CN110062201A - The illegal evidence-obtaining system of panorama - Google Patents
The illegal evidence-obtaining system of panorama Download PDFInfo
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- CN110062201A CN110062201A CN201910145805.8A CN201910145805A CN110062201A CN 110062201 A CN110062201 A CN 110062201A CN 201910145805 A CN201910145805 A CN 201910145805A CN 110062201 A CN110062201 A CN 110062201A
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- image
- high definition
- panorama
- capture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
-
- 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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention belongs to electronic information fields, more particularly to a kind of illegal evidence-obtaining system of panorama and its used realtime graphic panorama mosaic method, set that there are six 5,000,000 pixel high definition cameras (2), two 2,000,000 pixel high definition cameras (3), GPS module, 4G router and industrial personal computers on frame body (1)；5000000 pixel high definition cameras (2), 2,000,000 pixel high definition cameras (3), GPS module and 4G router signal transmission port connect the signal transmission port of industrial personal computer respectively；5000000 pixel high definition cameras (2) and 2,000,000 pixel high definition cameras (3) be respectively completed modified line capture, drive in the wrong direction capture, do not give precedence to pedestrian capture, do not spin to capture, occupy non-motorized lane capture, disobey stop capture, capture video recording and 24 hours video recording, blacklist raid deploy to ensure effective monitoring and control of illegal activities, lorry road occupying capture and not by guided vehicle road travel capture.The present invention monitors distance far, and clarity is high, and the good forensic information of image preview experience sense extracts intelligent.
Description
Technical field
The invention belongs to electronic information field more particularly to a kind of illegal evidence-obtaining systems of panorama and its used realtime graphic
Panorama mosaic method.
Background technique
With the construction of China's society governed by law and perfect, the transparency of law enforcement agency's law enforcement and just degree are increasingly by wide
The concern of the big common people, and the problem that each on-site law-enforcing department frequently encounters at present is exactly to obtain evidence hardly possible, retain evidence hardly possible, is long-range
Commander is difficult.Such as: police law execution department is when coping with all kinds of mobility or unexpected incidents, it is difficult to by event mistake within first time
Journey complete documentation gets off and sends command centre to, so as to affect the treatment effeciency of event；Traffic police department is handed in processing
When logical violation event, can not whole record vehicle act of violating regulations or the flag sign of violation vehicle is not recorded, cause to disobey
Chapter is difficult to handle；When transportation management department carries out traffic administration, it is difficult to find in time and record those using night-environment progress
The logistics vehicles of overload transportation allow all kinds of violation events to have an opportunity to take advantage of；When administrative law-enforcement departments collect evidence at the scene, usually because not having
There is the treatment process of record event, fairness is under suspicion and brings some unnecessary troubles；The Disaster Events such as big vast flood occur
When, after elder generation, relevant departments administrative staff arrives at scene, it is difficult to the truth at scene be fed back to backstage command centre in time.
The main problem of existing illegal evidence-obtaining system:
(1) panorama camera of existing system because lens focus it is small, cause to monitor hypotelorism, remote vehicle do not see license plate
Detailed information.
(2) the panorama camera pixel of existing system is commonly 2,000,000 pixels, and clarity is inadequate.
(3) panoramic video does not do with picture and splices, and image preview experience sense is bad.
(4) mode of operation is single not flexible, existing product it is excessive stress capture illegal parking, other illegal activities are grabbed
It claps not flexible, needs excessive human intervention.
(5) forensic information extract not intelligence, including on illegal activities, illegal place, particularly highway illicitly
Point, can not automated intelligent superposition.
Summary of the invention
Remote the present invention is directed to provide a kind of monitoring distance in place of overcome the deficiencies in the prior art, clarity is high, and image is pre-
Experience sense of looking at is good, flexible operation mode, forensic information extract the illegal evidence-obtaining system of intelligentized panorama and its it is used in real time
Image panorama joining method.
