CN112565608A - Automatic splicing system for ship panoramic images - Google Patents
Automatic splicing system for ship panoramic images Download PDFInfo
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- CN112565608A CN112565608A CN202011428134.5A CN202011428134A CN112565608A CN 112565608 A CN112565608 A CN 112565608A CN 202011428134 A CN202011428134 A CN 202011428134A CN 112565608 A CN112565608 A CN 112565608A
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- 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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
Abstract
The invention discloses an automatic splicing system for ship panoramic images, which comprises a camera device, an image processing module, a control module and a wireless transmission module. The liftable camera devices are arranged at different positions around the ship to acquire environmental information around the ship, and the shot images are transmitted to the image processing module through the wireless module; the image processing module splices the acquired images into a panoramic image, calculates the gradient of a splicing seam of the panoramic image and transmits the gradient to the control module; the control module calculates the height of each camera to be adjusted, and the height of the camera is adjusted by transmitting the height to a motor in the camera device through the wireless module to obtain a better panoramic spliced image. In addition, in the navigation process, the system can adjust the focal length of the camera according to actual needs, acquire images with different scaling ratios and display panoramic mosaic images under corresponding focal lengths in real time. The system disclosed by the invention can assist ship drivers to comprehensively know the surrounding conditions of the ship, so that the ship can sail more safely.
Description
Technical Field
The invention relates to the field of safety guarantee in a ship navigation process, in particular to a ship driving auxiliary system which can adaptively adjust the height of a camera according to the gradient of an image splicing seam and finally obtain the optimal image splicing effect.
Background
In the process of sailing, except for an AIS (automatic Identification System) system, a microwave radar is mostly adopted, when short-distance detection is carried out, the requirement of safe detection of sailing cannot be met, environmental information nearby around the ship needs to be acquired by a camera, and important guarantee is provided for decision control during safe sailing. However, because the ship body is huge, the captain is located in the cabin, too many visual blind areas exist during monitoring, and a single-camera shooting picture cannot meet the information requirement required in the navigation control decision process, the complete environmental image information around the ship needs to be acquired through a panoramic image splicing technology.
In a ship image system, an image stitching technology can generate a high-resolution ship panoramic image to assist a captain in driving a ship, and the image stitching technology is an important ship driving assisting technology. The image splicing effect is related to the resolution ratio of the cameras, the splicing algorithm, the heights and the distribution positions of the cameras. Because the cameras are different in height, and the shooting range is concentrated in the near water area around the ship, the shooting direction and the shooting height of the cameras can influence the depth of field of the image, so that the environmental images of the overlapped area shot by the cameras with the same inclination angle direction but different heights are different in size, and the splicing effect of the panoramic image is greatly influenced. Therefore, the height of the camera needs to be adjusted to obtain an environmental image with a consistent size, so as to further optimize the image splicing effect.
In the existing ship image system, a single-camera system is adopted, only part of environment information is captured, or a plurality of cameras are adopted and displayed in a cockpit in a Sudoku mode, although the conditions around the ship can be seen, the ship image system does not have the 360-degree panoramic reproduction function, and visual fatigue is easily caused to sailing personnel.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic splicing system for ship panoramic images, which can adaptively adjust the height of a camera through the splicing effect so as to optimize the splicing effect and obtain the optimal panoramic spliced image.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention specifically comprises the following steps:
designing an automatic splicing system of ship panoramic images, comprising: the system comprises a plurality of groups of liftable camera devices, an image processing module and a control module;
the liftable camera device comprises a camera, a guide rail, a motor, a camera protection cabin, a ball and a support frame; the support frame is fixedly arranged between the camera protection cabin and the motor and comprises two frame bodies which are arranged in parallel, and the other end of the support frame is blocked by a baffle; the upper surfaces of the two frame bodies of the supporting frame are correspondingly provided with guide rails; the camera is characterized in that a plurality of balls are symmetrically arranged on the bottom surface of the camera, the distance between the symmetrical balls is equal to the distance between the guide rails arranged on the two frame bodies, so that the symmetrically arranged balls respectively slide along one of the guide rails arranged on the two frame bodies, and the camera moves along the support frame between the baffle and the camera protection cabin through the balls; the motor is connected to the camera to control the camera to move along the guide rail; the device is required to be installed at different positions around a ship on the ship, the shooting directions of the cameras are inclined downwards at a certain angle, and the surrounding environment images of the ship can be conveniently shot.
