CN111583117A - Rapid panoramic stitching method and device suitable for space complex environment - Google Patents
Rapid panoramic stitching method and device suitable for space complex environment Download PDFInfo
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- 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
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Abstract
The application provides a rapid panoramic stitching technology suitable for a space complex environment, and the method at least comprises the following steps: s101, performing a calibration test of a camera, and extracting angular points on a calibration image shot by an effective field of view; s102, acquiring internal parameters of each camera by monocular calibration; s103, obtaining external parameters between adjacent cameras through binocular calibration; s104, performing spherical inverse projection to form a panoramic plane image with 360 degrees-180 degrees of view fields, selecting one camera as a basic reference coordinate system, completing image coordinate conversion of other three cameras, and realizing indexing of image pixels in the same coordinate system; s105, eliminating splicing seams by a gradual-in and gradual-out algorithm, and smoothing the large parallax pixel area; and S106, making the pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into an LUT (look up table) for the FPGA to use.
Description
Technical Field
The invention relates to the technical field of video image synthesis, in particular to a rapid panoramic stitching method and device suitable for a space complex environment.
Background
Panoramic vision refers to the acquisition of all visual information in a three-dimensional space larger than a hemispherical field of view (360 ° x180 °) at a time. Obtaining panoramic vision requires a special vision sensor system. Panoramic vision is the most direct mode for acquiring three-dimensional space information, has wide application in many fields, and particularly has very important significance in the fields and industries for making decisions through visual information, such as civil, military and aerospace spaces.
The current methods for acquiring panoramic visual images include: (1) the method of the common visual sensor and the rotating holder has the advantages that the visual field of the common visual sensor is limited, and the visual field is increased by means of the rotation of the holder; (2) the compound eye technology + image splicing method comprises the steps of simultaneously acquiring visual images with different angles of a visual field by using a plurality of visual sensors, and then realizing seamless splicing of the images; (3) by using a fish-eye imaging technology, the field of view close to a hemisphere can be observed by fish eyes at one time, and a fish-eye lens specially manufactured according to the principle of fish-eye imaging is formed by combining a plurality of groups of lenses, so that the imaging principle is complex and the price is relatively high; and (4) a method of using a convex mirror + a common vision sensor.
The prior art has overhigh cost, unstable imaging in a complex space environment and unsatisfactory splicing effect.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the application provides a rapid panoramic stitching method suitable for a space complex environment. The technical scheme is as follows:
a quick panoramic stitching method suitable for space complex environment at least comprises the following steps:
s101, performing a calibration test of a camera, and extracting angular points on a calibration image shot by an effective field of view;
s102, acquiring internal parameters of each camera by monocular calibration;
s103, obtaining external parameters between adjacent cameras through binocular calibration;
s104, performing spherical inverse projection to form a panoramic plane image with 360 degrees to 180 degrees of view field, selecting one camera as a basic reference coordinate system, completing image coordinate conversion of other cameras, and realizing index of image pixel points under the same coordinate system;
s105, eliminating splicing seams by a gradual-in and gradual-out algorithm, and smoothing the large parallax pixel area;
and S106, making the pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into a lookup table (Look Up Table, LUT) for a Field Programmable Gate Array (FPGA).
In one possible implementation manner, the step S102 includes:
and extracting the coordinates of the corner points on the black and white chessboard calibration plate by adopting a template matching method, and calculating the internal parameters and distortion coefficients of the fisheye camera.
In one possible implementation manner, the step S103 includes:
and performing binocular calibration by using two adjacent fisheye cameras to obtain external parameters of the cameras, namely a rotation matrix and a translation matrix, so as to obtain the rotation matrix between every two adjacent cameras.
In one possible implementation manner, the step S104 includes:
the cameras are horizontally and equally spaced around the device, and the optical centers of the cameras are all on the circle center.
In one possible implementation manner, the step S105 includes:
and eliminating the splicing seams by adopting a gradual-in and gradual-out fusion algorithm, and smoothing the large parallax pixels in a short distance.
In one possible implementation mode, the pixel index of the panoramic image is spherical equidistant inverse projection to obtain the corresponding pixel point coordinate of the shot image; the fusion coefficients are calculated from a fade-in fade-out fusion algorithm.
The invention also provides a rapid panoramic splicing device suitable for the space complex environment, which comprises:
the calibration module is used for performing a calibration test of the camera and extracting angular points on a calibration image shot by an effective field of view;
the first parameter acquisition module acquires the internal parameters of each camera in a monocular calibration mode;
the second parameter acquisition module is used for acquiring external parameters between adjacent cameras through binocular calibration;
the coordinate conversion module is used for carrying out spherical inverse projection to form a panoramic plane image with 360 degrees to 180 degrees of view field, selecting one camera as a basic reference coordinate system, completing the image coordinate conversion of other cameras and realizing the index of image pixel points under the same coordinate system;
the pixel splicing module gradually enters and gradually exits to eliminate a splicing seam, and the large parallax pixel area is subjected to smoothing treatment;
and the LUT generation module is used for making pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into an LUT table for the FPGA to use.
In one possible implementation manner, the first parameter obtaining module is configured to: and extracting the coordinates of the corner points on the black and white chessboard calibration plate by adopting a template matching method, and calculating the internal parameters and distortion coefficients of the fisheye camera.
In one possible implementation manner, the second parameter obtaining module is configured to:
and performing binocular calibration by using two adjacent fisheye cameras to obtain external parameters of the cameras, namely a rotation matrix and a translation matrix, so as to obtain the rotation matrix between every two adjacent cameras.
In one possible implementation, the plurality of cameras horizontally surround the device at equal intervals, and the optical centers of the cameras are all on the center of a circle.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
1. the invention realizes the panoramic camera composed of a plurality of fisheye cameras, FPGA hardware completes the panoramic splicing algorithm, the whole structure is simple, and the engineering cost is low;
2. the invention successfully realizes the real-time 360-degree panoramic image shooting with high resolution, has small splicing error and stable imaging, and is suitable for the complex space environment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a panoramic image stitching process of a multi-channel fisheye camera according to an exemplary embodiment of the present application;
fig. 2 is a view of a panoramic camera provided in an exemplary embodiment of the present application.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a rapid panoramic stitching method suitable for a space complex environment, which at least comprises the following steps in combination with a figure 1: s101, performing a calibration test of a camera, and extracting angular points on a calibration image shot by an effective field of view; s102, acquiring internal parameters of each camera by monocular calibration; s103, obtaining external parameters between adjacent cameras through binocular calibration; s104, performing spherical inverse projection to form a panoramic plane image of a 360-degree-180-degree view field, selecting one camera as a basic reference coordinate system, completing image coordinate conversion of other cameras, and realizing index of image pixels under the same coordinate system; s105, gradually entering and gradually exiting to eliminate splicing seams, and performing smoothing treatment on the large parallax pixel area; and S106, making the pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into an LUT (look up table) for the FPGA to use.
Illustratively, in order to acquire a high-resolution image with a large field of view and a large depth of field, a multi-channel fisheye camera is used for quickly splicing panoramic images with 360 degrees and 180 degrees of field of view. The horizontal and vertical viewing angles of the single fisheye camera are consistent and are all larger than 120 degrees, and the imaging characteristic is spherical. Because the shooting background in the space environment is single, and the image splicing error is large and unstable by using feature matching, the method adopts a view field splicing method based on a multi-path fisheye camera 360-degree surrounding structure and realizes real-time panoramic splicing based on FPGA hardware. The whole splicing implementation process can be divided into five parts:
1) monocular calibration
The angular point coordinates on the black and white chessboard calibration plate are extracted by adopting a template matching method, the sub-pixel level precision is required, and the internal parameters and the distortion coefficient of the fisheye camera can be calculated according to a Zhangyingyou calibration method.
2) Binocular calibration
Two adjacent fisheye cameras are used for binocular calibration, and camera external parameters, namely a rotation matrix and a translation matrix, can be obtained. For the cameras distributed at equal intervals horizontally, the translation can be omitted, and thus, the rotation matrix between every two adjacent cameras can be obtained through solving.
3) Spherical equidistant inverse projection
The panoramic image splicing technology designed by the invention is based on a spherical imaging model, and a plurality of cameras horizontally surround the device at equal intervals of 360 degrees, and the optical centers of the devices are required to be on the circle center. In this way, the half-sphere field of view of 360 ° x180 ° is expanded to a plane, that is, the expanded image is a panoramic image in which the field angles of view such as 90 ° of the images captured by the cameras are distributed and connected in parallel.
The specific process of spherical equidistant back projection reverse indexing of pixel points on the fisheye image is as follows:
a. the spherical image is unfolded to a plane, the panoramic image is required to be an equivalent proportion image with a horizontal visual angle of 360 degrees and a vertical visual angle of 180 degrees, so that the aspect ratio of the corresponding panoramic image is 2: 1;
b. converting the world coordinate system into an ideal camera plane coordinate system;
c. adding fisheye distortion characteristics to convert an ideal imaging plane coordinate system into an actual imaging plane coordinate system;
d. the actual imaging plane is converted into a fisheye projection, i.e. a pixel plane coordinate system.
Because the panoramic image is formed by arranging and combining images shot by a plurality of paths of fisheye cameras, the same coordinate system conversion after spherical inverse projection is carried out according to the adjacent position relation, namely the rotation vector obtained by binocular calibration, and finally the primary splicing of the panoramic image is completed.
4) Suture zone fusion
By the processing of the third step, the adjacent fisheye images are adjacently arranged, and the 360-degree splicing of the images is realized. However, in practice, a distinct stitching seam exists between adjacent images. At this time, the last step of panoramic image generation, i.e. image fusion at the splicing seam, needs to be performed. Because the FPGA platform is based, the method of the gradual-in gradual-out fusion is selected to realize the highest efficiency.
5) Generating LUT tables
The LUT table is composed of a panoramic image pixel index (i.e., the position coordinates of the pixel points) and a fusion coefficient of the stitching seam. The pixel index of the panoramic image is the coordinate of a corresponding pixel point of the shot image obtained by spherical equidistant back projection. The fusion coefficient is calculated by a fade-in fade-out fusion algorithm.
