CN109978765A - Panoramic picture brightness correcting method and joining method and its device - Google Patents
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The present invention relates to a kind of panoramic picture brightness correcting methods, comprising the following steps: obtains multiple images to be spliced；Determine the splicing regions of the multiple image to be spliced；Calculate the average brightness value of each splicing regions；It calculates so that the smallest multiple brightness correction coefficients of the average brightness value difference of the correspondence splicing regions of the multiple image to be spliced；And the brightness of the multiple image to be spliced is corrected using the multiple brightness correction coefficients.The invention further relates to a kind of Panorama Mosaic methods.
Description
Technical field
The present invention relates to splicing technology of panorama drawing fields, more particularly, to a kind of panoramic picture brightness correcting method and splicing
Method and device thereof.
Background technique
In the application of 360 panorama of automobile, the camera acquired image that needs to be mounted in vehicle all directions into
Row splicing, one Zhang Quanjing of output look around image.Since the position of camera installation is different, when having Qiang Guang on some direction of vehicle
When source, the camera image brightness against strong light side can be relatively low, and the camera image brightness for carrying strong light can be higher.If no
Processing direct splicing is carried out, the panoramic view all directions light and shade difference spliced is big, image mosaic trace is obvious, influences user
Experience.
Current existing image fusion technology is by the way that the splicing regions of multiple images to be spliced are carried out transparency gradual change
Transition, for mitigating the splicing trace of splicing regions.But since the brightness value of image to be spliced itself is just different, spell
The panoramic picture brightness value difference picked out is big, and splicing regions brightness value transition is unnatural, and there are still apparent image mosaic traces.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of panoramic picture brightness correcting method and joining method and its
Device can be such that the splicing regions brightness value difference of panoramic picture minimizes.
The present invention is to solve above-mentioned technical problem and the technical solution adopted is that propose a kind of panoramic picture gamma correction side
Method the described method comprises the following steps: obtain multiple images to be spliced；Determine the splicing regions of the multiple image to be spliced；
Calculate the average brightness value of each splicing regions；It calculates so that being averaged for the correspondence splicing regions of the multiple image to be spliced is bright
The smallest multiple brightness correction coefficients of angle value difference；And it is corrected using the multiple brightness correction coefficients the multiple to be spliced
The brightness of image.
In one embodiment of this invention, it calculates so that being averaged for the correspondence splicing regions of the multiple image to be spliced is bright
The step of angle value difference the smallest multiple brightness correction coefficients includes: to establish objective function, and the objective function includes the spelling
Connect region average brightness value and the multiple brightness correction coefficients；The function respectively seeks each brightness correction coefficients
Partial derivative；Each partial derivative is write to the form of the first matrix and the second matrix multiple as, the element of first matrix includes described
The operation result of the average brightness value of splicing regions, the element of second matrix include the multiple brightness correction coefficients；With
And it asks so that the non trivial solution that the first matrix and the second matrix multiple result are zero.
In one embodiment of this invention, the splicing regions of the multiple image to be spliced are determined according to calibrating parameters.
In one embodiment of this invention, when calculating the average brightness value of each splicing regions, to each splicing regions
Pixel is sampled, and then calculates the average brightness of sample.
In one embodiment of this invention, image to be spliced is vehicle-surroundings image.
In another embodiment of the invention, a kind of Panorama Mosaic method is proposed, comprising: obtain multiple figures to be spliced
Picture；Determine the splicing regions of the multiple image to be spliced；Calculate the average brightness value of each splicing regions；It calculates so that described
The smallest multiple brightness correction coefficients of the average brightness value difference of the correspondence splicing regions of multiple images to be spliced；Using described more
A brightness correction coefficients correct the brightness of the multiple image to be spliced；And it is carried out using multiple images to be spliced after correction
Panorama Mosaic.
In another embodiment of the invention, image to be spliced is vehicle-surroundings image.
In one embodiment of this invention, a kind of panoramic picture luminance correction device is proposed, comprising: memory is used for
Store computer instruction；Processor realizes a kind of panoramic picture brightness correcting method for executing described instruction.
In another embodiment of the invention, a kind of Panorama Mosaic device is proposed, comprising: memory, for storing up
Deposit computer instruction；Processor realizes a kind of Panorama Mosaic method for executing described instruction.
