CN109995985A - Panoramic picture image pickup method, device and robot based on robot - Google Patents
Panoramic picture image pickup method, device and robot based on robot Download PDFInfo
- Publication number
- CN109995985A CN109995985A CN201711478671.9A CN201711478671A CN109995985A CN 109995985 A CN109995985 A CN 109995985A CN 201711478671 A CN201711478671 A CN 201711478671A CN 109995985 A CN109995985 A CN 109995985A
- Authority
- CN
- China
- Prior art keywords
- image
- edge
- shooting
- robot
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 12
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims description 30
- 238000009499 grossing Methods 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 19
- 238000003708 edge detection Methods 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 13
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000009987 spinning Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003707 image sharpening Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The present invention is suitable for robotic technology field, provide panoramic picture image pickup method, device and robot based on robot, comprising: when detecting pan-shot instruction, open camera and find a view, the first image is shot, the pan-shot instruction includes screening-mode；It is found a view according to screening-mode movement, when the lap of the current viewfinder image of the camera and the first image meets preset condition, shoots current viewfinder image as the second image；Repetition shoots multiple images until detecting shooting halt instruction；The image synthesis panoramic picture of shooting is shown.It can be avoided distortion by the above method, improve the efficiency for the photo that pans.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of panoramic picture image pickup methods based on robot, dress
It sets and robot.
Background technique
With the development of terminal technology, intelligent terminal integrates communication, shooting and the functions such as audio-visual, and it is daily to become people
Indispensable part in life.Due to the technological break-through of high-definition camera, intelligent terminal camera takes pictures pixel increasingly
Height, allow mobile terminal take pictures effect and camera matches in excellence or beauty.The picture of distant view photograph is big simultaneously, can show wider
Scene, therefore there is stronger visual impact, people increasingly like clapping using panorama in daily life and tourism
It takes the photograph.
Pan-shot is to move horizontally or vertically move picture pick-up device, and picture pick-up device is during pan-shot by certain
Filming frequency shoot one or more groups of photos and be spliced into a panoramic picture.In existing panorama shooting method, when panorama is clapped
When frequency of taking pictures during taking the photograph is excessively high, the number of pictures of shooting is more, and splicing, which is got up, trouble and to be taken a long time, and works as shooting process
In take pictures underfrequency when, may leakage takes a picture, so as to cause splicing photo be easy distortion the problem of.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of panoramic picture image pickup method, device and machine based on robot
Device people, to solve in the prior art, when frequency of taking pictures during pan-shot is excessively high, the number of pictures of shooting is more, stitching portion
It manages trouble and takes a long time, when the filming frequency during taking pictures is too low, may leak and take a picture, so as to cause splicing
Photo is easy the problem of distortion.
First aspect present invention provides a kind of panoramic picture image pickup method based on robot, described based on robot
Panoramic picture image pickup method includes:
It when detecting pan-shot instruction, opens camera and finds a view, shoot the first image, the pan-shot instruction packet
Include screening-mode；
It is found a view according to screening-mode movement, when the current viewfinder image of the camera and the weight of the first image
When folded part meets preset condition, current viewfinder image is shot as the second image；
Repetition shoots multiple images until detecting shooting halt instruction；
The image synthesis panoramic picture of shooting is shown.
With reference to first aspect, described to be moved according to the screening-mode in the first possible implementation of first aspect
Dynamic the step of finding a view, comprising:
Direction to be moved is determined according to the screening-mode；
It is found a view according to the direction to be moved at the uniform velocity movement.
With reference to first aspect, described to be moved according to the screening-mode in second of possible implementation of first aspect
It is dynamic to find a view, when the lap of the current viewfinder image of the camera and the first image meets preset condition, shooting
The step of current viewfinder image is as the second image, comprising:
Edge detection is done to the first image, determines first edge image, edge inspection is done to the current viewfinder image
It surveys, determines second edge image；
The first edge image is matched with the second edge image；
When the similarity of the first edge image and the second edge image is greater than default similarity threshold, shooting
The current viewfinder image is as the second image.