In order to solve the above technical problems, the present invention is implemented as follows:
1, the illegal evidence-obtaining system of panorama, including frame body (1)；It is characterized in that, setting on the frame body (1), there are six 500
Ten thousand pixel high definition cameras (2), two 2,000,000 pixel high definition cameras (3), GPS module, 4G router and industrial personal computers；Described six
The signal transmission port of 5000000 pixel high definition cameras (2), two 2,000,000 pixel high definition cameras (3), GPS module and 4G router
The signal transmission port of industrial personal computer is connect respectively；Six 5,000,000 pixel high definition cameras (2) are divided into two groups of front and back；Three, front
5000000 pixel high definition cameras are arranged in 38 degree of spacing two-by-two, and finally splicing visual angle is 120 degree；Three, rear, 5,000,000 pixel high definitions
Camera is arranged in 38 degree of spacing two-by-two, and finally splicing visual angle is 120 degree；Described two 2,000,000 pixel high definition camera (3) settings
In the left and right sides, visual angle is 170 degree of wide-angles；Six 5,000,000 pixel high definition cameras (2) and two 2,000,000 pixel high definition phases
Machine (3) is respectively completed modified line candid photograph, drives in the wrong direction and capture, do not give precedence to pedestrian's candid photograph, not spinning and grab to candid photograph, occupancy non-motorized lane
Clap, disobey stop capture, capture video recording and 24 hours video recording, blacklist raid deploy to ensure effective monitoring and control of illegal activities, lorry road occupying capture and not by guided vehicle road row
Sail candid photograph.
2, the illegal evidence-obtaining system of panorama according to claim 1, it is characterised in that: also set on the frame body (1)
There are two groups of flashing lights (4)；Two groups of flashing lights (4) are in each one group of setting in front and back；The signal transmission port of the flashing light (4)
Connect with the signal transmission port of industrial personal computer.
3, the illegal evidence-obtaining system of panorama according to claim 2, it is characterised in that: six 5,000,000 pixels are high
The two sides of each camera are equipped with LED light supplement lamp (5) in clear camera (2) and two 2,000,000 pixel high definition cameras (3)；The LED is mended
The signal transmission port of light lamp (5) connects with the signal transmission port of industrial personal computer.
4, realtime graphic panoramic mosaic used by a kind of illegal evidence-obtaining system of panorama as described in claims 1 to 3 is any
Method, which is characterized in that implement as follows:
(1) calibration of camera；
(2) image coordinate converts；
(3) sensor image distortion correction；
(4) projective transformation of image；The projective transformation includes plane projection, cylindrical surface projecting, cubic projection or spherical surface
Projection；
(5) match point is chosen；
(6) image mosaic；
(7) equilibrium treatment of brightness and color.
As a preferred embodiment, in step (4) of the present invention, plane projection is with the piece image in sequence image
Coordinate system on the basis of, by all projective transformations of its image into this frame of reference, be aligned the overlay region of adjacent image；Institute
Stating cylindrical surface projecting is to carry out on cylinder using camera focus as the cylinder of radius to one by acquired image data re-projection
The projection of panorama sketch is spliced；The spherical projection is to simulate the characteristic of eye-observation, and image information is projected by perspective transform
To ball portions, it is configured to the spherical surface of an observation.
Further, match point number >=4 of the present invention.
Further, in step (6) of the present invention, image mosaic includes registration and fusion；In multiple image registration
In the process, the geometry motion model of use includes: translation model, Similarity Model, affine model or perspective model.
Further, in step (7) of the present invention, the equilibrium treatment of brightness and color by the illumination model of camera,
The even property of uneven illumination inside correction piece image establishes phase then by the relationship between adjacent two images overlapping region
Histogram Mapping table between adjacent two images does whole mapping transformation to two images by mapping table, is finally reached entirety
Brightness and consistency of colour.
Further, it in step (2) of the present invention, is retouched in image coordinate transformation by the perspective projection transformation of 8 parameters
The coordinate relationship between image is stated, the matrix of parameter is [m0, m1, m2；m3,m4,m5；m6,m7,1]；The corresponding phase of each parameter
Machine movement are as follows: m0, m1, m3 and m4 indicate scaling, rotation and shearing；M6 and m7 indicates trapezoidal distortion and linear frequency modulation；M2 is the side x
To displacement；M5 is the displacement of the direction y.
The present invention improves the convenience of punishment illegal vehicle, improves the working efficiency of people's police, is before thoroughly improving
The building structure of system, forms a set of small and exquisite stabilization, the simple system of structure, and by the addition of artificial intelligence, so that system
Become clever, becomes more handy easy-to-use.
This system solves the problems, such as follows:
(1) camera pixel is promoted to 5,000,000, and lens focus increases, and has achieved the purpose that far and near scene is all taken into account.
(2) video splices in real time, forensic data splicing, and the experience sense of image preview is more preferable.