The present invention due to using the technology described above, is allowed to compared with prior art, can make the splice region of panoramic picture
Domain brightness value difference minimizes, and the transition of splicing regions brightness value optimizes user experience naturally, without obvious image mosaic trace.
Detailed description of the invention
For the above objects, features and advantages of the present invention can be clearer and more comprehensible, below in conjunction with attached drawing to tool of the invention
Body embodiment elaborates, in which:
Fig. 1 is the schematic diagram of the panoramic picture luminance correction device of one embodiment of the invention.
Fig. 2 is a kind of flow chart of panoramic picture brightness correcting method of one embodiment of the invention.
Fig. 3 is a kind of calculating of one embodiment of the invention so that the correspondence splicing regions of multiple images to be spliced are averaged
The flow chart of the smallest multiple brightness correction coefficients methods of brightness value difference.
Fig. 4 is the panoramic picture luminance parameter schematic diagram of one embodiment of the invention.
Fig. 5 is the schematic diagram of the Panorama Mosaic device of another embodiment of the present invention.
Fig. 6 is a kind of flow chart of Panorama Mosaic method of another embodiment of the present invention.
Fig. 7 a, 7b are the splicing effect comparison diagrams of the Panorama Mosaic method of another embodiment of the present invention.
Specific embodiment
For the above objects, features and advantages of the present invention can be clearer and more comprehensible, below in conjunction with attached drawing to tool of the invention
Body embodiment elaborates.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
It is different from other way described herein using other and implements, therefore the present invention is by the limit of following public specific embodiment
System.
As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one
The words such as kind " and/or "the" not refer in particular to odd number, may also comprise plural number.It is, in general, that term " includes " only prompts to wrap with "comprising"
Include clearly identify the step of and element, and these steps and element do not constitute one it is exclusive enumerate, method or apparatus
The step of may also including other or element.
In addition, each embodiment of following description is respectively provided with one or more technical characteristics, so this is not meant to
It must implement all technical characteristics in any embodiment simultaneously using present inventor, or be only capable of being performed separately in different embodiments
One or all technical characteristic.In other words, under the premise of being embodied as possible, those skilled in the art can be according to the present invention
Disclosure, and regard design specification or implementation demand, it is special selectively to implement all or part of technology in any embodiment
Sign, or selectively implement the combination of all or part of technical characteristic in multiple embodiments, increase the present invention whereby and implements
When elasticity.
It is referred to as " on the other element " it should be appreciated that working as an element, " being connected to another element ", " is coupled in
When another element " or " contacting another element ", it can directly on another element, be connected or coupled to,
Or another element is contacted, or may exist insertion element.In contrast, when an element is referred to as " directly another
On a element ", " being directly connected in ", " being coupled directly to " or when " directly contact " another element, insertion element is not present.Together
Sample, when first element referred to as " is in electrical contact " or " being electrically coupled to " second element, in the first element and this second yuan
There is the power path for allowing electric current flowing between part.The power path may include capacitor, the inductor of coupling and/or permission electricity
Other elements of flowing, or even do not contacted directly between conducting element.
First embodiment
Fig. 1 is the schematic diagram of the panoramic picture luminance correction device 100 of one embodiment of the invention.As shown in Figure 1, panorama
Brightness of image means for correcting 100 includes camera 101, I/O interface 102, image processor 103, memory 104 and video memory 105.
When use is in automobile, I/O interface 102, image processor 103, memory 104 and video memory 105 can be set to the vehicle device of automobile
Interior, camera 101 is located at the outside of vehicle device.Camera 101 is for obtaining multiple images to be spliced.For example, these wait spelling
Map interlinking picture can be vehicle-surroundings image.I/O interface 102 is connected to camera 101 and image processor 103.I/O interface 102 is used
In the multiple images to be spliced for receiving the acquisition of camera 101 and forward multiple images to be spliced to image processor 103.I/O connects
Mouth 103 can be serial line interface or parallel interface.Serial line interface can be UART Universal Asynchronous Receiver Transmitter (Universal
Asynchronous Receiver/Transmitter, UART), universal serial bus (Universal Serial Bus,
USB), Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI), I2C interface, RS-232, RS-454 etc..Figure
As processor 103 is connected to I/O interface 102, memory 104 and video memory 105.Image processor 103 receives 102 turns of I/O interface
Multiple images to be spliced of hair carry out gamma correction, the brightness school to multiple images to be spliced by computer instructions
The splicing regions for just comprising steps of determining that multiple images to be spliced, calculate the average brightness value for calculating each splicing regions
So that the smallest multiple brightness correction coefficients of the average brightness value difference of the correspondence splicing regions of multiple images to be spliced and making
The brightness of multiple images to be spliced is corrected with multiple brightness correction coefficients.Memory 104 for store implementable abovementioned steps and/
Or the computer instruction of other steps, memory 104 can also be used to storage image processor 103 to multiple images to be spliced
Calculated intermediate parameters during progress gamma correction.Video memory 105 is used to store image data to be processed.Video memory can be
FPM DRAM, EDO, SGRAM, DDR SDRAM, DDR SGRAM, DDR3 and GDDR5 etc..