The possible implementation of second with reference to first aspect, in the third mode in the cards of first aspect,
It is described that edge detection is done to the first image, it determines first edge image, edge detection is done to the current viewfinder image, really
The step of determining second edge image, comprising:
Smoothing processing is done to the first image；
Based on the first image Jing Guo smoothing processing, first edge point set is extracted；
The first edge point is concentrated adjacent marginal point to connect to form the connected boundary of closure, generates first edge figure
Picture；
Smoothing processing is done to the current viewfinder image；
Based on the current viewfinder image Jing Guo smoothing processing, second edge point set is extracted；
The second edge point is concentrated adjacent marginal point to connect to form the connected boundary of closure, generates second edge figure
Picture.
With reference to first aspect, or with reference to first aspect the possible implementation of the first, or with reference to first aspect second
The possible implementation of kind, or the third possible implementation with reference to first aspect, the 4th kind in first aspect can be able to achieve
In mode, the repetition shoot multiple images until detect shooting halt instruction the step of, comprising:
When shooting image, if robot stops movement when detecting barrier, controls camera rotation and continue to shoot；
When the camera rotates to limiting value, stop shooting.
Second aspect of the present invention provides a kind of panorama image shooting apparatus, and the panorama image shooting apparatus includes:
First shooting unit, for opening camera and finding a view, shoot the first image when detecting pan-shot instruction,
The pan-shot instruction includes screening-mode；
Second shooting unit, for being found a view according to screening-mode movement, when the current viewfinder image of the camera
When meeting preset condition with the lap of the first image, current viewfinder image is shot as the second image；
Third shooting unit shoots multiple images until detecting shooting halt instruction for repeating；
Image synthesizes display unit, and the image synthesis panoramic picture for that will shoot is shown.
It is described single according to second shooting in the first possible implementation of second aspect in conjunction with second aspect
Member includes:
Moving direction determining module, for determining direction to be moved according to the screening-mode；
Mobile module of finding a view, for being found a view according to the direction to be moved at the uniform velocity movement.
In conjunction with second aspect, in second of possible implementation of second aspect, the second shooting unit includes:
First image detection module determines first edge image, to described for doing edge detection to the first image
Current viewfinder image does edge detection, determines second edge image；
First images match module, for matching the first edge image with the second edge image；
First image taking module is greater than for the similarity when the first edge image and the second edge image
When default similarity threshold, the current viewfinder image is shot as the second image.
In conjunction with second of possible implementation of second aspect, in the third mode in the cards of second aspect,
The first image detection module includes:
First processing submodule, for doing smoothing processing to the first image；
First edge point extracting sub-module, for extracting first edge point set based on the first image Jing Guo smoothing processing；
First edge image generates submodule, for concentrating adjacent marginal point to connect to be formed and close the first edge point
The connected boundary of conjunction generates first edge image；
Second processing submodule, for doing smoothing processing to the current viewfinder image；
Second edge point extracting sub-module, for extracting second edge based on the current viewfinder image Jing Guo smoothing processing
Point set；
Second edge image generates submodule, for concentrating adjacent marginal point to connect to be formed and close the second edge point
The connected boundary of conjunction generates second edge image.
In conjunction with second aspect, or the first possible implementation of second aspect is combined, or combines the second of second aspect
The possible implementation of kind, or the third possible implementation of second aspect is combined, the 4th kind in second aspect can be able to achieve
In mode, the third shooting unit further include:
Camera control unit, if robot stops movement when detecting barrier, controls camera shooting when shooting image
Head rotation continues to shoot；When the camera rotates to limiting value, stop shooting.
Third aspect present invention provides a kind of robot, comprising: memory, processor and is stored in the memory
In and the computer program that can run on the processor, the processor as above the is realized when executing the computer program
On the one hand the step of panoramic picture image pickup method.
