CN110276716A - The generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images - Google Patents
The generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images Download PDFInfo
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Abstract
The present invention provides the generation methods of the 180 degree of vehicle front-and rear-view fish eye images correction view, the wide-angle of obtained correction view becomes larger to 180 degree, substantially undistorted, image is more clear, the following steps are included: acquiring in real time forward and backward depending on the taken the photograph image of camera, acquired image is demarcated, the inside and outside parameter of forward and backward view camera is obtained；The forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right respectively, left-side images, intermediate image, image right are corrected respectively；According to it is forward and backward view camera inside and outside parameter obtain left-side images, intermediate image, image right correction transformation parameter α, β, γ；Left-side images, intermediate image, image right are corrected using correction transformation parameter α, β, γ；The two side portions of left and right camera acquired image and the forward and backward two side portions depending on camera are matched using characteristic point, are merged.
Description
Technical field
The present invention relates to the image procossing correlative technology fields in automobile assistant driving, and in particular to vehicle front-and rear-view flake
The generation method of the 180 degree correction view of image.
Background technique
With China's improvement of living standard, automobile is more and more, and auxiliary driving technology is come into being, quite joyous by user
It meets.Fish eye lens is a kind of camera lens for being widely used as automobile camera head, and fish eye lens is burnt as a kind of extreme wide-angle lens
Away between 6-16mm, mostly more than 180 degree, some even can achieve 230 degree at visual angle.It is taken the photograph to make camera lens reach maximum
Shadow angle, the front lens of this camera lens is in parabolical, forwardly convex, rather similar to the eyes of fish, therefore by title fish eye lens.
Fish eye lens belongs to one of bugeye lens special lens, its visual angle makes every effort to reach or beyond human eye institute energy
The range seen.There is very big difference in the scene of fish eye lens and the real world in people's eye, because we are in practical life
The scenery seen in work is well-regulated fixed form, and then has exceeded this model by the picture effect that fish eye lens generates
Farmland, therefore, it is necessary to be corrected to fish eye images, to generate the image that people are easy identification.
Currently, having the following insufficient after carrying out conventional corrective to the taken the photograph image of vehicle front-and rear-view fisheye camera:
1, still there is distortion after image flame detection, do not go to distort completely, do not meet human eye visual angle；
2, wide angular range is inadequate after image flame detection, that is, it is usually 120 that lateral visual perspective range is less desirable after correcting
Degree, there are security risks；
3, due to fish eye images characteristic, by force after 180 degree correction, image two sides have virtualization and deform image, among image
Region and human eye visual angle are not inconsistent.
Summary of the invention
In view of the above-mentioned problems, the present invention provides the generation method of the 180 degree of vehicle front-and rear-view fish eye images correction view,
The wide-angle of obtained correction view becomes larger to 180 degree, and substantially undistorted, image is more clear.
Its technical solution is such that the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images, feature
It is, comprising the following steps:
Step 1: acquire in real time it is forward and backward acquired image is demarcated depending on camera taken the photograph image, obtain it is forward and backward
Depending on the inside and outside parameter of camera；
Step 2: the forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right respectively, point
It is other that left-side images, intermediate image, image right are corrected；
Step 3: the correction of left-side images, intermediate image, image right is obtained according to the inside and outside parameter of forward and backward view camera
Transformation parameter α, β, γ；
Step 4: left-side images, intermediate image, image right are corrected using correction transformation parameter α, β, γ；
Step 5: by the two side portions benefit of the two side portions of left and right camera acquired image and forward and backward view camera
It matched, merged with characteristic point, for increasing image definition.
Further, in step 1, obtaining the camera internal reference includes camera focus, distortion parameter, transformation matrix；Institute
Stating Camera extrinsic includes camera x, y, z coordinate position and the rotation angle centered on optical axis, lateral pivot angle, longitudinal pitch angle
Degree.
Further, the left-side images and the image right account for the 20%-40% of whole image, the centre respectively
Image accounts for the 30%-50% of whole image.