Fig. 2 is a kind of flow chart of panoramic picture brightness correcting method of one embodiment of the invention.The one of the present embodiment
Kind panoramic picture brightness correcting method can execute in panoramic picture luminance correction device 100 for example shown in FIG. 1.Panorama sketch
Image brightness bearing calibration includes:
Step 201: obtaining multiple images to be spliced.
In this step, multiple images to be spliced are obtained, multiple image to be spliced can be vehicle-surroundings image.With Fig. 1
Shown in for panoramic picture luminance correction device, the method for obtaining multiple images to be spliced can be by camera 101 come
The image in vehicle all directions is obtained as image to be spliced.In the present embodiment, camera 101 vehicle it is forward and backward,
An image to be spliced is respectively obtained on left and right four direction, obtains four images to be spliced altogether.
Step 202: determining the splicing regions of multiple images to be spliced.
In this step, the splicing regions of multiple images to be spliced are determined.Determine the splicing regions of multiple images to be spliced
Method can be the splicing regions that the multiple image to be spliced is determined according to calibrating parameters.In step 201, in order to obtain
Image to be spliced without dead angle on a large scale can be fish-eye camera for obtaining the camera of image.What the camera obtained
Image is spherical surface image.Therefore in step 202, spherical surface image is accomplished by the method for calibrating parameters and drawing is unfolded
Processing, convert spherical surface image to the flat image of suitable human eye, then confirm to the image to be spliced for being converted into flat image
Splicing regions.In the present embodiment, the splicing regions of four images to be spliced be can determine in this step, it is two adjacent wait spell
Map interlinking picture such as vehicle front and the image to be spliced of vehicle left generate an overlapping image region after being spliced, which includes
Two splicing regions, therefore at least there are eight splicing regions in the present embodiment.
Step 203: calculating the average brightness value of each splicing regions.
In this step, the average brightness value of each splicing regions is calculated.Calculate the average brightness value of each splicing regions
Method can be the pixel of each splicing regions is sampled, then calculate the average brightness of sample.Specifically, such as
The image of one splicing regions has a pixel of N (N >=1 and be integer), to (n >=1 and be whole the N number of pixel interval n
Number) a pixel is sampled, then calculates the brightness value of each sampled pixel point, be averaged to the brightness value and obtain the spelling
Connect the average brightness value in region.Fig. 4 is the panoramic picture luminance parameter schematic diagram of one embodiment of the invention, as shown in figure 4,
a0、a1It is the average brightness value of vehicle front image mosaic region A0, A1, b0、b1It is rear view of vehicle image splicing regions B0, B1
Average brightness value, c0、c1It is the average brightness value of vehicle left side image mosaic region C0, C1, d0、d1It is vehicle right side image
The average brightness value of splicing regions D0, D1.Here, splicing regions A0 and C0 is overlapped, splicing regions A1 and D0, B0 and C1 with
And B1 is similar with D1.
Step 204: calculating so that the average brightness value difference of the correspondence splicing regions of multiple images to be spliced is the smallest more
A brightness correction coefficients.
In this step, it calculates so that the average brightness value difference of the correspondence splicing regions of multiple images to be spliced is the smallest
Multiple brightness correction coefficients.As described in step 202, multiple image to be spliced is vehicle-surroundings image, and automotive environment is more
The calculation method with embedded system, therefore in step 204 is implemented in embedded environment, which, which has, calculates
Measure it is small, be suitble under embedded environment handle realtime graphic the characteristics of.
Step 205: the brightness of multiple images to be spliced is corrected using multiple brightness correction coefficients.