Fourth aspect present invention provides a kind of computer readable storage medium, the computer-readable recording medium storage
There is computer program, the computer program realizes panoramic picture image pickup method described in first aspect as above when being executed by processor
The step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art: complete when detecting in the embodiment of the present invention
It when scape shooting instruction, opens camera and finds a view, shoot the first image, the pan-shot instruction includes screening-mode；According to institute
It states screening-mode movement to find a view, when the current viewfinder image of the camera and the lap satisfaction of the first image are default
When condition, current viewfinder image is shot as the second image, multiple images is repeatedly shot until detecting shooting halt instruction, incites somebody to action
The image synthesis panoramic picture of shooting is shown, is determined whether to shoot by the boundary of detection image in this programme, is avoided shooting
Excessive photo leads to splicing time-consuming or leakage is taken a picture splicing is caused to be distorted, to improve the efficiency for the photo that pans.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation flow chart of panoramic picture image pickup method based on robot provided in an embodiment of the present invention；
Fig. 2 is a kind of implementation flow chart of image pickup method of the second image provided in an embodiment of the present invention；
Fig. 3 is a kind of structural block diagram of panorama image shooting apparatus provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of robot provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
Fig. 1 shows a kind of flow chart of panoramic picture image pickup method based on robot provided in an embodiment of the present invention,
This method process includes step S101 to S104.Details are as follows for the specific implementation principle of each step:
Step S101 opens camera and finds a view, shoot the first image, the panorama when detecting pan-shot instruction
Shooting instruction includes screening-mode.
In embodiments of the present invention, user can send pan-shot instruction by way of voice.Above-mentioned pan-shot refers to
Include starting pan-shot in order, further includes the screening-mode of user's selection.Wherein, the screening-mode include it is horizontal to the left,
Horizontally to the right, vertically downward, vertically upward, center shooting and 360 ° of spinning shooting.Level is to the left, horizontally to the right, vertically
Downwards, vertically upward and center shooting screening-mode be the screening-mode that 360 ° of spinning by robot follow shot
Refer to that robot spinning is shot.The horizontal screening-mode to the left or horizontally to the right of selection, be finally completed shooting obtain it is complete
Scape photo is the panorama sketch of horizontal cross.In embodiments of the present invention, either which kind of screening-mode, camera can rotate
Shooting.
Step S102 finds a view according to screening-mode movement, when the current viewfinder image of the camera and described the
When the lap of one image meets preset condition, current viewfinder image is shot as the second image.
Specifically, it is found a view according to screening-mode movement, when detecting the first edge image in the first image
When identical as the second edge image in the current viewfinder image of the camera, the current viewfinder image is shot as second
Image, wherein the first edge image is in the first side of the first image, and the second edge image is with described second
The opposite second side in first side of image.
It is wherein, described to be found a view according to screening-mode movement including determining direction to be moved according to the screening-mode,
It is found a view according to the direction to be moved at the uniform velocity movement.Specifically, after detecting the pan-shot instruction that user sends, unlatching is taken the photograph
As head is found a view, the first image in the current location of the robot shooting current viewfinder image of camera, as complete for splicing
First image of scape image determines motion track when robot shooting according to the screening-mode that user selects, determines wait move
Dynamic direction, and then start pan-shot according to the direction to be moved is at the uniform velocity mobile.
In embodiments of the present invention, after shooting the first image, edge is carried out by the current viewfinder image to camera
Detection shoots the second image to determine.Detecting the second edge image in current viewfinder image and the first edge image
When identical, the current viewfinder image is shot as the second image, the second edge image is in the with second image
Opposite second side in side, for example, second side is the right side of image if the first side is the left side of image, if the first side is figure
The downside of picture, then second side is the upside of image, in short, the first side is opposite with second side, third side is opposite with third side.
Further, as shown in Fig. 2, described work as first edge image and the camera shooting detected in the first image
When second edge image in the current viewfinder image of head is identical, step of the current viewfinder image as the second image is shot
Suddenly, comprising:
A1, it is described edge detection is done to the first image, determine first edge image, the current viewfinder image done
Edge detection determines second edge image；
A2, the first edge image is matched with the second edge image；
A3, when the similarity of the first edge image and the second edge image is greater than default similarity threshold,
The current viewfinder image is shot as the second image.