In summary, the LUT lookup table required for panoramic stitching is generated by calibrating the camera in advance, stitching, fusing and calculating the images, and the like, and the multiple camera images are processed in parallel by using the FPGA hardware, so as to finally generate the 360-degree panoramic image in real time.
By adopting the method, the panoramic camera formed by the multi-path fisheye cameras is realized, the FPGA hardware completes the panoramic splicing algorithm, the whole structure is simple, and the engineering cost is low.
With reference to fig. 2, the present embodiment is a panoramic camera of a certain type mounted on a space station, the panoramic camera is mounted outside a cabin of the space station, and the panoramic camera is a high-definition image device with compression, and is used for capturing images outside the cabin clearly in real time.
As shown in fig. 2, the panoramic camera is formed by surrounding four fisheye cameras by 360 degrees, the included angle of the optical centers of the cameras is 90 degrees, the horizontal effective viewing field angle is 120 degrees, and the overlapping area between the adjacent cameras can meet the image splicing condition. The four cameras respectively carry out monocular calibration and binocular calibration between adjacent cameras, and internal and external parameters of the cameras are obtained. When the spherical surface is in equidistant inverse projection, four paths of camera images to be spliced are intercepted by taking an optical center as a symmetric center to obtain four 90-degree view field images, one path of camera is selected as a basic reference coordinate system, the other three images are converted into the coordinate system, 360-degree panoramic splicing is realized, finally, splicing seams are gradually merged and gradually out, and a final panoramic image is obtained after the splicing seams are eliminated.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A quick panoramic stitching method suitable for a space complex environment is characterized by at least comprising the following steps:
s101, performing a calibration test of a camera, and extracting angular points on a calibration image shot by an effective field of view;
s102, acquiring internal parameters of each camera by monocular calibration;
s103, obtaining external parameters between adjacent cameras through binocular calibration;
s104, performing spherical inverse projection to form a panoramic plane image with 360 degrees to 180 degrees of view field, selecting one camera as a basic reference coordinate system, completing image coordinate conversion of other cameras, and realizing index of image pixel points under the same coordinate system;
s105, eliminating splicing seams by a gradual-in and gradual-out algorithm, and smoothing the large parallax pixel area;
and S106, making the pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into a lookup table LUT for the FPGA to use.
2. The method according to claim 1, wherein the step S105 comprises:
and eliminating the splicing seams by using a gradual-in and gradual-out fusion algorithm, and smoothing the large parallax pixels in a short distance.
3. The method according to claim 1, wherein the step S102 comprises:
and extracting the coordinates of the corner points on the black and white chessboard calibration plate by adopting a template matching method, and calculating the internal parameters and distortion coefficients of the fisheye camera.
4. The method according to claim 1, wherein the step S103 comprises:
two adjacent fisheye cameras are used for carrying out binocular calibration to obtain external parameters of the cameras, namely a rotation matrix and a translation matrix, so that the rotation matrix between every two adjacent cameras is obtained.
5. The method according to claim 1, wherein the step S104 comprises:
the cameras are horizontally and equally spaced around the device, and the optical centers of the cameras are all on the circle center.
6. The method of claim 1, wherein the pixel index of the panoramic image is a spherical equidistant back projection to obtain the corresponding pixel coordinates of the shot image; the fusion coefficient is obtained by calculation from a fade-in fade-out fusion algorithm.
7. A quick panorama splicing apparatus suitable for space complex environment, characterized in that, the apparatus includes:
the calibration module is used for performing a calibration test of the camera and extracting angular points on a calibration image shot by an effective field of view;
the first parameter acquisition module acquires the internal parameters of each camera in a monocular calibration mode;
the second parameter acquisition module is used for acquiring external parameters between adjacent cameras through binocular calibration;
the coordinate conversion module is used for carrying out spherical inverse projection to form a panoramic plane image with 360 degrees to 180 degrees of view field, selecting one camera as a basic reference coordinate system, completing the image coordinate conversion of other cameras and realizing the index of image pixel points under the same coordinate system;
the pixel splicing module gradually enters and gradually exits to eliminate a splicing seam, and the large parallax pixel area is subjected to smoothing treatment;
and the LUT generation module is used for making pixel point indexes of the four images corresponding to the panoramic image and the fusion coefficient of the stitching area into an LUT table for the FPGA to use.
8. The apparatus of claim 7, wherein the first parameter obtaining module is configured to: and extracting the coordinates of the corner points on the black and white chessboard calibration plate by adopting a template matching method, and calculating the internal parameters and distortion coefficients of the fisheye camera.
9. The apparatus of claim 7, wherein the second parameter obtaining module is configured to:
two adjacent fisheye cameras are used for carrying out binocular calibration to obtain external parameters of the cameras, namely a rotation matrix and a translation matrix, so that the rotation matrix between every two adjacent cameras is obtained.
10. The apparatus of claim 7, wherein the plurality of cameras are spaced horizontally equally around the apparatus with the optical centers of the cameras all at the center of the circle.
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