In this step, the brightness of multiple images to be spliced is corrected using multiple brightness correction coefficients.With shown in FIG. 1 complete
For scape brightness of image means for correcting, multiple brightness correction coefficients are stored in memory 104, and image processor 103 is from storage
Multiple brightness correction coefficients are called in device 104 to be corrected to the brightness of multiple images to be spliced.Image processor 103 is to more
The corrected process of brightness of a image to be spliced can carry out in the program that image processor 103 executes, in this implementation
The program is the Shader program in OpenGL ES (OpenGL for Embedded Systems) in example.
Fig. 3 is a kind of calculating of one embodiment of the invention so that the correspondence splicing regions of multiple images to be spliced are averaged
The flow chart of the smallest multiple brightness correction coefficients methods of brightness value difference.A kind of calculating of the present embodiment is so that multiple to be spliced
The smallest multiple brightness correction coefficients methods of the average brightness value difference of the correspondence splicing regions of image can be for example shown in Fig. 2
Panoramic picture brightness correcting method in execute.Calculate the average brightness value so that the correspondence splicing regions of multiple images to be spliced
The smallest multiple brightness correction coefficients methods of difference include:
Step 301: establishing objective function, objective function includes the average brightness value and multiple gamma corrections of splicing regions
Coefficient.
In this step, average brightness value is known parameter.Multiple brightness correction coefficients are the unknown number for needing to acquire.
As shown in figure 4, the splicing regions that tetra- parameters of A, B, C, D respectively are used to correct on the four direction of vehicle front, rear, left and right are bright
The brightness correction coefficients of angle value, a0、a1It is the average brightness value in vehicle front image mosaic region, b0、b1It is rear view of vehicle image
The average brightness value of splicing regions, c0、c1It is the average brightness value in vehicle left side image mosaic region, d0、d1It is vehicle right side figure
As the average brightness value of splicing regions.The objective function of average brightness value and multiple brightness correction coefficients including splicing regions
Are as follows: minf (A, B, C, D)=(a0*A-c0*C)2+(a1*A-d0*D)2+(b1*B-d1*D)2+(b0*B-c1*C)2
Step 302: function is sought into partial derivative to each brightness correction coefficients respectively.
In this step, function is sought into partial derivative to each brightness correction coefficients respectively, which is in step 301
Objective function.Function is sought into partial derivative to each brightness correction coefficients A, B, C, D respectively, available following equation:
Step 303: each partial derivative being write to the form of the first matrix and the second matrix multiple as, the element of the first matrix includes
The operation result of the average brightness value of splicing regions, the element of the second matrix include multiple brightness correction coefficients.
In this step, each partial derivative is first write as to the form of the first matrix and the second matrix multiple, it is available as follows
Matrix Multiplication French:
In the Matrix Multiplication French, the element of the first matrix includes the operation result a of the average brightness value of splicing regions0、
a1、b0、b1c0、c1、d0、d1, first matrix is as follows:
In the Matrix Multiplication French, the element of the second matrix includes multiple brightness correction coefficients A, B, C, D, second matrix
It is as follows:
Step 304: asking so that the non trivial solution that the first matrix and the second matrix multiple result are zero.
In this step, it asks so that the non trivial solution that the first matrix and the second matrix multiple result are zero.First make first
Matrix and the second matrix multiple result are zero.Ask the side so that the non trivial solution that the first matrix and the second matrix multiple result are zero
Method, which can be, carries out singular value decomposition (Singular Value Decomposition) to following first matrixes, and removal matrix is most
The optimal solution of latter column you can get it A, B, C, D.
It is understood that the device and method of the present embodiment can be not only used for the brightness before the splicing of auto-panorama image
Correction, can be used for other occasions for needing gamma correction.