The signal being defined on two-dimensional space is known as 2D signal, and image is a typical 2D signal, it is known that coordinate
And pixel, it can determine a sub-picture.Gray scale refers to the color depth in black white image, and range is usually 0-255, and black is
0, white is 255.High fdrequency component in image refers to the violent place of variation of image grayscale (i.e. the big place of gradient), also
It is the edge for the image often said.For example, gradient G [f (x, y)] of the image f (x, y) at point (x, y) is defined as a two-dimensional columns
Vector.
In embodiments of the present invention, the first image by robot shooting carries out edge detection, according to variation of image grayscale
Situation determines first edge image, determines second edge image to variation of image grayscale situation in current viewfinder image.Passing through will
The first edge image is matched with the second edge image, and first edge image and the second edge image of judgement are
No overlapping.When the similarity of the first edge image and the second edge image is greater than default similarity threshold, that is, recognize
For the first edge image and the second edge picture registration, the current viewfinder image is shot as the second image, institute
Stating the second image is second image for being used for spliced panoramic image.
Optionally, determine that edge image, the A1 include: to be accurate
A11, smoothing processing is done to the first image；
A12, based on the first image Jing Guo smoothing processing, extract first edge point set；
A13, the first edge point is concentrated adjacent marginal point connect the connected boundary to form closure, generates the first side
Edge image；
A14, smoothing processing is done to the current viewfinder image；
A15, based on the current viewfinder image Jing Guo smoothing processing, extract second edge point set；
A16, the second edge point is concentrated adjacent marginal point connect the connected boundary to form closure, generates the second side
Edge image.
In embodiments of the present invention, the first image and current viewfinder image are handled using image sharpening techniques,
It is apparent from the edge of image.High-pass filter (High-pass filter) be allow high-frequency signal to pass through but weaken (or
Reducing) frequency is lower than the filter that passes through of cutoff frequency signal, also referred to as low frequency shear filter.Utilize high-pass filter pair
First image and the denoising of current viewfinder image, are smoothed, improve the clarity of image.Work as to by smoothing processing
Preceding viewfinder image carries out binary conversion treatment, calculates amplitude and the direction of gradient, by the way that the method for threshold value is arranged after smoothing processing
The first image in extract first edge point set.Pixel grey scale more than threshold values is set as 0, is otherwise set as 255.Due to noise and figure
As fuzzy, the boundary detected might have interruption situation.Neighbouring marginal point is connected to generate a closure
Connected boundary realizes marginal point connection.
Optionally, in embodiments of the present invention, it chooses Canny algorithm and carries out edge detection, smoothly schemed with Gaussian filter
As calculating amplitude and the direction of gradient with the finite difference of single order local derviation, carrying out non-maxima suppression to gradient magnitude, finally
Marginal point connection is realized with dual threashold value-based algorithm.
Step S103, repetition shoot multiple images until detecting shooting halt instruction.
In embodiments of the present invention, the image pickup method based on step S103 continues to shoot new image.Specifically, work as inspection
The 4th edge image measured in the third edge image of second image and the current viewfinder image of the camera is identical
When, the current viewfinder image is shot as third image, wherein third of the third edge image in second image
Side, the 4th edge image in fourth side opposite with the third side of the third image, and so on, repetition shoots multiple
Image is until detecting shooting halt instruction.
In embodiments of the present invention, second image and third image are carried out using with same procedure in step S102
Edge detection obtains third edge image and the 4th edge image, judges the third edge image and the 4th edge graph
Seem it is no identical, if they are the same, then shoot current viewfinder image as third image.And so on, obtain the 4th image, the 5th figure
Picture, N image, until detecting shooting halt instruction.Wherein, N is the positive integer not less than 1.Illustratively, work as screening-mode
For horizontally to the right when, first edge image is located at the right margin of the first image, and second edge image is located at the left side of the second image
Boundary, third edge image are located at the right margin of the second image, and the 4th edge image is located at the left margin of third image.When shooting mould
When formula is vertically upward, first edge image is located at the coboundary of the first image, and second edge image is located under the second image
Boundary, third edge image are located at the coboundary of the second image, and the 4th edge image is located at the lower boundary of third image.When shown
When shooting centered on screening-mode, first edge image is located at the right margin of the first image, and second edge image is located at the second figure
The left margin of picture, third edge image are located at the coboundary of the second image, and the 4th edge image is located at the lower boundary of third image.