The image processing module is connected to the camera in each liftable camera device and is used for receiving the images shot by the cameras and carrying out image splicing processing;
the control module is connected to a motor in the liftable camera device and used for adjusting the height of the camera through the splicing processing result of the image processing module and the motor.
In the scheme, the image processing module carries out image splicing on the pictures shot by a plurality of cameras installed on the ship through an image splicing algorithm and calculates the image gradient at the splicing seam.
In the scheme, the control module adjusts the position height of one or more cameras according to the image gradient of the spliced images calculated by the image processing module, so that the gradient between the adjacent spliced images is minimum.
In the above scheme, the liftable camera device, the image processing module and the control module transmit data in a wireless communication mode.
In the above scheme, the motor is connected with a power module, the power module and the motor are both fixedly connected with the support frame, and the power module is used for supplying power to the motor.
In the above scheme, the guide rail extends into the camera protection cabin at the position where the support frame is connected with the camera protection cabin, so that the camera slides to the inside of the camera protection cabin along the guide rail.
In the scheme, a plurality of groups of liftable camera devices are arranged around the ship and are used for respectively shooting environment images around the ship in different directions; when the focal length of the camera is adjusted to the maximum, the shooting pictures of the adjacent cameras must have an overlapping area.
In the above scheme, among the navigation process, the captain can adjust the camera focus of a certain specific shooting direction according to the demand to obtain the environmental image of near or distant place, simultaneously control or through all the other cameras of control module automatically regulated change height and focus, match the environmental image under the corresponding focus, show the panorama concatenation image under the corresponding focus in real time.
Different from the prior art, the automatic splicing system for the ship panoramic images comprises a liftable camera device, an image processing module, a control module and a wireless transmission module. The method comprises the following steps of installing a plurality of liftable camera devices at different positions around a ship to obtain environmental information around the ship, and transmitting a shot image to an image processing module through a wireless module; the image processing module splices the acquired images into a panoramic image, calculates the gradient of splicing seams between every two adjacent spliced images and transmits the gradient to the control module; the control module calculates the height that each camera should be adjusted according to the preset splice seam gradient to transmit control signal for the motor in the liftable camera device through wireless module, and then control the camera height, change the size of the environmental image of shooing, match with the picture size that adjacent camera was shot better, reduce the gradient of image concatenation department, in order to obtain better panorama concatenation image. The system disclosed by the invention can assist a ship driver, so that the driver can know the conditions around the ship in a cabin in an all-around manner, and the ship can sail more safely.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of a liftable camera device;
FIG. 2 is a schematic illustration of the installation of the image stitching system on a ship;
FIG. 3 is a schematic diagram of a structural framework of the image stitching system of the present invention;
FIG. 4 is a schematic workflow diagram of an image stitching system;
in the figure, 1, a camera; 2. a guide rail; 3. a motor; 4. a camera protection cabin; 5. a ball bearing; 6. a support frame; 7. a liftable camera device; 8. an image processing module; 9. a control module; 10. a ship control room.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be given with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1 to 4, the present invention provides an automatic splicing system for ship panoramic images, including: a plurality of groups of lifting camera devices 7, an image processing module 8 and a control module 9;
the liftable camera device 7 comprises a camera 1, a guide rail 2, a motor 3, a camera protection cabin 4, a ball 5 and a support frame 6; the support frame 6 is fixedly arranged between the camera protection cabin 4 and the motor 3 and comprises two frame bodies which are arranged in parallel, and the other end of the support frame is blocked by a baffle; the upper surfaces of the two frame bodies of the supporting frame 6 are correspondingly provided with guide rails 2; the camera 1 is characterized in that two balls 5 are symmetrically arranged on the bottom surface of the camera 1, the distance between the two balls 5 is equal to the distance between the guide rails 2 arranged on the two frame bodies, so that the two balls 5 respectively slide along one of the guide rails 2 arranged on the two frame bodies, and the camera 1 moves along the support frame 6 between the baffle and the camera protection cabin 4 through the balls 5; the motor 3 is connected to the camera 1 to control the camera 1 to move along the guide rail 2; the lifting camera device 7 is required to be arranged at different positions on a ship to shoot images of the ship in different directions.