Second embodiment
Fig. 5 is the schematic diagram of the Panorama Mosaic device 200 of one embodiment of the invention.As shown in figure 5, the present embodiment
Panorama Mosaic device 200, include camera 201, I/O interface 202, image processor 203, memory 204, video memory
205, driver module 206 and display 207.Camera 201, I/O interface 202, image processor 203,204 class of memory
The each component of the same name being similar in the panoramic picture luminance correction device 100 of first embodiment.Camera 201 is multiple for obtaining
Image to be spliced.For example, these images to be spliced are vehicle-surroundings image.I/O interface 202 is connected to camera 201, figure
As processor 203 and driver module 206.I/O interface 202 be used to receive the acquisition of camera 201 multiple images to be spliced,
Multiple images to be spliced are forwarded to be forwarded to display to image processor 203 and by the panoramic picture that image processor 203 has spliced
Drive module 206.I/O interface 103 can be serial line interface or parallel interface.Serial line interface can be UART Universal Asynchronous Receiver Transmitter
(Universal Asynchronous Receiver/Transmitter, UART), universal serial bus (Universal
Serial Bus, USB), Serial Peripheral Interface (SPI) (Serial Peripheral Interface, SPI), I2C interface, RS-232,
RS-454 etc..Image processor 203 is connected to I/O interface 202, memory 204 and video memory 205.Image processor 203 receives I/
Multiple images to be spliced that O Interface 202 forwards, by execute in memory 204 computer instruction that stores come to multiple wait spell
Map interlinking picture carries out gamma correction and carries out Panorama Mosaics to multiple images to be spliced after correction, the gamma correction include with
Lower step: the splicing regions for determining multiple images to be spliced, calculate so that multiple the average brightness value for calculating each splicing regions
The smallest multiple brightness correction coefficients of the average brightness value difference of the correspondence splicing regions of image to be spliced and use are multiple bright
Degree correction coefficient corrects the brightness of multiple images to be spliced.Memory 204 is for storing implementable abovementioned steps and/or other steps
Rapid computer instruction, memory 104 can also be used to storage image processor 203 and carrying out brightness to multiple images to be spliced
Calculated intermediate parameters in correction course.Video memory 205 is used to store image data to be processed, and video memory 205 can be FPM
DRAM, EDO, SGRAM, DDR SDRAM, DDR SGRAM, DDR3 and GDDR5 etc..Driver module 206 is connected to display
207.Driver module 206 is used to receive the panoramic picture that image processor 203 has spliced and driving display 207.It is aobvious
Show that device 207 is used to the panoramic picture that display image processor 203 has been spliced, display 207 can be liquid crystal display.
Fig. 6 is a kind of flow chart of Panorama Mosaic method of one embodiment of the invention.One kind of the present embodiment is complete
The bearing calibration of scape brightness of image can execute in Panorama Mosaic device 200 for example shown in fig. 5.One kind of the present embodiment
On the basis of a kind of panoramic picture brightness correcting method of Panorama Mosaic method in the first embodiment, further includes:
Step 606: carrying out Panorama Mosaic using multiple images to be spliced after correction.
In this step, Panorama Mosaic is carried out using multiple images to be spliced after correction.Image processor 203 is right
Multiple images to be spliced after correction carry out Panorama Mosaics process can in the program that image processor 203 is installed into
Row, the program is OpenGL ES in the present embodiment.Refering to what is shown in Fig. 4, the image of all directions is spelled in adjacent area
It connects.For example, splicing regions A0 and C0 are spliced, splicing regions A1 and D0, B0 and C1 and B1 are similar with D1.
Fig. 7 a, 7b are the splicing effect comparison diagrams of the Panorama Mosaic method of another embodiment of the present invention.As Fig. 7 a,
Shown in 7b, Fig. 7 a is to imitate without using the splicing of the panoramic picture brightness correcting method in the Panorama Mosaic method of the present embodiment
Fruit figure, Fig. 7 b are the splicing effect using the panoramic picture brightness correcting method in the Panorama Mosaic method of the present embodiment
Figure.The panoramic picture that can be seen that brightness value ratio Fig. 7 a in the Panorama Mosaic region of Fig. 7 b by the comparison of Fig. 7 a, 7b is spelled
The brightness value transition for connecing region is more natural, and the panoramic picture overall brightness of Fig. 7 b is more consistent, and light and shade difference is small, the panorama of no Fig. 7 a
Obvious splicing trace in image.
Those skilled in the art will further appreciate that, the various illustratives described in conjunction with the embodiments described herein
Logic plate, module, circuit and algorithm steps can be realized as electronic hardware, computer software or combination of the two.It is clear
Explain to Chu this interchangeability of hardware and software, various illustrative components, frame, module, circuit and step be above with
Its functional form makees generalization description.Such functionality be implemented as hardware or software depend on concrete application and
It is applied to the design constraint of total system.Those skilled in the art can be with different modes to realize for every kind of specific application
The functionality of description, but such realization decision should not be interpreted to cause departing from the scope of the present invention.