(3) addition of speech recognition makes operation more flexible, and all instructions and manipulation can use the side of interactive voice
Formula is completed, and both hands are liberated.
(4) exclusive offline GPS geography information extractive technique is taken into account the different roads such as city and high speed, is realized illicitly
The intelligence superposition of point.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and specific embodiments.Protection scope of the present invention not only office
It is limited to the statement of following content.
Fig. 1 is overall structure of the present invention；
Fig. 2 is present system flow diagram；
Fig. 3-1 is present invention shooting original image；
Fig. 3-2 is the direction x of the present invention deformation effects；
Fig. 3-3 is effect after slant correction of the present invention.
In figure: 1, frame body；2,5,000,000 pixel high definition camera；3, two 2,000,000 pixel high definition cameras；4, flashing light；5,
LED light supplement lamp；6, top cover.
Specific embodiment
As shown, the illegal evidence-obtaining system of panorama, including frame body 1；5,000,000 pixels are high there are six setting on the frame body 1
2, two 2,000,000 pixel high definition cameras 3 of clear camera, GPS module, 4G router and industrial personal computer；Six 5,000,000 pixel high definitions
The signal transmission port of 2, two 2,000,000 pixel high definition cameras 3 of camera, GPS module and 4G router connects the letter of industrial personal computer respectively
Number transmission port；Six 5,000,000 pixel high definition cameras 2 are divided to for two groups of front and back；Three, front, 5,000,000 pixel high definition cameras are in
38 degree of spacing arrangements two-by-two, finally splicing visual angle is 120 degree；Three, rear, 5,000,000 pixel high definition cameras are in 38 degree of spacing two-by-two
Arrangement, finally splicing visual angle is 120 degree；In the left and right sides, visual angle is 170 degree for described two settings of 2,000,000 pixel high definition camera 3
Wide-angle；Six 5,000,000 pixel high definition cameras 2 and two 2,000,000 pixel high definition cameras 3 are respectively completed modified line and capture, drive in the wrong direction
Capture, do not give precedence to pedestrian capture, do not spin to capture, occupy non-motorized lane capture, disobey stop capture, capture video recording and 24 hours
Video recording, blacklist raid deploy to ensure effective monitoring and control of illegal activities, lorry road occupying capture and not by guided vehicle road travel capture.
The present invention is additionally provided with two groups of flashing lights 4 on the frame body 1；Two groups of flashing lights 4 are set in each one group of front and back
It sets；The signal transmission port of the flashing light 4 connects with the signal transmission port of industrial personal computer.
Each camera in six 5,000,000 pixel high definition cameras 2 of the present invention and two 2,000,000 pixel high definition cameras 3
Two sides are equipped with LED light supplement lamp 5；The signal transmission port of the LED light supplement lamp 5 connects with the signal transmission port of industrial personal computer.
Product of the present invention composition: three, front, 5,000,000 pixel high definition cameras arrange in 38 degree of spacing two-by-two, finally splice
Visual angle is 120 degree；Three, rear, 5,000,000 pixel high definition cameras are arranged in 38 degree of spacing two-by-two, and finally splicing visual angle is 120 degree.
Front and back camera angle is adjustable.Respectively there are 2,000,000 high definition cameras in left and right, and visual angle is 170 degree of wide-angles.See own on the whole
Camera monitoring area, which is added, is greater than 360 degree.Each one group of flashing light in front and back does quick-fried sudden strain of a muscle warning and uses.Magnetic chuck there are four under pedestal,
Play the role of damping and increase firmly, the drag hook of fixed roof can be adjusted arbitrarily.GPS module built in shell, 4G router and
Industrial personal computer.
Front and back of the invention totally 6 cameras focus on monitor former and later two directions road vehicle it is illegal, all to scene and focal length
There is certain requirement, the camera of left and right two is mainly the separated parking for assisting capturing left back both direction, and focal length is closer, this
Design is that comparison is reasonable.Each camera two sides are equipped with LED light supplement lamp, achieve the purpose that light filling when meeting insufficient light.I am public
Department in design aspect, formulated in strict accordance with relevant national standard, disobey stop candid photograph in terms of meet national national standard GA/T1426-
2017 " motor vehicle illegal parking automatic production record general technical specifications " guarantee capture it is reasonable, it is ensured that data it is true
Property.