Further, in step 2, using spherical surface rectangular projection model respectively to left-side images, intermediate image, right part of flg
As being corrected.
Further, in step 3, correction transformation parameter α, β, γ passes through following formula respectively and obtains:
α=A (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
β=B (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
γ=C (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
Wherein, A, B, C are with a collection of camera commissioning experience value, and a is the correction figure visual range angle that step 2 obtains, b
The perspective plane angle of correction figure is obtained for step 2, pol is distortion polynomial coefficient in camera internal reference, and pol is the matrix of 1*3,
What is indicated is multinomial coefficient, and pol [0], pol [1], pol [2] are respectively three elements.
Further, in step 4, respectively to left-side images, intermediate image, image right application correction transformation parameter pair
It carries out affine and perspective transform, and left-side images are changed by following formula:
Wherein x`, y` are target image pixel, and x, y are correcting image pixel, and m is correction transformation parameter,It respectively walks back and forth and penetrates transformation matrix and perspective transformation matrix.
Further, in steps of 5, before a splice the left-side images of view when, first according to front view and left view
Outer ginseng matrix acquires the camera transformation matrix that left view camera is transformed into forward sight camera；Front view and left view are extracted
Sift feature is matched, and using feature point correspondence, obtains image transformation matrix；Level ground is converted using camera
Matrix is merged on left view transformation to front view；Picture material on level ground is become using image transformation matrix
It changes on front view, is merged；
In steps of 5, before a splice the image right of view when, first according to the outer ginseng matrix of front view and right view,
Acquire the right camera transformation matrix that forward sight camera is transformed into depending on camera；To front view and right view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by right view level ground
Figure transforms on front view, is merged；Front view is transformed to using image transformation matrix to the picture material on level ground
On, it is merged；
In steps of 5, when splicing the left-side images of rearview, first according to the outer ginseng matrix of rearview and left view,
Acquire the camera transformation matrix that left view camera is transformed into rearview camera；To rearview and left view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by left view level ground
Figure transforms on rearview, is merged；Rearview is transformed to using image transformation matrix to the picture material on level ground
On, it is merged；
In steps of 5, when splicing the image right of rearview, first according to the outer ginseng matrix of rearview and right view,
Acquire the right camera transformation matrix that rearview camera is transformed into depending on camera；To rearview and right view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by right view level ground
Figure transforms on rearview, is merged；To the picture material on level ground using image transformation matrix by right depending on transforming to
On rearview, merged.
The generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images of the invention, according to the distortion of image
The forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right, first using tradition by the difference of degree
Spherical correcting hand over projection model to be corrected, then remove correcting image using affine and perspective transform and correction parameter, will
Effect captured by image restoring captured by fish eye lens to general camera, so that obtained image meets human eye visual angle, figure
As not distorting substantially, the effect for correcting distortion is improved compared with existing, is then matched, is melted using characteristic point
It closes, increases image definition, make full use of the advantage of fish eye lens wide-angle, after forward and backward the taken the photograph image flame detection depending on fisheye camera
Wide angular range become greater to 180 degree.
Detailed description of the invention
Fig. 1 is the flow diagram that the 180 degree of vehicle front-and rear-view fish eye images of the invention corrects the generation method of view.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
See Fig. 1, the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images of the invention, which is characterized in that
The following steps are included:
Step 1: acquire in real time it is forward and backward acquired image is demarcated depending on camera taken the photograph image, obtain it is forward and backward
Depending on the inside and outside parameter of camera, specifically, in step 1, obtaining camera internal reference includes camera focus, distortion parameter, transformation square
Battle array；Camera extrinsic includes camera x, y, z coordinate position and the rotation angle centered on optical axis, lateral pivot angle, longitudinal pitch angle
Degree.
Step 2: the forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right respectively, point
Not Cai Yong spherical surface rectangular projection model left-side images, intermediate image, image right are corrected respectively, in the present embodiment,
Left-side images and image right account for the 30% of whole image respectively, and intermediate image accounts for the 40% of whole image.