In conjunction with presently disclosed embodiment describe various illustrative logic modules and circuit can with general processor,
Digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic
Device, discrete door or transistor logic, discrete hardware component or its be designed to carry out any group of function described herein
It closes to realize or execute.General processor can be microprocessor, but in alternative, which can be any routine
Processor, controller, microcontroller or state machine.Processor is also implemented as calculating the combination of equipment, such as DSP
With the combination of microprocessor, multi-microprocessor, one or more microprocessors to cooperate with DSP core or any other this
Class configuration.
Although the present invention is described with reference to current specific embodiment, those of ordinary skill in the art
It should be appreciated that above embodiment is intended merely to illustrate the present invention, can also make in the case where no disengaging spirit of that invention
Various equivalent change or replacement out, therefore, as long as to the variation of above-described embodiment, change in spirit of the invention
Type will all be fallen in the range of following claims.
Claims (10)
1. a kind of panoramic picture brightness correcting method, comprising the following steps:
Obtain multiple images to be spliced；
Determine the splicing regions of the multiple image to be spliced；
Calculate the average brightness value of each splicing regions；
It calculates so that the smallest multiple brightness schools of the average brightness value difference of the correspondence splicing regions of the multiple image to be spliced
Positive coefficient；And
The brightness of the multiple image to be spliced is corrected using the multiple brightness correction coefficients.
2. the method as described in claim 1, which is characterized in that calculate the correspondence splice region so that the multiple image to be spliced
The step of average brightness value difference in domain the smallest multiple brightness correction coefficients includes:
Objective function is established, the objective function includes the average brightness value and the multiple gamma correction of the splicing regions
Coefficient；
The function is sought into partial derivative to each brightness correction coefficients respectively；
Each partial derivative is write to the form of the first matrix and the second matrix multiple as, the element of first matrix includes the splicing
The operation result of the average brightness value in region, the element of second matrix include the multiple brightness correction coefficients；And
It asks so that the non trivial solution that the first matrix and the second matrix multiple result are zero.
3. the method as described in claim 1, which is characterized in that determine the spelling of the multiple image to be spliced according to calibrating parameters
Connect region.
4. the method as described in claim 1, which is characterized in that when calculating the average brightness value of each splicing regions, to each
The pixel of splicing regions is sampled, and then calculates the average brightness of sample.
5. the method as described in claim 1, which is characterized in that the image to be spliced is vehicle-surroundings image.
6. a kind of Panorama Mosaic method, comprising:
Obtain multiple images to be spliced；
Determine the splicing regions of the multiple image to be spliced；
Calculate the average brightness value of each splicing regions；
It calculates so that the smallest multiple brightness schools of the average brightness value difference of the correspondence splicing regions of the multiple image to be spliced
Positive coefficient；
The brightness of the multiple image to be spliced is corrected using the multiple brightness correction coefficients；And
Panorama Mosaic is carried out using multiple images to be spliced after correction.
7. method as claimed in claim 6, which is characterized in that calculate the correspondence splice region so that the multiple image to be spliced
The step of average brightness value difference in domain the smallest multiple brightness correction coefficients includes:
Objective function is established, the objective function includes the average brightness value and the multiple gamma correction of the splicing regions
Coefficient；
The function is sought into partial derivative to each brightness correction coefficients respectively；
Each partial derivative is write to the form of the first matrix and the second matrix multiple as, the element of first matrix includes the splicing
The operation result of the average brightness value in region, the element of second matrix include the multiple brightness correction coefficients；And
It asks so that the non trivial solution that the first matrix and the second matrix multiple result are zero.
8. method as claimed in claim 6, which is characterized in that the image to be spliced is vehicle-surroundings image.
9. a kind of panoramic picture luminance correction device, comprising:
Memory, for storing computer instruction；
Processor, for executing described instruction to realize the method according to claim 1 to 5.
10. a kind of Panorama Mosaic device, comprising:
Memory, for storing computer instruction；
Processor, for executing described instruction to realize such as the described in any item methods of claim 6-8.
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| CN201910181031.4A CN109978765A (en) | 2019-03-11 | 2019-03-11 | Panoramic picture brightness correcting method and joining method and its device |
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