioned panoramic video monitoring device Method, the imaging method the following steps are included:
Step S1 ', the virtual image planes that first camera is arranged are cylindrical surface of the symmetry axis using imaging system symmetry axis Z, are obtained The cylinder panoramic image being imaged to refractive and reflective panorama, then converts the first rectangle plane image for cylinder panoramic image；
Meanwhile the image of second camera is mapped on the spherical surface of certain radius, determines A point and ball on the image of second camera The image of second camera by spherical Map is mapped to institute according to longitude and latitude projection method by the mapping relations of face corresponding points M again State the first rectangle plane image institute in the plane.
Step S2 ', the first rectangle plane image and the second camera image on the plane that first camera is formed Splicing fusion.
By adopting the above technical scheme, the beneficial effects of the present invention are as follows:
Panoramic video monitoring device provided by the invention includes: first camera, second camera, parabolic mirror and monolithic Machine；First camera and the second camera are located at the same side of the reflecting surface of parabolic mirror, the camera lens visual field of first camera The reflecting surface of angle face parabolic mirror, the first camera angle of view can cover parabolic mirror, second camera mirror Head is contrary with the field angle of first camera camera lens, and the optical axis and parabolic mirror of first camera and second camera Axis is coaxial, and single-chip microcontroller can obtain the image information of first camera and second camera acquisition, and image information is spliced Fusion.The panoramic video monitoring device can be realized the splicing of the image of different imaging modes, generate two kinds of emphasis it is different but The mutual corresponding panoramic picture of image information solves blind area caused by traditional refractive and reflective panorama imaging device is blocked because of camera and asks Topic, and two kinds of panoramic pictures can be shown simultaneously, user selects corresponding display area according to actual monitored demand.
The first imaging method based on above-mentioned panoramic video monitoring device provided by the invention, can guarantee catadioptric at As the picture quality of part, and using second camera supplemented with the image information in first camera vertical view blind area.
The present invention provides second of imaging method based on above-mentioned panoramic video monitoring device, using this method using perspective Projecting method, emphasis guarantee that the picture quality of second camera imaging moiety, Catadioptric omnidirectional imaging system extend second camera The visual field.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the main view of panoramic video monitoring device provided in an embodiment of the present invention；
Fig. 2 is the catadioptric imaging schematic diagram of panoramic video monitoring device provided in an embodiment of the present invention；
Fig. 3 is that the schematic diagram of blind area is overlooked in the elimination of panoramic video monitoring device provided in an embodiment of the present invention；
Fig. 4 is the throwing for the perspective image that the catadioptric of panoramic video monitoring device provided in an embodiment of the present invention is imaged Shadow schematic diagram；
Fig. 5 is the throwing for the cylinder panoramic image that the catadioptric of panoramic video monitoring device provided in an embodiment of the present invention is imaged Shadow schematic diagram；
Fig. 6 is the spherical projection theory that the regular camera of panoramic video monitoring device provided in an embodiment of the present invention is imaged Figure；
Fig. 7 is the longitude and latitude projection projection of regular camera imaging in panoramic video monitoring device provided in an embodiment of the present invention Schematic diagram.
Icon: 1- first camera；2- second camera；3- parabolic mirror；4- first camera mounting rack；5- second camera Mounting rack；6- light-transmission tube；7- light permeable protection；8- upper cover；9- support tube；10- mounting bracket；11- single-chip microcontroller；12- power supply line Interface；13- data line interface.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ", " third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
It please refers to shown in Fig. 1；The panoramic video monitoring device provided in the embodiment of the present invention includes: first camera 1, second Camera 2, parabolic mirror 3 and single-chip microcontroller 11.
Wherein, first camera 1 and second camera 2 are located at the same side of the reflecting surface of parabolic mirror 3, first camera 1 Angle of view face parabolic mirror 3 reflecting surface so that can to cover paraboloid anti-for 1 angle of view of first camera Penetrate mirror 3.
2 camera lens of second camera is contrary with the field angle of 1 camera lens of first camera, and first camera 1 and second camera 2 Optical axis and parabolic mirror 3 axis it is coaxial, single-chip microcontroller 11 is electrically connected with first camera 1 and second camera 2 respectively, monolithic Machine 11 can obtain the image information that first camera 1 and second camera 2 acquire, and image information is carried out splicing fusion.