5th edge image is located at the left margin of third image, and the 6th edge image is located at the right margin of the 4th image, and so on,
N image is obtained before detecting shooting halt instruction, is used for stitching image.
Optionally, the repetition shoots multiple images until detecting that shooting halt instruction includes: the shooting of user's input
Halt instruction, alternatively, the alarm command that robot is issued when encountering obstacle can not move.That is, in embodiments of the present invention,
Robot is shot on the way, and user can control robot at any time and stop shooting.
Optionally, in embodiments of the present invention, either which kind of screening-mode, when robot shoots image, if machine
People stops movement when detecting barrier, then controls camera rotation and continue to shoot.When the camera rotates to limiting value,
Stop shooting.
Step S104 shows the image synthesis panoramic picture of shooting.
Specifically, multiple images that will be shot before detecting shooting halt instruction, including the first image and the second figure
Picture sorts according to the sequence of shooting and splices, and synthesis panoramic picture is shown.
In the embodiment of the present invention, when detecting pan-shot instruction, opens camera and find a view, shoot the first image, institute
State pan-shot instruction include screening-mode, such as horizontally to the right, vertically upward, center shoot；It is moved according to the screening-mode
It is dynamic to find a view, when the lap of the current viewfinder image of the camera and the first image meets preset condition, shooting
Current viewfinder image repeats to shoot multiple images until detecting shooting halt instruction as the second image, uses in shooting process
Family can control robot at any time and stop shooting, terminate shooting, finally show the image synthesis panoramic picture of shooting, this programme
In determine whether to shoot by the boundary of detection image, avoiding shooting excessive photo leads to splicing time-consuming or leakage is taken a picture
Splicing is caused to be distorted, to improve the efficiency for the photo that pans, user can terminate to shoot at any time as needed in shooting process,
Further satisfaction user demand improves the efficiency of pan-shot.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment two:
Corresponding to the panoramic picture image pickup method described in foregoing embodiments based on robot, Fig. 3 shows of the invention real
The structural block diagram of the panorama image shooting apparatus of example offer is applied, which can be applied to intelligent terminal, such as robot.For the ease of
Illustrate, only parts related to embodiments of the present invention are shown.
Referring to Fig. 3, which includes: first shooting unit 31, second shooting unit 32, third shooting
Unit 33, image synthesize display unit 34, in which:
First shooting unit 31, for opening camera and finding a view, shoot the first figure when detecting pan-shot instruction
Picture, the pan-shot instruction includes screening-mode；
Second shooting unit 32, for being found a view according to screening-mode movement, when the figure of currently finding a view of the camera
When meeting preset condition as the lap with the first image, current viewfinder image is shot as the second image；
Third shooting unit 33 shoots multiple images until detecting shooting halt instruction for repeating；
Image synthesizes display unit 34, and the image synthesis panoramic picture for that will shoot is shown.
Optionally, described to include: according to the second shooting unit 32
Moving direction determining module, for determining direction to be moved according to the screening-mode；
Mobile module of finding a view, for being found a view according to the direction to be moved at the uniform velocity movement.
Optionally, the second shooting unit 32 includes:
First image detection module determines first edge image, to described for doing edge detection to the first image
Current viewfinder image does edge detection, determines second edge image；
First images match module, for matching the first edge image with the second edge image；
First image taking module is greater than for the similarity when the first edge image and the second edge image
When default similarity threshold, the current viewfinder image is shot as the second image.
Optionally, the first image detection module includes:
First processing submodule, for doing smoothing processing to the first image；
First edge point extracting sub-module, for extracting first edge point set based on the first image Jing Guo smoothing processing；
First edge image generates submodule, for concentrating adjacent marginal point to connect to be formed and close the first edge point
The connected boundary of conjunction generates first edge image；
Second processing submodule, for doing smoothing processing to the current viewfinder image；
Second edge point extracting sub-module, for extracting second edge based on the current viewfinder image Jing Guo smoothing processing
Point set；
Second edge image generates submodule, for concentrating adjacent marginal point to connect to be formed and close the second edge point
The connected boundary of conjunction generates second edge image.