(1) focal length problem
The three 5,000,000 pixel high definition cameras in front and back of the invention can be equipped with 16mm camera lens, and 20 meters or so can to see vehicle clearly thin
Save information.Existing system camera is substantially based on 2,000,000 pixels on the market, and 8 meters or so can see Vehicle Detail clearly.It can
The apparent distance greatly promotes, and has good effect for capturing remote vehicle illegal.
(2) image mosaic problem
Though existing system is panorama on the market, no matter from the data of real-time video or image forensics,
Do not spliced.The present invention solves Bonding Problem, the splicing of splicing and forensic data including real-time video, and image is pre-
It lookes at and experiences.
(3) operating flexibility is promoted
The present invention passes through instruction execution systems by the MIC interface of host to acquire the phonetic order for receiving operator
The interactive manipulation with equipment.Police strength is saved, flexible operation is convenient.
(4) GPS Intelligent Extraction Technology
The present invention can offline position product by the GPS mould group of host using exclusive Intelligent Extraction Technology,
And obtain road information.Off-line data is acquired using the calibration software of oneself research and development by Amap, compatible urban road with
The ground point location of highway, highway can be embodied in N kilometers hundred meters of+N of form.This is that existing product is done on the market
Less than.
Main equipment parameters:
1, industrial camera
5000000 pixels 1 " CMOS gigabit Ethernet industrial camera video camera；
" the global shutter CMOS of sensor type 1；
Resolution ratio 2592 × 2048；
4.8 μm of 4.8 μ m of pixel dimension；
2592 × 2048 Bayer8 of frame frequency 11fps@2592 × 2048YUV 22fps@；
Dynamic range > 60dB signal-to-noise ratio > 40dB gain ranging 0-10dB；
10 μ s-10sec of exposure time range；
Shutter mode global shutter supports automatic exposure, Manual exposure, a key to expose isotype；
Data-interface Gigabit Ethernet number I/O light-coupled isolation input 1 tunnel, output 1 tunnel it is two-way can configure it is non-
1 tunnel I/O is isolated；
Buffer memory capacity 128MB frame buffer；
Data format Mono8/10/12, Bayer BG 8/10/10p/12/12p, YUV422 8, YUV 422 8
UYVY,RGB8；
Power supply and power consumption about 3.3W@12VDC；
5~15V of voltage range；
0~50 DEG C of operating temperature；Storage temperature -30~70 DEG C；
Size 29mm × 29mm × 42mm；
Weight about 68g；
Lens interface C-Mount；
Software MVS or third party support；
Operating system Windows XP/7/8 32/64bits；
Authenticate CE, FCC, RoHS；
2, camera lens
16mm 1M resolution, 1 "；
3, wide angle camera
Sensor: the 120 degree of wide-angles of CMOS 1/2.7 "；
Default resolution 1920*1080；
Compressed format MJPG；
Interface USB2.0；
30 frame of frame per second, manual focusing, operating voltage DC5V, automatic exposure, automatic gain, automatic white balance, automatic gal
Horse correction；
Saturation degree control, acutance control, brightness control, contrast control；
Operating temperature -40~70 degree Celsius；
Support windows system, android system, MAC system；
4, industrial personal computer
I5/I7,16G memory, 2T storage；
Fan-free aluminum alloy casing, waterproofing grade IP40；
4 generation of CPUCoreTM i7/i5/i3&Processor power consumption 45W；
Memory interface 2x 204-pin DDR3 1333/1600SO-DIMM, reaches 16GB；
Mainboard chipQ87.BIOS AMI；
Interface: 2x 10/100/1000Mbps Ethernet (i211)；
4x 10/100/1000Mbps Power over Ethernet(PoE)；
2x RS-232/422/485；
2x RS-232；
8-CH Programmable/Isolated DI/DO；
6x USB 3.0；
2x USB 2.0；
1x audio(MIC-in/Line-out)；
1x DVI-I；
1x HDMI；
1x DisplayPort；
1x 24VDC；
House dog: Timer 255levels, 1~255sec.
Hard disk: 2x 2.5 " 12mm SATA HDD drive 5bay (0/1 supported of RAID) 1x CFastTM
(front access)2x mSATA；
Expansion interface: 2x full-size PCI Express Mini Card slot (USB+PCIe signal)
1x SIM Card slot；
Operating temperature: -20 DEG C~+50 DEG C (- 4 °F~+122 °F) (with W.T. SSD or CFastTM,CPU TDP
45W)；
Humidity: 10%~90% without frosting；
Certification: CE compatible system: WES7, WE8S, Linux
5,4G router
4G the whole network is logical, WIFI, 7 mold core piece of high pass, supports mobile UNICOM 3/4G, supports telecommunications 4G；
Meet IEEE802.11b/802.11g/802.11n/802.3/802.3u；
Radio transmitted power: 802.11b 18dBm ± 2dBm, 802.11g 15dBm ± 2dBm, 802.11n 14dBm
±2dBm；
Receiving sensitivity: 802.11b:-83dBm@10%PER, 802.11g:-74dBm@10% PER, 802.11n:-
68dBm@10%PER；
5Port 10/100Mbps adaptive ethernet interface is supported automatic turning (Auto MDI/MDIX)；
6, touch control display
13.3 inch HDR display；
It touches and supports 10 touches, capacitance plate, win8, win8.1, win10, directly inserts the dynamic directly touch of free drive；
Resolution ratio 1920*1080p, extension and duplication are supported；
It supports backlight to adjust, point-to-point, support overturning is supported to fall to shield；
Mini HDMI interface (one key switching is without plug)；
Type-C interface, HDMI interface, HP interface；
3.5 audio port of audio output, built-in black magnetic HiFi Speakers (being not necessarily to external speaker)；
Al-alloy metal CNC wire drawing aoxidizes fuselage；
178 degree of visible angles；
7, GPS module
GPS/ Beidou, 50 channels；
Coordinate basis: WGS-84；
Positioning accuracy: 5m；
Positioning time cold boot: 42s warms up booting: 38s, heat booting: 1s；
Input information: NMEA/SiRF binary system setting；
Output information: NMEA-0183-GGA, GSA, GSV, RMC, VTG, GLL；
8, light compensating lamp
COREE lamp bead 36W, customization.
Realtime graphic panorama mosaic method used by the above-mentioned illegal evidence-obtaining system of panorama, can implement as follows:
(1) calibration of camera；
(2) image coordinate converts；
(3) sensor image distortion correction；
(4) projective transformation of image；The projective transformation includes plane projection, cylindrical surface projecting, cubic projection or spherical surface
Projection；
(5) match point is chosen；
(6) image mosaic；
(7) equilibrium treatment of brightness and color.
In step (4) of the present invention, plane projection is incited somebody to action on the basis of the coordinate system of the piece image in sequence image
The all projective transformations of its image are aligned the overlay region of adjacent image into this frame of reference；The cylindrical surface projecting is will to adopt
The image data re-projection integrated to one using camera focus as the cylinder of radius, spell by the projection that panorama sketch is carried out on cylinder
It connects；The spherical projection is to simulate the characteristic of eye-observation, and image information is projected to ball portions by perspective transform, is constructed
The spherical surface observed at one.Match point number >=4 of the present invention.In step (6) of the present invention, image mosaic includes matching
Quasi- and fusion；During multiple image registration, the geometry motion model of use includes: translation model, Similarity Model, imitates
Penetrate model or perspective model.In step (7) of the present invention, the equilibrium treatment of brightness and color by the illumination model of camera,
The even property of uneven illumination inside correction piece image establishes phase then by the relationship between adjacent two images overlapping region
Histogram Mapping table between adjacent two images does whole mapping transformation to two images by mapping table, is finally reached entirety
Brightness and consistency of colour.In step (2) of the present invention, become in image coordinate transformation by the perspective projection of 8 parameters
The coordinate relationship between description image is changed, the matrix of parameter is [m0, m1, m2；m3,m4,m5；m6,m7,1]；Each parameter is corresponding
Camera motion are as follows: m0, m1, m3 and m4 indicate scaling, rotation and shearing；M6 and m7 indicates trapezoidal distortion and linear frequency modulation；m2
For the displacement of the direction x；M5 is the displacement of the direction y.
Image mosaic (Image Stitching) is a kind of technology using real scene image composition panoramic space, it will be more
Width image mosaic is related to computer vision, computer graphic at a width large scale image or 360 degree of panorama sketch, image mosaic technology
The technologies such as shape, Digital Image Processing and some mathematical tools.Its basic step of image mosaic mainly includes following side
Face: the calibration of camera, image coordinate transformation, sensor image distortion correction, the projective transformation of image, match point are chosen, are complete
Scape image mosaic (fusion) and brightness and the equilibrium treatment of color etc., below analyze each step.