Wherein, camera 1 on the same ship all uses the camera of the same specification, can promote panoramic image's definition and concatenation effect to a certain extent. As the optimization of the scheme, the camera 1 is an industrial linear array CCD camera, and IPX 9-grade waterproof is adopted, so that the ship can sail in an environment with high humidity, and can be normally used even when a wave is hit on the camera.
In the scheme, the guide rail 2 is fixed on the support frame 6, and the ball 5 is embedded in the guide rail 2; the camera 1 is fixed with the ball 5 and the guide rail 2 through a connecting device, the motor 3 is used for driving the ball 5 to move on the guide rail 2, and the ball 5 drives the camera 1 to move up and down. The power module provides driving force for the motor 3.
The image processing module 8 is connected to the camera 1 in each liftable camera device 7 and is used for receiving the images shot by the camera 1 and performing image splicing processing;
the image processing module 8 includes functions of image acquisition, image stitching, and panoramic image display. After the image processing module 8 acquires the images shot by the cameras 1, an image splicing algorithm is called, the acquired single-camera images are spliced into a panoramic image and displayed on a display screen of the ship control room 10, meanwhile, gradient information of each splicing seam existing in the panoramic image is calculated and transmitted to the control module 9 in a wireless communication mode for subsequent operation.
The control module 9 is connected to the motor 3 in the liftable camera device 7 and used for adjusting the height of the camera 1 through the motor 3 according to the splicing processing result of the image processing module 8.
Specifically, after the control module 9 receives the gradient information of the stitching seam of the panoramic image sent by the image processing module 8, according to a preset gradient threshold value, when the gradient of the stitching seam at a certain position is greater than a set value, a control signal is sent to the motor in the liftable camera device 7, the height of the camera is adjusted to reduce the gradient of the stitching seam, otherwise, the stitching effect of the panoramic image reaches a better degree, a finished signal is sent to the image processing module 8, and the image processing module 8 displays the panoramic image information on the display screen of the ship control room 10. Preferably, the threshold of the gradient of the splicing seam can be calculated in a self-adaptive manner according to the actual condition of the current image, so that the system can automatically calculate and set the threshold according to the current actual environment condition, and further unmanned and automatic effects are achieved.
In the above scheme, the image processing module 8 performs image splicing on the pictures shot by the plurality of cameras installed on the ship through an image splicing algorithm, and calculates the image gradient at the splicing seam.
In the above scheme, the control module 9 adjusts the height of one or more of the cameras 1 according to the image gradient of the stitched image calculated by the image processing module 8, so as to minimize the gradient between adjacent stitched images.
In the above scheme, the liftable camera device 7, the image processing module 8 and the control module 9 transmit data in a wireless communication manner.
In the above scheme, the motor 3 is connected with a power module, the power module and the motor 3 are both fixedly connected with the support frame 6, and the power module is used for providing power for the motor 3.
In the above scheme, the guide rail 2 extends into the camera protection cabin 4 at the position where the support frame 6 is connected with the camera protection cabin 4, so that the camera 1 slides to the inside of the camera protection cabin 4 along the guide rail 2.