Optionally, camera control unit, when shooting image, if robot stops movement when detecting barrier,
Control camera rotation continues to shoot；When the camera rotates to limiting value, stop shooting.
In second embodiment of the invention, when detecting pan-shot instruction, opens camera and find a view, shoot the first figure
Picture, the pan-shot instruction includes screening-mode；It is found a view according to screening-mode movement, when currently taking for the camera
When scape image and the lap of the first image meet preset condition, current viewfinder image is shot as the second image, weight
Multiple images are shot again until detecting shooting halt instruction, and the image synthesis panoramic picture of shooting is shown, is led in this programme
The boundary of detection image is crossed to determine whether to shoot, avoiding shooting excessive photo leads to splicing time-consuming or leakage is taken a picture to cause
Splicing distortion, to improve the efficiency for the photo that pans.
Embodiment three:
Fig. 4 is the schematic diagram for the robot that one embodiment of the invention provides.As shown in figure 4, the robot 4 of the embodiment wraps
It includes: processor 40, memory 41 and being stored in the computer that can be run in the memory 41 and on the processor 40
Program 42, such as panoramic picture photographing program.The processor 40 is realized above-mentioned each full when executing the computer program 42
Step in scape image capturing method embodiment, such as step 101 shown in FIG. 1 is to 104.Alternatively, the processor 40 executes
Realize the function of each module/unit in above-mentioned each Installation practice when the computer program 42, for example, unit 31 shown in Fig. 3 to
34 function.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the robot 4 is described.For example, the computer program 42 can be divided
Display unit is synthesized at first shooting unit, second shooting unit, third shooting unit, image, each unit concrete function is as follows:
First shooting unit, for opening camera and finding a view, shoot the first image when detecting pan-shot instruction,
The pan-shot instruction includes screening-mode；
Second shooting unit, for being found a view according to screening-mode movement, when the current viewfinder image of the camera
When meeting preset condition with the lap of the first image, current viewfinder image is shot as the second image；
Third shooting unit shoots multiple images until detecting shooting halt instruction for repeating；
Image synthesizes display unit, and the image synthesis panoramic picture for that will shoot is shown.
The robot 4 may include, but be not limited only to, processor 40, memory 41.Those skilled in the art can manage
Solution, Fig. 4 is only the example of robot 4, does not constitute the restriction to robot 4, may include more more or fewer than illustrating
Component perhaps combines certain components or different components, such as the robot can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the robot 4, such as the hard disk or memory of robot 4.
The memory 41 is also possible to the External memory equipment of the robot 4, such as the plug-in type being equipped in the robot 4 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 can also both include the internal storage unit of the robot 4 or wrap
Include External memory equipment.The memory 41 is for other programs needed for storing the computer program and the robot
And data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, system embodiment described above is only schematical, for example, the division of the module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and telecommunications letter
Number.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of panoramic picture image pickup method based on robot, which is characterized in that the panoramic picture based on robot is clapped
The method of taking the photograph includes:
It when detecting pan-shot instruction, opens camera and finds a view, shoot the first image, the pan-shot instruction includes clapping
Take the photograph mode；
It is found a view according to screening-mode movement, when the current viewfinder image of the camera and the overlapping portion of the first image
When point meeting preset condition, current viewfinder image is shot as the second image；
Repetition shoots multiple images until detecting shooting halt instruction；
The image synthesis panoramic picture of shooting is shown.
2. the panoramic picture image pickup method based on robot as described in claim 1, which is characterized in that described according to the bat
Take the photograph the step of motion of defect modes is found a view, comprising:
Direction to be moved is determined according to the screening-mode；
It is found a view according to the direction to be moved at the uniform velocity movement.