1, camera is demarcated
Due to install and design and camera between difference, will cause between video image has scaling (lens focus is not
Unanimously cause), inclination (vertical rotary), azimuth difference (horizontals rotation), therefore physics difference need in advance calibrate, obtain
The good image of consistency splices convenient for subsequent image.
2, image coordinate converts
In practical applications, the acquisition of panoramic picture generally requires video camera with different position arrangements and different inclination angles
Shooting.Such as due to airborne or vehicle-mounted characteristic, the arrangement mode of camera is not quite similar, it cannot be guaranteed that camera is on the same face, such as
Cylindrical surface projecting is not necessarily on the same cylinder, and plane projection is not necessarily in the same plane；In addition to blind area is avoided the occurrence of,
Camera often tilts down certain angle when shooting.These situations are relatively common, and are easy to be ignored, and directly project
Splicing effect is poor again.Thus it is necessary to need according to camera before all image projections to some cylinder (or plane)
Location information and angle information obtain the image after coordinate transform.As long as theoretically meeting static 3-D image or flat field
The corresponding relationship of any one of two conditions of scape, two images can indicate with projective transformation matrix, in other words
As long as meeting any one condition among these, it is virtual that the image of camera shooting can be expressed as another by coordinate transform
The image of camera shooting.
The perspective projection transformation of 8 parameters is most suitable for the coordinate relationship between description image, the matrix of parameter under normal circumstances
For [m0, m1, m2；m3,m4,m5；m6,m7,1]；The corresponding camera motion of each parameter is expressed as follows:
| Parameter | The movement of corresponding video camera and imaging effect |
| m2 | The displacement of the direction x |
| m5 | The displacement of the direction y |
| M0, m1, m3, m4 | Scaling rotates, shearing |
| M6, m7 | Trapezoidal distortion (direction x and the deformation of the direction y), linear frequency modulation |
Referring to shown in Fig. 3-1, Fig. 3-2 and Fig. 3-3, certain angle is tilted down for camera in figure and shoots image, this angle
Degree has corresponding relationship with m6 and m7, if to obtain correction image, it is only necessary to coordinate change is carried out after inverting to 8 parameter matrixs
It changes.
3, image distortion correction
Due to manufacture, installation, technique etc., there is various distortion for camera lens.In order to improve the precision of video camera splicing,
The distortion of imaging lens must be taken into consideration when carrying out image mosaic.General distortion is divided into internal distortions and external distortion, interior
Portion's distortion is due to the distortion that the construction of video camera itself is cause, and outside distortion is the abnormal of the geometrical factor cause of projection pattern
Become.Lens distortion belongs to internal distortions, generally can be divided into two class of radial distortion and tangential distortion by the distortion that camera lens generates.It is radial
Distortion is exactly distortion aberration in aggregate optical, mainly as the radial buckling difference of camera lens and caused by, have barrel distortion
With two kinds of pincushion distortion.Tangential distortion be typically considered due to the optical centre of stationary lens group it is not conllinear caused by, including
There are various generation errors and rigging error etc..It is generally believed that radial distortion is to cause image abnormal in optical system imaging process
The principal element of change.Radial distortion causes straight line in image to be more obvious at curved picture, and closer to this effect in edge.According to
The mechanism that radial distortion generates, is corrected video image.Corrected image, effective pixel area reduce, generally
It can be corrected in such a way that electronics amplifies.
4, image projection transformation
Since each image is that camera shoots under different angle and obtains, so they are not in same projection plane
On, if directly carrying out to the image of overlapping seamless spliced, the visual consistency of practical scenery can be destroyed.So needing first to figure
As progress projective transformation, then spliced.Generally there are plane projection, cylindrical surface projecting, cubic projection and spherical projection etc..
Plane projection is exactly to be arrived all projective transformations of its image on the basis of the coordinate system of the piece image in sequence image
In this frame of reference, it is aligned the overlay region of adjacent image, claim to be consequently formed is spliced into plane projection splicing；Cylinder is thrown
Shadow refers to that acquired image data re-projection, using camera focus as the cylinder of radius, carries out panorama sketch to one on cylinder
Projection splicing；Spherical projection is to simulate the characteristic of eye-observation, and image information is projected to ball portions, structure by perspective transform
Cause the spherical surface of an observation；Cubic projection be in order to solve the disadvantage that spherical surface hint obliquely at present in data should not store, and
A kind of projection connecting method that developed, it is suitable for computer generated image, but then relatively more tired to the image of shoot on location
It is difficult.
5, match point is chosen and is demarcated
Since the method for characteristic point is easier to the transformation relations such as rotation, affine, perspective between processing image, thus often quilt
It uses, characteristic point includes the angle point of image and shows the point of interest of certain singularity relative to its field.Harris etc. is mentioned
Go out a kind of Corner Detection Algorithm, which is generally acknowledged relatively good Corner Detection Algorithm, there is rigid transformation invariance, and
There is affine transformation invariance to a certain extent, but the algorithm does not have scale transformation invariance.For such disadvantage,
Lowe proposes the SIFT feature with scaling invariance.
The splicing needs of image find effective characteristic matching point in image sequence.The characteristic point of image finds direct shadow
Ring the precision and efficiency of image mosaic.For image sequence, if feature point number >=4, it is easy to automatic Calibration image
Match point；If characteristic point is seldom, image mosaic tends not to obtain ideal effect.
6, image mosaic merges
Two step of key of image mosaic is: registration (registration) and fusion (blending).The purpose of registration is
According to geometry motion model, by image registration into the same coordinate system；Fusion is then that the image after registration is synthesized one
Big stitching image.
Multiple image registration during, the geometry motion model of use mainly has: translation model, Similarity Model,
Affine model and perspective model.The translation model of image refers to that the displacement in direction and direction only has occurred in image in two-dimensional space,
If translational motion only has occurred in video camera, translation model can be used.The Similarity Model of image refers to video camera sheet
Body other than translational motion it may also happen that rotary motion, meanwhile, when there are the scaling of scene, zoom factor can also be utilized
More scaling movements are described, and therefore, when translation, rotation, scaling movement may occur for image, can use similitude mould
Type.The affine model of image is the transformation model of 6 parameters, that is, there are parallel lines to be transformed into parallel lines, finite point is mapped to
The general characteristic of finite point, specific manifestation can be the consistent uniform scaling transformation of all directions change of scale coefficient or transformation series
Number is inconsistent non-with change of scale and shear transformation etc., can describe translational motion, rotary motion and small-scale contracting
It puts and deforms.The perspective model of image is the transformation model with 8 parameters, can ideally state various tables and change, and is a kind of
Precise transformation model the most.
Image fusion technology generally can be divided into two class of non-multi-level technique and multi-level technique.In non-multiresolution skill
Mainly there are mean value method, cap function method, weighted mean method and median filtering method etc. in art.Multi-level technique mainly has Gauss
Pyramid, laplacian pyramid, contrast pyramid, grad pyramid and small echo etc..
7, the equilibrium treatment of brightness and color
Because of the difference of camera and intensity of illumination, will cause inside piece image and between image brightness it is uneven,
Spliced image will appear light and shade alternating, cause great inconvenience to observation in this way.
Brightness and color balancing are handled, and common processing mode is the illumination model by camera, are corrected in piece image
The even property of the uneven illumination in portion is established between adjacent two images then by the relationship between adjacent two images overlapping region
Histogram Mapping table does whole mapping transformation to two images by mapping table, is finally reached whole brightness and color
Consistency.