As shown in Figure 1, when it is implemented, the reflecting surface of parabolic mirror 3 downward, the camera lens of first camera 1 regards Upward, 1 angle of view of first camera can cover the reflecting surface of parabolic mirror 3 for rink corner；The optical axis of first camera 1 Straight up, second camera 2 is arranged in the lower section of first camera 1, the field angle of second camera 2 downward, second camera 2 Optical axis straight down, first camera 1, second camera 2 optical axis and parabolic mirror 3 axis it is coaxially arranged.
Single-chip microcontroller 11 obtains the real-time image information acquired by first camera 1 and second camera 2 by data line respectively, and The image information is merged, while also controlling the operation and power supply of first camera 1 and second camera 2.
As an optimal technical scheme of the invention, which further includes for accommodating first camera 1 and parabolic mirror 3 shell.Shell primarily serves protective effect.
As an optimal technical scheme of the invention, which includes upper cover 8, light-transmission tube 6 and support tube 9.
When it is implemented, upper cover 8 is located at the top of whole device, 8 bottom surface of upper cover and 6 one end of light-transmission tube (being illustrated as upper end) Connection, it is preferable that for 6 upper end of light-transmission tube by that can be adhesively fixed by solid gum and the lower end of upper cover 8, support tube 9 is saturating with this One end (be illustrated as lower end) connection of the light pipe 6 far from upper cover 8, it is preferable that support tube 9 and light-transmission tube 6 can also use solid gum It is fixed.
Parabolic mirror 3 is located in light-transmission tube 6, and the fixing end of parabolic mirror 3 is connect with 8 lower end of upper cover, preferably Ground, the fixing end of parabolic mirror 3 and 8 lower end of upper cover use thread connecting mode, to facilitate the two to be dismantled.
First camera 1 is connect with support tube 9 close to one end of parabolic mirror 3 by first camera mounting rack 4, together When, first camera 1 can extend into light-transmission tube 6.Preferably, the outer rim of first camera mounting rack 4 is connected by bayonet support tube 9 It connects, in order to which the two is dismantled.The optical axis of first camera 1 and the axis of parabolic mirror 3 are coaxially arranged.
Second camera mounting rack 5 is located at the lower section of first camera mounting rack 4, second camera 2 by second camera mounting rack 5 with Support tube 9 is connected far from one end of parabolic mirror 3.Preferably, the outer rim of second camera mounting rack 5 passes through solid gum and branch Stay tube 9 is fixed, and second camera mounting rack 5 is by the fixed second camera 2 of screw, under 2 optical axis of second camera is vertical, with first camera 1 light shaft coaxle arrangement.
As an optimal technical scheme of the invention, above-mentioned light-transmission tube 6 uses tapered glass tube, the light-transmission tube 6 Major diameter open end upward, and connects upper cover 8；The minor diameter open end of light-transmission tube 6 downward, and connects support tube 9.
As an optimal technical scheme of the invention, above-mentioned shell further includes the light transmission to accommodate second camera 2 Protective cover 7, the light permeable protection 7 are connect with support tube 9.The light permeable protection 7 is set as transparent light permeable protection 7, by solid Body glue is connect with support tube 9, in order to which second camera 2 is found a view.
One closed shell can be surrounded by above-mentioned upper cover 8, light-transmission tube 6, support tube 9 and light permeable protection 7 jointly, Play the protective effect to first camera 1, second camera 2 and parabolic mirror 3.
As an optimal technical scheme of the invention, single-chip microcontroller 11 is arranged in support tube 9.
It further include mounting bracket 10, mounting bracket 10 and cage connection, peace as an optimal technical scheme of the invention The electric source line interface 12 and data line interface 13 being electrically connected with single-chip microcontroller 11 are set inside dress bracket 10.
When it is implemented, mounting bracket 10 is located at 9 side of support tube, 10 one end of mounting bracket is fixed by screws in support On the outer wall of pipe 9.Electric source line interface 12 is located in the lumen of mounting bracket 10, passes through electricity in solid gum and 10 lumen of mounting bracket Source line interface mounting groove is fixed.Data line interface 13 is located at mounting bracket 10 in lumen, passes through solid gum and mounting bracket 10 Intraluminal data line interface mounting groove is fixed.
Single-chip microcontroller 11 is signal processing and the control centre of panoramic video monitoring device of the present invention, passes through electric wire and power supply line Interface 12 connects, which connect with external power cord, provides stable power supply for single-chip microcontroller 11.Single-chip microcontroller 11 is logical It crosses USB data line and obtains the real-time image information that first camera 1 and second camera 2 acquire respectively, and image information is melted It closes, while also controlling the operation and power supply of two cameras.