3. the panoramic picture image pickup method based on robot as described in claim 1, which is characterized in that described according to the bat
It takes the photograph motion of defect modes to find a view, when the current viewfinder image of the camera and the lap of the first image meet preset condition
When, shoot the step of current viewfinder image is as the second image, comprising:
Edge detection is done to the first image, determines first edge image, edge detection is done to the current viewfinder image, really
Determine second edge image；
The first edge image is matched with the second edge image；
When the similarity of the first edge image and the second edge image is greater than default similarity threshold, described in shooting
Current viewfinder image is as the second image.
4. the panoramic picture image pickup method based on robot as claimed in claim 3, which is characterized in that described to described first
Image does edge detection, determines first edge image, does edge detection to the current viewfinder image, determines second edge image
The step of, comprising:
Smoothing processing is done to the first image；
Based on the first image Jing Guo smoothing processing, first edge point set is extracted；
The first edge point is concentrated adjacent marginal point to connect to form the connected boundary of closure, generates first edge image；
Smoothing processing is done to the current viewfinder image；
Based on the current viewfinder image Jing Guo smoothing processing, second edge point set is extracted；
The second edge point is concentrated adjacent marginal point to connect to form the connected boundary of closure, generates second edge image.
5. such as the described in any item panoramic picture image pickup methods based on robot of Claims 1-4, which is characterized in that described
Repetition shoots multiple images until detecting the step of shooting halt instruction, comprising:
When shooting image, if robot stops movement when detecting barrier, controls camera rotation and continue to shoot；
When the camera rotates to limiting value, stop shooting.
6. a kind of panorama image shooting apparatus, which is characterized in that the panorama image shooting apparatus includes:
First shooting unit, for opening camera and finding a view when detecting pan-shot instruction, the first image of shooting is described
Pan-shot instruction includes screening-mode；
Second shooting unit, for being found a view according to screening-mode movement, the current viewfinder image and institute when the camera
When stating the lap of the first image and meeting preset condition, current viewfinder image is shot as the second image；
Third shooting unit, repetition shoot multiple images until detecting shooting halt instruction；
Image synthesizes display unit, and the image synthesis panoramic picture for that will shoot is shown.
7. as claimed in claim 6 based on the panorama image shooting apparatus of robot, which is characterized in that second shooting is single
Member includes:
First image detection module determines first edge image, to described current for doing edge detection to the first image
Viewfinder image does edge detection, determines second edge image；
First images match module, for matching the first edge image with the second edge image；
First image taking module is greater than default for the similarity when the first edge image and the second edge image
When similarity threshold, the current viewfinder image is shot as the second image.
8. such as the described in any item panorama image shooting apparatus based on robot of claim 6 to 7, which is characterized in that described
Third shooting unit further include:
Camera control unit, if robot stops movement when detecting barrier, controls camera rotation when shooting image
Turn to continue to shoot；When the camera rotates to limiting value, stop shooting.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 5 times when executing the computer program
The step of one panoramic picture image pickup method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realizing the panoramic picture image pickup method as described in any one of claim 1 to 5 when the computer program is executed by processor
Step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478671.9A CN109995985B (en) | 2017-12-29 | 2017-12-29 | Panoramic image shooting method and device based on robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711478671.9A CN109995985B (en) | 2017-12-29 | 2017-12-29 | Panoramic image shooting method and device based on robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109995985A true CN109995985A (en) | 2019-07-09 |
| CN109995985B CN109995985B (en) | 2021-06-29 |
Family
ID=67109273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711478671.9A Active CN109995985B (en) | 2017-12-29 | 2017-12-29 | Panoramic image shooting method and device based on robot and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109995985B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113132717A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Data processing method, terminal and server |