Panoramic mosaic reconnaissance system has had in foreign countries to be studied earlier, early in 1992, Cambridge University
L.G.Brown just summarizes to the core technology of image mosaic, and the Richard Szeliski of Microsoft Research in 1996 is mentioned
Based drive panoramic mosaic model out.Szeliski several this respect papers of consecutive publications again later, Shmuel in 2000
Peleg proposes improved method, and according to the adaptively selected split-join model of the motion mode of camera, M.Brown is delivered within 2003
The method that SIFT feature carries out image mosaic, but calculation amount is very big, and Seong Jong Ha in 2007 proposes mobile camera system
Panorama mosaic method, not only guarantee effect, but also arithmetic speed is also good.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of term instruction is based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, the terms such as term " setting ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship unless otherwise restricted clearly for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. the illegal evidence-obtaining system of panorama, including frame body (1)；It is characterized in that, setting on the frame body (1), there are six 5,000,000 pictures
Plain high definition camera (2), two 2,000,000 pixel high definition cameras (3), GPS module, 4G router and industrial personal computers；Described six 5,000,000
The signal transmission port difference of pixel high definition camera (2), two 2,000,000 pixel high definition cameras (3), GPS module and 4G router
Connect the signal transmission port of industrial personal computer；Six 5,000,000 pixel high definition cameras (2) are divided into two groups of front and back；Three 5,000,000, front
Pixel high definition camera is arranged in 38 degree of spacing two-by-two, and finally splicing visual angle is 120 degree；Three, rear, 5,000,000 pixel high definition cameras
It is arranged in 38 degree of spacing two-by-two, finally splicing visual angle is 120 degree；Described two 2,000,000 pixel high definition camera (3) settings are in left and right
Two sides, visual angle are 170 degree of wide-angles；Six 5,000,000 pixel high definition cameras (2) and two 2,000,000 pixel high definition cameras (3) point
Not Wan Cheng modified line capture, drive in the wrong direction capture, do not give precedence to pedestrian capture, do not spin to capture, occupy non-motorized lane capture, disobey stop grabbing
Clap, capture video recording and 24 hours video recording, blacklist raid deploy to ensure effective monitoring and control of illegal activities, lorry road occupying capture and not by guided vehicle road travel capture.
2. the illegal evidence-obtaining system of panorama according to claim 1, it is characterised in that: be additionally provided with two on the frame body (1)
Group flashing light (4)；Two groups of flashing lights (4) are in each one group of setting in front and back；The signal transmission port and work of the flashing light (4)
The signal transmission port of control machine connects.
3. the illegal evidence-obtaining system of panorama according to claim 2, it is characterised in that: six 5,000,000 pixel high definition phases
The two sides of each camera are equipped with LED light supplement lamp (5) in machine (2) and two 2,000,000 pixel high definition cameras (3)；The LED light supplement lamp
(5) signal transmission port connects with the signal transmission port of industrial personal computer.
4. used by a kind of illegal evidence-obtaining system of panorama as described in claims 1 to 3 is any
Realtime graphic panorama mosaic method, which is characterized in that implement as follows:
(1) calibration of camera；
(2) image coordinate converts；
(3) sensor image distortion correction；
(4) projective transformation of image；The projective transformation includes plane projection, cylindrical surface projecting, cubic projection or spherical projection；
(5) match point is chosen；
(6) image mosaic；
(7) equilibrium treatment of brightness and color.
5. realtime graphic panorama mosaic method used by the illegal evidence-obtaining system of panorama, feature exist according to claim 4
In: in the step (4), plane projection is all to be thrown its image on the basis of the coordinate system of the piece image in sequence image
Shadow transforms in this frame of reference, is aligned the overlay region of adjacent image；The cylindrical surface projecting is by acquired image
Data re-projection, using camera focus as the cylinder of radius, carries out the projection splicing of panorama sketch to one on cylinder；The spherical surface
Projection is to simulate the characteristic of eye-observation, and image information is projected to ball portions by perspective transform, is configured to an observation
Spherical surface.
6. realtime graphic panorama mosaic method used by the illegal evidence-obtaining system of panorama, feature exist according to claim 5
In: match point number >=4.
7. realtime graphic panorama mosaic method used by the illegal evidence-obtaining system of panorama, feature exist according to claim 6
In: in the step (6), image mosaic includes registration and fusion；During multiple image registration, the geometry motion of use
Model includes: translation model, Similarity Model, affine model or perspective model.
8. realtime graphic panorama mosaic method used by the illegal evidence-obtaining system of panorama, feature exist according to claim 7
In: in the step (7), the equilibrium treatment of brightness and color corrects the light inside piece image by the illumination model of camera
According to inhomogeneities, then by the relationship between adjacent two images overlapping region, histogram between adjacent two images is established
Mapping table does whole mapping transformation to two images by mapping table, is finally reached whole brightness and consistency of colour.
9. realtime graphic panorama mosaic method used by the illegal evidence-obtaining system of panorama, feature exist according to claim 8
In: in the step (2), the coordinate relationship between image is described by the perspective projection transformation of 8 parameters in image coordinate transformation,
The matrix of parameter is [m0, m1, m2;m3,m4,m5; m6,m7,1] ；The corresponding camera motion of each parameter are as follows: m0, m1, m3 and m4
Indicate scaling, rotation and shearing；M6 and m7 indicates trapezoidal distortion and linear frequency modulation；M2 is the displacement of the direction x；M5 is the displacement of the direction y.
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