As shown in Figures 2 and 3, when work, the optical axis of first camera 1 straight up, cover by the angle of view of first camera 1 Therefore lid parabolic mirror 3 by the reflection of parabolic mirror 3, the limited field angle of first camera 1 can be extended To 360 ° of level, real-time capturing panoramic view image；Meanwhile the optical axis of second camera 2 is straight down, 2 synchronous imaging of second camera, the Certain area below the angle of view cladding system of two cameras 2.The field angle of second camera 2 can be covered by first camera 1 Blind area caused by blocking, and the image content of second camera 2 and first camera 1 can generate overlapping region.Pass through single-chip microcontroller 11 obtain the image-forming information of first camera 1 and second camera 2, realize the splicing of the image of different imaging modes, generate two kinds of sides Emphasis is different but the mutual corresponding panoramic picture of image information, the traditional refractive and reflective panorama imaging device of solution cause because camera blocks Blind zone problem, and display system can show two kinds of panoramic pictures simultaneously, and user selects corresponding according to actual monitored demand Display area.
Such as Fig. 4 and Fig. 5, since parabolic mirror 3 is rotational symmetry curved surface, analytic process can two-dimensional space into Row.X0Z coordinate system is established, wherein coordinate origin 0 is parabolic focus.According to paraboloidal characteristic, arbitrarily pass through paraboloid The incident ray of focus all thrown object face reflecting mirrors 3 are reflected into the parallel rays for being parallel to its symmetry axis.When obtaining image, warp The incident ray for crossing parabolic focus O is propagated by reflection along its positive direction of Z axis is parallel to, by the folding of 1 lens of first camera It penetrates, is finally imaged on the imaging unit CCD of first camera 1.
For the imaging process of first camera 1, the inverse projection process being imaged using paraboloid, establish actual imaging plane with Coordinate mapping relations between virtual image planes, inverse mapping formula are as follows:
Wherein, DMFor the bore of parabolic mirror 3, θmaxIt is first camera system in the field angle of short transverse, β is Industrial camera telecentric lens spatial magnification；(xp 2, yp 2, zp 2) be space any point P coordinate, (xq, yq) it is point P first The coordinate of the picture point q of 1 actual imaging plane of camera.
As shown in figure 4, illustrating a kind of imaging method based on above-mentioned panoramic video monitoring device, the imaging method below The following steps are included:
The virtual image planes of step S1, setting first camera 1 are the plane vertical with imaging system symmetry axis Z, are obtained catadioptric The perspective image of panoramic imagery is penetrated, so that the image of first camera 1 and second camera 2, which projects in unified plane, (to be needed It is noted that plane unified here in the present embodiment refers to horizontal plane), which is described the Axis where the axis of one camera 1, the optical axis of second camera 2 and the parabolic mirror 3；
Step S2, the splicing carried out to the image of the first camera 1 and second camera 2 projected in unified plane are melted It closes.
Using above-mentioned imaging method (i.e. image mosaic fusion process), the image quality of second camera 2 is ensured, has protected simultaneously The scene information for having stayed first camera 1 to capture.
Illustrate that second of imaging method based on above-mentioned panoramic video monitoring device, the imaging method include following below Step:
Step S1 ', as shown in figure 5, the virtual image planes of setting first camera 1 are that symmetry axis uses imaging system symmetry axis Z Cylindrical surface, obtain refractive and reflective panorama imaging cylinder panoramic image, then convert the first rectangle for cylinder panoramic image and put down Face image；
Meanwhile as shown in fig. 6, the image of second camera 2 is mapped on the spherical surface of certain radius, second camera 2 is determined The mapping relations of A point and spherical surface corresponding points M on image will pass through the figure of the second camera 2 of spherical Map according to longitude and latitude projection method As being mapped to the first rectangle plane image again in the plane.
Step S2 ', as shown in fig. 7, to first camera 1 formed the first rectangle plane image and second camera 2 described Image mosaic fusion in plane.