| CN114390219A (en) * | 2022-01-18 | 2022-04-22 | Oppo广东移动通信有限公司 | Shooting method, shooting device, electronic equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070269198A1 (en) * | 2006-05-17 | 2007-11-22 | Samsung Electronics Co.; Ltd | Method for taking a panoramic photo |
| US20080043093A1 (en) * | 2006-08-16 | 2008-02-21 | Samsung Electronics Co., Ltd. | Panorama photography method and apparatus capable of informing optimum photographing position |
| CN101753830A (en) * | 2008-12-18 | 2010-06-23 | 华晶科技股份有限公司 | Real-time prompting method for combination degree of panoramic picture |
| CN103152524A (en) * | 2013-03-05 | 2013-06-12 | 东莞宇龙通信科技有限公司 | Shooting device and continuous shooting method thereof |
| CN105979156A (en) * | 2016-06-30 | 2016-09-28 | 维沃移动通信有限公司 | Panoramically photographing method and mobile terminal |
| CN107071265A (en) * | 2017-01-16 | 2017-08-18 | 努比亚技术有限公司 | A kind of image processing method, device and mobile terminal |
-
2017
- 2017-12-29 CN CN201711478671.9A patent/CN109995985B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070269198A1 (en) * | 2006-05-17 | 2007-11-22 | Samsung Electronics Co.; Ltd | Method for taking a panoramic photo |
| US20080043093A1 (en) * | 2006-08-16 | 2008-02-21 | Samsung Electronics Co., Ltd. | Panorama photography method and apparatus capable of informing optimum photographing position |
| CN101753830A (en) * | 2008-12-18 | 2010-06-23 | 华晶科技股份有限公司 | Real-time prompting method for combination degree of panoramic picture |
| CN103152524A (en) * | 2013-03-05 | 2013-06-12 | 东莞宇龙通信科技有限公司 | Shooting device and continuous shooting method thereof |
| CN105979156A (en) * | 2016-06-30 | 2016-09-28 | 维沃移动通信有限公司 | Panoramically photographing method and mobile terminal |
| CN107071265A (en) * | 2017-01-16 | 2017-08-18 | 努比亚技术有限公司 | A kind of image processing method, device and mobile terminal |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113132717A (en) * | 2019-12-31 | 2021-07-16 | 华为技术有限公司 | Data processing method, terminal and server |
| CN114390219A (en) * | 2022-01-18 | 2022-04-22 | Oppo广东移动通信有限公司 | Shooting method, shooting device, electronic equipment and storage medium |
| CN114390219B (en) * | 2022-01-18 | 2023-11-14 | Oppo广东移动通信有限公司 | Shooting method, shooting device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109995985B (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112862685B (en) | Image stitching processing method, device and electronic system | |
| US20110081087A1 (en) | Fast Hysteresis Thresholding in Canny Edge Detection | |
| CN104301596B (en) | A kind of method for processing video frequency and device | |
| KR20150117646A (en) | Method and apparatus for image enhancement and edge verification using at least one additional image | |
| CN104184950B (en) | A kind of video image joining method and device | |
| CN109166156A (en) | A kind of generation method, mobile terminal and the storage medium of camera calibration image | |
| CN109151329A (en) | Photographic method, device, terminal and computer readable storage medium | |
| CN109005368A (en) | A kind of generation method of high dynamic range images, mobile terminal and storage medium | |
| CN110084765A (en) | A kind of image processing method, image processing apparatus and terminal device | |
| CN110992244A (en) | Picture generation method, system, equipment and storage medium with Moire patterns | |
| CN108259764A (en) | Video camera, image processing method and device applied to video camera | |
| CN109995985A (en) | Panoramic picture image pickup method, device and robot based on robot | |
| CN105637852A (en) | Image processing method and apparatus and electronic device | |
| CN110992395A (en) | Image training sample generation method and device and motion tracking method and device | |
| CN103716548A (en) | Video picture special effect processing method and device | |
| CN110288511A (en) | Minimum error joining method, device, electronic equipment based on double camera image | |
| CN109698946A (en) | Projection device Atomatic focusing method, projection device and computer readable storage medium | |
| Li et al. | Fast global reflectional symmetry detection for robotic grasping and visual tracking | |
| CN106920266B (en) | The Background Generation Method and device of identifying code | |
| CN109117693A (en) | A kind of method and terminal of the scanning recognition found a view based on wide-angle | |
| CN110557556A (en) | Multi-object shooting method and device | |
| CN107292822B (en) | Image splicing method and device | |
| CN113139419A (en) | Unmanned aerial vehicle detection method and device | |
| CN110969575B (en) | Adaptive image stitching method and image processing device | |
| CN109788199B (en) | Focusing method suitable for terminal with double cameras |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231130 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |