CN109697745A - Barrier perspective method and barrier arrangement for perspective - Google Patents
Barrier perspective method and barrier arrangement for perspective Download PDFInfo
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- CN109697745A CN109697745A CN201711001278.0A CN201711001278A CN109697745A CN 109697745 A CN109697745 A CN 109697745A CN 201711001278 A CN201711001278 A CN 201711001278A CN 109697745 A CN109697745 A CN 109697745A
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- 230000004888 barrier function Effects 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims description 24
- 230000009466 transformation Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 12
- 230000004927 fusion Effects 0.000 claims description 6
- 238000002156 mixing Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/60—Editing figures and text; Combining figures or text
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Studio Devices (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of barrier perspective methods.The barrier perspective method is comprising steps of acquire at least two images that scheduled barrier section blocks from least two different perspectivess；The part blocked in at least two images by barrier is deleted, at least two width is generated and reserves image；Determine that at least two width reserve the stitching position of image；Splice at least two width and reserves image.The present invention further discloses corresponding barrier arrangement for perspective.Barrier perspective method and barrier arrangement for perspective disclosed by the invention are intended to blind area caused by reducing or eliminating barrier.
Description
Technical field
The present invention relates to a kind of barrier perspective method and barrier arrangement for perspective.
Background technique
It in the presence of having barrier, tends to form blind area, observer or filming apparatus can not obtain
The visual field of shelter stop portions, so that complete picture can not be obtained.For example, windshield on automobile and front door it
Between column play a supportive role and be called A column, A column causes to regard due to that can block driver part sight in the process of moving
Feel blind area.The presence of pillar A blind is to cause the one of the major reasons of traffic accident, and sight is blocked inconvenient especially in driver turn
That embodies during curved or lane-change becomes apparent, so the narrower A column theoretically the better, and A column supports automobile front weight
It is required that there is certain intensity, therefore causes barrier and can not eliminate contradiction between the integrality demand of the visual field.
Notification number is that the Taiwan Patent of TWI267061 discloses a kind of method of processing multi-layer image picture overlapping, the party
Whether method comprises the steps of the shielding weight of one first picture data of detecting between a preset range；And when first picture
When the shielding weight system of face data is in the preset range, according to first picture data, one second picture data, and it is somebody's turn to do
The shielding weight of second picture data generates a third picture data.The disclosure of TWI267061 provide a kind of multilayer picture optical with
The method of translucent form overlapping display, however blind area caused by it still fails for reducing or eliminating barrier.
Summary of the invention
In view of this, it is necessary to provide a kind of barrier perspective method and barrier arrangement for perspective, to reduce or eliminate barrier
Hinder blind area caused by object.
A kind of barrier perspective method hides comprising steps of acquiring scheduled barrier section from least two different perspectivess
At least two images of gear；The part blocked in at least two images by barrier is deleted, the reserved figure of at least two width is generated
Picture；Determine that at least two width reserve the stitching position of image；Splice at least two width and reserves image.
Preferably, adjacent two visual angle has overlapping region at least two different perspectives.
Preferably, determining that the step of at least two width reserve the stitching position of image specifically includes: according to it is described extremely
The pre-set dimension of few two different perspectivess and at least two images determines the location information of at least two images；It compares
The location information of adjacent image is referring to calculating angular transformation amount and translation transformation amount with a wherein image.
Preferably, determining that the step of at least two width reserve the stitching position of image specifically includes: to adjacent pre-
Image is stayed to carry out feature extraction；It compares the feature extracted and carries out image registration.
Preferably, described compare the feature extracted and specifically include the step of carrying out image registration: according to adjacent image
The position of middle lap determines the transformation relation of two images, finds out the transformation model of mapping relations between image to be spliced；
The registration of multiple image is realized in the way of one or more registrations.
Preferably, being further comprised the steps of: reserved with a wherein width before splicing the step of at least two width reserve image
Image is reference, reserves other reserved images in image at least two width and carries out size change over.
Preferably, being further comprised the steps of: reserved with a wherein width before splicing the step of at least two width reserve image
Image is reference, reserves other reserved images in image at least two width and carries out resolution conversion.
It is specifically included preferably, splicing the step of at least two width reserve image: to pair of adjacent reserved image
Sub-region right is answered to merge, which is realized using the blending algorithm of Pixel-level.
A kind of barrier arrangement for perspective, including a photographic device and a processing unit, the photographic device include at least two
The direction of group camera, at least two groups camera is different；The signal output end of at least two groups camera is connected to institute
State processing unit；After the processing unit receives at least two groups camera shooting information of at least two groups camera, by described at least
Two groups of camera shooting information fusions, form the panoramic information of a presumptive area.
Preferably, the visual angle of two adjacent groups camera has overlapping region in at least two groups camera.
It is scheduled by being acquired from least two different perspectivess in above-mentioned barrier perspective method and barrier arrangement for perspective
After at least two images that barrier section blocks, the part blocked in at least two images by barrier is deleted, is generated
At least two width reserve image, and splice at least two width and reserve image, then at least two width are reserved in image, are not hidden by barrier
The part of gear will be summed it up, to obtain the image that a width partially or completely eliminates shield portions, realize perspective barrier
Purpose, and then to reduce or eliminate blind area caused by barrier.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the barrier arrangement for perspective in a preferred embodiment.
Fig. 2 is the operation principle schematic diagram of the barrier arrangement for perspective in Fig. 1.
Fig. 3 is operation principle schematic diagram of the barrier arrangement for perspective in another preferred embodiment.
Main element symbol description
100A the first barrier arrangement for perspective
100B the second barrier arrangement for perspective
10 first cameras
20 second cameras
30 barriers
40 target images
50 third cameras
60 the 4th cameras
101 first preset boundaries
102 second preset boundaries
103 first revise the boundary
201 third preset boundaries
202 the 4th preset boundaries
203 second revise the boundary
First visual field A1
Second visual field A2
B1 A Third Position
401 first reserved images
402 first shielded images
403 second reserved images
404 second shielded images
405 blending images
406 residual shielded images
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
As depicted in figs. 1 and 2, barrier arrangement for perspective includes a photographic device (not indicating in figure) and a processing unit
(not shown).Wherein, photographic device includes at least two groups camera, and the direction of at least two groups camera is different.Below
The first camera 10 selected in barrier arrangement for perspective and second camera 20 are illustrated in embodiment.
The visual angle of first camera 10 and second camera 20 has overlapping region.First camera 10 and second camera
20 signal output end is connected to processing unit, which can be selected a microprocessor.Processing unit receives the first camera shooting
First 10 and second camera 20 two groups of camera shooting information after, two groups of camera shooting information are merged, the panorama letter of a presumptive area is formed
Breath.Panoramic information herein can be regarded as the adduction for the part that do not blocked by barrier 30 in two groups of camera shooting information, i.e. a width portion
Divide or completely eliminate the image of shield portions.
It is elaborated below with reference to working principle of the barrier perspective method to barrier arrangement for perspective.
For example, the complete image of photographic device target image 40 to be acquired.However, due to the presence of barrier 30, first
The visual field of camera 10 and second camera 20 by 30 partial occlusion of barrier, leads to the first camera 10, second camera
20 can not the complete target image 40 of independent acquisition complete image.At this point, due to the first camera 10, second camera 20
Visual angle it is different, and the visual angle of the first camera 10 and second camera 20 has an overlapping region, therefore the first camera 10 and the
Two groups of camera shooting information of two cameras 20 can be merged mutually.
The first image is acquired by the first camera 10, the second image is acquired by second camera 20.
As shown in the upper left of Fig. 2, the theoretical visual field of the first camera 10 is preset by the first preset boundary 101 and second
Boundary 102 is defined, and along both the first preset boundary 101 and the splicing of the second preset boundary 102.Due to depositing for barrier 30
The practical visual field of, the first camera 10 be the first preset boundary 101 and first revise the boundary 103 intermediate region；Therefore first
Camera 10 can only collect target image 40 positioned at the first preset boundary 101 and the first amendment when acquiring target image 40
The first reserved image 401 between boundary 103, target image 40 be located at the first preset boundary 101 and first revise the boundary 103 it
Outer part is then denoted as the first shielded image 402.
Similarly, as shown in the upper right portion of Fig. 2, the theoretical visual field of second camera 20 is by third preset boundary 201 and
Four preset boundaries 202 define.Due to the presence of barrier 30, the practical visual field of second camera 20 is the 4th preset boundary 202
Revise the boundary with second 203 intermediate region can only collect target image 40 positioned at the 4th therefore when acquiring target image 40
Preset boundary 202 and second the second reserved image 403 for revising the boundary between 203, target image 40 are located at the 4th preset boundary
202 and second the part that revises the boundary except 203 be then denoted as the second shielded image 404.
First reserved image 401 and the second reserved image 403 cannot constitute the complete image of target image 40.First hides
Gear image 402 and the second shielded image 404 form the blind area of the first camera 10, second camera 20.Actually answering
In, it is desirable to reduce or eliminate blind area.
To achieve the purpose that reduce or eliminate blind area, can by along first revise the boundary 103 and second amendment side
Boundary 203 splices, and the first reserved image 401 and the second reserved image 403 are superimposed.
Also that is, the stitching position of the first reserved image 401, the second reserved image 403 can be realized by the following method: according to
The pre-set dimension of first camera 10, the visual angle of second camera 20 and the first image, the second image determines the first image, second
The location information of image compares the location information of the first image, the second image, is referring to another image of calculating with a wherein image
Relative to the angular transformation amount and translation transformation amount referring to image.
First reserved image 401, the second reserved image 403 stitching position can also realize by the following method: to
One reserved image 401, the second reserved image 403 carry out feature extraction；It compares the feature extracted and carries out the first reserved image
401, the registration of the second reserved image 403.It compares the feature extracted and the step of carrying out image registration may particularly include: according to the
The position of lap in one reserved image 401, the second reserved image 403 determines the reserved figure of the first reserved image 401, second
As 403 transformation relation, the transformation of mapping relations between the reserved image 401 of to be spliced first, the second reserved image 403 is found out
Model；The registration of multiple image is realized in the way of one or more registrations.The method of image registration can be used in the prior art
Method realize that, because being the prior art of maturation, therefore details are not described herein.
It, can be by a processing unit, such as after the stitching position for determining the first reserved image 401, the second reserved image 403
One microprocessor splices the first reserved image 401, the second reserved image 403.First reserved image 401, second is reserved
Image 403, which carries out splicing, to be realized by the method for Weighted Fusion.The blending algorithm that Pixel-level can be used in the Weighted Fusion is realized.
The blending image 405 that first reserved image 401, the second reserved image 403 obtain after merging is as shown in the lower part of figure 2.Specific
In implementation, the factors such as visual angle by the size of barrier 30, boundary and the first camera 10, second camera 20 are influenced,
Blending image 405 may be the complete image of target image 40, it is also possible to there is residual shielded image 406, but finally can
Achieve the purpose that blind area caused by reducing or eliminating barrier 30.
And be directed to the part of spliced residual shielded image 406, then it can handle in several ways；It is one of real
Applying example is, to close on the reserved image to revise the boundary as map file, mirror image to be generated, to insert residual Occlusion Map using mirror image processing
As 406；Another embodiment is to stick predetermined image, such as stick the trade mark defaulted, product image, other predetermined images,
To fill up residual shielded image 406.
It, can be comprising steps of with wherein one the step of image 401, the second reserved image 403 are reserved in splicing first before
It is reference that width, which reserves image, carries out size change to other reserved images in the first reserved image 401, the second reserved image 403
It changes.Further, it is also possible to reserve image as reference, to the first reserved image 401, the second reserved image using a wherein width as needed
Other reserved images in 403 carry out resolution conversion, to realize subsequent Weighted Fusion.
It is only illustrated for using the first camera 10, second camera 20 in the present embodiment.It is easily understood that
In other embodiments, it using more than two camera collection images and can also be merged as needed.
As shown in figure 3, there are multiple barrier arrangement for perspective in another application scene, with two barrier arrangement for perspective
For, the third camera 50 of one first barrier arrangement for perspective A when shooting, can be in its theoretical visual field (i.e. first in Fig. 3
Visual field visual field A1) in there is one second barrier arrangement for perspective B, lead to third camera 50 there are one to block the visual field (i.e. in Fig. 3
The second visual field A2), if but user be not intended to the second barrier arrangement for perspective B appear in third camera 50 acquisition image
In, then the parts of images in A Third Position B1 taken by the 4th camera 60 using the second barrier arrangement for perspective B
The image of the second visual field part A2 is replaced, to obtain the image not blocked by the second barrier arrangement for perspective B.
In above-mentioned barrier perspective method and barrier arrangement for perspective, by being adopted from the camera lens of at least two different perspectivess
After collection, at least two images blocked by barrier section, the part at least blocked in two images by barrier is deleted, it is raw
Image is reserved at least two width, and splices at least two width and reserves image, then at least two width are reserved in image, not by barrier 30
The part blocked will be summed it up, to obtain the image that a width partially or completely eliminates shield portions, realize perspective barrier
30 purpose, and then to reduce or eliminate blind area caused by barrier 30.And this two camera lens can be deposited according to the difference of embodiment
In same barrier arrangement for perspective, or it is stored in different barrier arrangement for perspective.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of barrier perspective method, comprising steps of
At least two images that scheduled barrier section blocks are acquired from least two different perspectivess；
The part blocked in at least two images by barrier is deleted, at least two width is generated and reserves image；
Determine that at least two width reserve the stitching position of image；
Splice at least two width and reserves image.
2. barrier perspective method as described in claim 1, it is characterised in that: adjacent at least two different perspectives
Two visual angles have overlapping region.
3. barrier perspective method as described in claim 1, which is characterized in that determine that at least two width reserve the spelling of image
The step of connecing position specifically includes:
At least two images are determined according to the pre-set dimension of at least two different perspectives and at least two images
Location information；
The location information of adjacent image is compared, is referring to calculating angular transformation amount and translation transformation amount with a wherein image.
4. barrier perspective method as described in claim 1, which is characterized in that determine that at least two width reserve the spelling of image
The step of connecing position specifically includes:
Feature extraction is carried out to adjacent reserved image；
It compares the feature extracted and carries out image registration.
5. barrier perspective method as described in claim 1, which is characterized in that described to compare the feature extracted and carry out image
The step of registration, specifically includes:
According to the position of lap in adjacent image, the transformation relation of two images is determined, find out and reflect between image to be spliced
Penetrate the transformation model of relationship；
The registration of multiple image is realized in the way of one or more registrations.
6. barrier perspective method as described in claim 1, which is characterized in that reserve image splicing at least two width
Before step, further comprise the steps of:
Image is reserved as reference using a wherein width, other reserved images in image are reserved at least two width and carry out size change
It changes.
7. barrier perspective method as described in claim 1 or 6, which is characterized in that splicing the reserved figure of at least two width
Before the step of picture, further comprise the steps of:
Image is reserved as reference using a wherein width, other reserved images in image are reserved at least two width and carry out resolution ratio
Transformation.
8. barrier perspective method as described in claim 1, it is characterised in that: splice the step that at least two width reserve image
Suddenly it specifically includes:
To the corresponding region Weighted Fusion of adjacent reserved image, which is realized using the blending algorithm of Pixel-level.
9. a kind of barrier arrangement for perspective, including a photographic device and a processing unit, it is characterised in that: the photographic device packet
At least two groups camera is included, the direction of at least two groups camera is different；The signal output end of at least two groups camera
It is connected to the processing unit；
After the processing unit receives at least two groups camera shooting information of at least two groups camera, at least two groups are imaged
Information fusion, forms the panoramic information of a presumptive area.
10. barrier arrangement for perspective as claimed in claim 9, it is characterised in that: in at least two groups camera, adjacent two
The visual angle of group camera has overlapping region.
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| CN201711001278.0A CN109697745A (en) | 2017-10-24 | 2017-10-24 | Barrier perspective method and barrier arrangement for perspective |
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Cited By (1)
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| CN111836103A (en) * | 2019-12-31 | 2020-10-27 | 于刚 | Anti-occlusion processing system based on data analysis |
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Application publication date: 20190430 |