Using above-mentioned imaging method (i.e. image mosaic fusion process), the image mapping quality of first camera 1 has been ensured, together When first camera 1 blind area supplemented by the image of second camera 2.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (10)

1. a kind of panoramic video monitoring device characterized by comprising first camera, second camera, parabolic mirror and list Piece machine；
The first camera and the second camera are located at the same side of the reflecting surface of the parabolic mirror, first phase The reflecting surface of parabolic mirror described in the angle of view face of machine, the first camera angle of view can cover described Parabolic mirror, the second camera camera lens is contrary with the field angle of first camera camera lens, and the first camera Coaxial with the axis of the optical axis and the parabolic mirror of the second camera, the single-chip microcontroller can obtain first phase The image information of machine and second camera acquisition, and image information is subjected to splicing fusion.
2. panoramic video monitoring device according to claim 1, which is characterized in that the limited field angle of the first camera Horizontal 360-degree can be extended to by the reflection of parabolic mirror；
The second camera synchronous imaging, the field angle of the second camera can be covered blocked as the first camera caused by Blind area, and the image content of the second camera and the first camera can generate overlapping region.
3. panoramic video monitoring device according to claim 1 or 2, which is characterized in that the imaging of the first camera Journey:
The inverse projection process being imaged using paraboloid, establishes the coordinate mapping relations between actual imaging plane and virtual image planes, Inverse mapping formula are as follows:
Wherein, DMFor the bore of parabolic mirror, θmaxIt is first camera in the field angle of short transverse, β is that industrial camera is remote Heart lens space magnifying power；(xp 2, yp 2, zp 2) be space any point P coordinate, (xq, yq) be point P first camera actually at As the coordinate of the picture point q of plane.
4. panoramic video monitoring device according to claim 1-3, which is characterized in that further include for accommodating State the shell of first camera and the parabolic mirror.
5. panoramic video monitoring device according to claim 4, which is characterized in that the shell includes upper cover, light-transmission tube And support tube；
The upper cover is connect with light-transmission tube one end, and the support tube is connect with the light-transmission tube far from one end of the upper cover；
The parabolic mirror is connect with upper cover lower end, and the first camera passes through first camera mounting rack and the support tube It is connected close to one end of the parabolic mirror, the second camera is separate by second camera mounting rack and the support tube One end of the parabolic mirror connects.
6. panoramic video monitoring device according to claim 5, which is characterized in that the light-transmission tube uses cone-shaped glass Pipe, the major diameter open end of the light-transmission tube connect the upper cover, and the minor diameter open end of the light-transmission tube connects the support Pipe.
7. panoramic video monitoring device according to claim 5, which is characterized in that the shell further includes to accommodate The light permeable protection of second camera is stated, the light permeable protection is connect with the support tube.
8. according to the described in any item panoramic video monitoring devices of claim 4-7, which is characterized in that it further include mounting bracket, The mounting bracket and the cage connection, the electric source line interface of the mounting bracket inside setting and the monolithic mechatronics And data line interface.
9. a kind of imaging method based on the described in any item panoramic video monitoring devices of claim 1-8, which is characterized in that packet Include following steps:
Step S1, the virtual image planes that first camera is arranged are the plane vertical with imaging system symmetry axis Z, obtain refractive and reflective panorama The perspective image of imaging, so that the image of first camera and second camera projects in unified plane, the imaging system System symmetry axis Z is axis where the axis of the first camera, the optical axis of the second camera and the parabolic mirror；
Step S2, the splicing carried out to the image of the first camera and second camera projected in unified plane are merged.
10. a kind of imaging method based on the described in any item panoramic video monitoring devices of claim 1-8, which is characterized in that The following steps are included:
Step S1 ', the virtual image planes that first camera is arranged are cylindrical surface of the symmetry axis using imaging system symmetry axis Z, are rolled over The cylinder panoramic image of reflective panorama imaging, then converts the first rectangle plane image for cylinder panoramic image；
Meanwhile the image of second camera is mapped on the spherical surface of certain radius, determines A point and spherical surface pair on the image of second camera Should point M mapping relations, described the will be mapped to again by the image of the second camera of spherical Map according to longitude and latitude projection method One rectangle plane image institute is in the plane.
Step S2 ', the first rectangle plane image and the second camera image mosaic on the plane that first camera is formed Fusion.
CN201810962005.0A 2017-12-07 2018-08-22 Panoramic video monitoring device and imaging method based on the device Withdrawn CN108965827A (en)

Applications Claiming Priority (2)

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CN2017112864624 2017-12-07
CN201711286462 2017-12-07

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CN108965827A true CN108965827A (en) 2018-12-07

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Application publication date: 20181207