Step 3: the correction of left-side images, intermediate image, image right is obtained according to the inside and outside parameter of forward and backward view camera
Transformation parameter α, β, γ, specifically, correction transformation parameter α, β, γ pass through following formula respectively and obtain:
α=A (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
β=B (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
γ=C (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
Wherein, A, B, C are with a collection of camera commissioning experience value, and a is the correction figure visual range angle that step 2 obtains, b
The perspective plane angle of correction figure is obtained for step 2, pol is distortion polynomial coefficient in camera internal reference, and pol is the matrix of 1*3,
What is indicated is multinomial coefficient, and pol [0], pol [1], pol [2] are respectively three elements.
Step 4: left-side images, intermediate image, image right are corrected using correction transformation parameter α, β, γ；
Specifically, respectively to left-side images, intermediate image, image right application correction transformation parameter it is carried out it is affine and
Perspective transform, left-side images are changed by following formula:
Wherein x`, y` are target image pixel, and x, y are above-mentioned correcting image pixel, and α is that the correction of left-side images becomes
Parameter is changed,It respectively walks back and forth and penetrates transformation matrix and perspective transformation matrix；
Intermediate image is changed by following formula:
Wherein x`, y` are target image pixel, and x, y are above-mentioned correcting image pixel, and β is that the correction of intermediate image becomes
Parameter is changed,It respectively walks back and forth and penetrates transformation matrix and perspective transformation matrix；
Image right is changed by following formula:
Wherein x`, y` are target image pixel, and x, y are above-mentioned correcting image pixel, and γ is the correction of image right
Transformation parameter,It respectively walks back and forth and penetrates transformation matrix and perspective transformation matrix.
Step 5: by the two side portions benefit of the two side portions of left and right camera acquired image and forward and backward view camera
It matched, merged with characteristic point, for increasing image definition,
Specifically, in steps of 5, before a splice when the left-side images of view, first according to the outer of front view and left view
Join matrix, acquires the camera transformation matrix that left view camera is transformed into forward sight camera；Front view and left view are extracted
Sift feature is matched, and using feature point correspondence, obtains image transformation matrix；Level ground is converted using camera
Matrix is merged on left view transformation to front view；It will using image transformation matrix to the picture material on level ground
Left view transforms on front view, is merged；
In steps of 5, before a splice the image right of view when, first according to the outer ginseng matrix of front view and right view,
Acquire the right camera transformation matrix that forward sight camera is transformed into depending on camera；To front view and right view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by right view level ground
Figure transforms on front view, is merged；To the picture material on level ground using image transformation matrix by right depending on transforming to
On front view, merged；
In steps of 5, when splicing the left-side images of rearview, first according to the outer ginseng matrix of rearview and left view,
Acquire the camera transformation matrix that left view camera is transformed into rearview camera；To rearview and left view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by left view level ground
Figure transforms on rearview, is merged；Picture material on level ground is transformed to left view using image transformation matrix
On rearview, merged；
In steps of 5, when splicing the image right of rearview, first according to the outer ginseng matrix of rearview and right view,
Acquire the right camera transformation matrix that rearview camera is transformed into depending on camera；To rearview and right view extract sift feature into
Row matching obtains image transformation matrix using feature point correspondence；Use camera transformation matrix by right view level ground
Figure transforms on rearview, is merged；To the picture material on level ground using image transformation matrix by right depending on transforming to
On rearview, merged.
The generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images of the invention, according to the distortion of image
The forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right, first using tradition by the difference of degree
Spherical correcting hand over projection model to be corrected, then remove correcting image using affine and perspective transform and correction parameter, will
Effect captured by image restoring captured by fish eye lens to general camera, so that obtained image meets human eye visual angle, figure
As not distorting substantially, the effect for correcting distortion is improved compared with existing, is then matched, is melted using characteristic point
It closes, increases image definition, make full use of the advantage of fish eye lens wide-angle, after forward and backward the taken the photograph image flame detection depending on fisheye camera
Wide angular range become greater to 180 degree.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (7)
1. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images, which comprises the following steps:
Step 1: acquire in real time it is forward and backward acquired image is demarcated depending on camera taken the photograph image, obtain it is forward and backward depending on taking the photograph
As the inside and outside parameter of head；
Step 2: the forward and backward image depending on camera shooting is divided into left-side images, intermediate image, image right respectively, it is right respectively
Left-side images, intermediate image, image right are corrected；
Step 3: being converted according to the correction that the inside and outside parameter of forward and backward view camera obtains left-side images, intermediate image, image right
Parameter alpha, β, γ；
Step 4: left-side images, intermediate image, image right are corrected using correction transformation parameter α, β, γ；
Step 5: the two side portions of the two side portions of left and right camera acquired image and forward and backward view camera are utilized into spy
Sign point is matched, is merged.
2. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 1, feature exist
In: in step 1, obtaining the camera internal reference includes camera focus, distortion parameter, transformation matrix；The Camera extrinsic includes
Camera x, y, z coordinate position and the rotation angle centered on optical axis, lateral pivot angle, longitudinal pitch angle.
3. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 1, feature exist
The 20%-40% of whole image is accounted for respectively in: left-side images and the image right, and the intermediate image accounts for whole image
30%-50%.
4. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 1, feature exist
In: in step 2, left-side images, intermediate image, image right are corrected respectively using spherical surface rectangular projection model.
5. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 1, feature exist
In: in step 3, correction transformation parameter α, β, γ pass through following formula respectively and obtain:
α=A (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
β=B (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
γ=C (pol [0]+pol [1] (a-b)+pol [2] (a-b)2)
Wherein, A, B, C are with a collection of camera commissioning experience value, and a is the correction figure visual range angle that step 2 obtains, and b is step
Rapid 2 obtain the perspective plane angle of correction figure, and pol is distortion polynomial coefficient in camera internal reference.
6. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 5, feature exist
In: in step 4, left-side images, intermediate image, image right application correction transformation parameter carry out it respectively affine and saturating
Depending on transformation, left-side images are changed by following formula:
Wherein x`, y` are target image pixel, and x, y are correcting image pixel, and m is correction transformation parameter,It respectively walks back and forth and penetrates transformation matrix and perspective transformation matrix.
7. the generation method of the 180 degree correction view of vehicle front-and rear-view fish eye images according to claim 6, feature exist
In: in steps of 5, before a splice when the left-side images of view, first according to the outer ginseng matrix of front view and left view, acquire a left side
The camera transformation matrix of forward sight camera is transformed into depending on camera；The progress of sift feature is extracted to front view and left view
Match, using feature point correspondence, obtains image transformation matrix；Level ground is become left view using camera transformation matrix
It changes on front view, is merged；Picture material on level ground is transformed on front view using image transformation matrix, into
Row fusion；
In steps of 5, before a splice the image right of view when, first according to the outer ginseng matrix of front view and right view, acquire
The right camera transformation matrix that forward sight camera is transformed into depending on camera；The progress of sift feature is extracted to front view and right view
Match, using feature point correspondence, obtains image transformation matrix；Level ground is become right view using camera transformation matrix
It changes on front view, is merged；Picture material on level ground is transformed on front view using image transformation matrix, into
Row fusion；
In steps of 5, it when splicing the left-side images of rearview, first according to the outer ginseng matrix of rearview and left view, acquires
Left view camera is transformed into the camera transformation matrix of rearview camera；The progress of sift feature is extracted to rearview and left view
Match, using feature point correspondence, obtains image transformation matrix；Level ground is become left view using camera transformation matrix
It changes on rearview, is merged；Picture material on level ground is transformed on rearview using image transformation matrix, into
Row fusion；
In steps of 5, it when splicing the image right of rearview, first according to the outer ginseng matrix of rearview and right view, acquires
The right camera transformation matrix that rearview camera is transformed into depending on camera；The progress of sift feature is extracted to rearview and right view
Match, using feature point correspondence, obtains image transformation matrix；Level ground is become right view using camera transformation matrix
It changes on rearview, is merged；Picture material on level ground is transformed on rearview using image transformation matrix, into
Row fusion.
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