The camera protection cabin 4 can be used for placing the camera 1 when the ship does not work, when the ship goes out of the ship, the camera protection cabin 4 is opened, and the camera 1 is closed after being lifted; when the ship stops at the wharf, the camera protection cabin 4 is opened. The camera 1 descends to the camera protection cabin 4, and the protection cabin is closed, so that the influence of the environment on the camera 1 is reduced to the greatest extent. The camera protection cabin 4 and the motor 3 are respectively positioned at two sides of the support frame 6 and are arranged at the bottom of the support frame 6.
In the scheme, images shot by the plurality of cameras 1 on the ship are acquired through a 5G information transmission technology and sent to the image processing module 8, gradient information of splicing seams calculated by the image processing module 8 is acquired and sent to the control module 9, height information of the cameras 1 is acquired and sent to the control module 9, motor control signals sent by the control module 9 are acquired and sent to the motors 3, and the speed and the precision of data transmission among the modules are guaranteed.
Example one
As shown in fig. 1, the present embodiment discloses a liftable camera device 7, which includes a camera 1, a guide rail 2, a motor 3, a camera protection cabin 4, a ball 5, and a support frame 6. Guide rail 2 is installed on support frame 6, and during ball 5 was embedded into guide rail 2, camera 1 passed through connecting device and is in the same place with ball 2 is fixed, utilizes motor 3 drive ball 5 to move on guide rail 2, and ball 5 drives camera 1 and moves along the guide rail.
The camera 1 firstly obtains image information in a shooting range, the image information is transmitted to the image processing module 8 in a wireless transmission mode, the image processing module 8 splices a plurality of images into a panoramic image, the image gradient at the splicing seam is calculated, and the panoramic image is sent to the control module 9. After the image splicing algorithm processing, height adjusting information of the camera 1 is sent to the motor 3, the camera 1 is driven to move on the guide rail 2 under the driving of the power module, the shooting height of the camera 1 on the support frame 6 is changed, and the splicing gradient of the spliced image is optimized. It should be noted that a plurality of liftable camera devices need to be installed on a ship, and the liftable camera devices are matched with each other to obtain a ship panoramic image.
As shown in fig. 2, the invention provides an automatic splicing system for ship panoramic images, which comprises a liftable camera device 7, an image processing module 8 and a control module 9. The image processing module 8 firstly splices all images collected by the camera 1, transmits the spliced gradient after the images are spliced to the control module 9, the control module 9 judges whether the spliced gradient meets the requirements or not, sends control information of height adjustment to the camera 1 which does not meet the requirements, and transmits the control information to the camera device 7 which can be lifted, the camera device 7 which can be lifted adjusts the shooting height of the corresponding camera 1 through the motor 3 under the driving force provided by the power module according to the adjustment information, transmits the adjusted height information to the control module 9, transmits the environment images collected in real time to the image processing module 8, detects whether the panoramic image of the image splicing meets the image gradient requirements set by the control module 9 again, repeats the processes until the spliced seam gradient at the image splicing position is all smaller than the set gradient threshold value, and outputting the panoramic image to a display screen of the ship control room 10 to assist the driving decision of the captain.
In order to ensure the splicing effect of the panoramic splicing map in the navigation process, the image splicing system can be used for detecting the splicing effect and calibrating the use height of the camera 1 before the ship sails out of the sea. The method comprises the steps of collecting an environment image around a ship, carrying out primary splicing through an image splicing system, carrying out height adjustment on corresponding cameras with unsatisfactory splicing image positions until a set splicing gradient is reached, storing height information of the cameras at the moment, and keeping the height unchanged in the sailing process so as to realize the optimal image splicing effect.
In order to deal with different conditions around the ship in the navigation process, the captain can obtain an environment image near or far through adjusting the focal length of the camera in a certain shooting direction, the control module can also adjust the heights and the focal lengths of other cameras through controlling the camera capable of adjusting the focal length in a program control mode according to the size of the image shot by the camera, and the panoramic mosaic image under the corresponding focal length is displayed in real time.
Example two
The invention provides an automatic splicing system for panoramic images of ships, which is characterized in that a lifting camera device 7 at 6 is designed and installed and is respectively positioned at one bow, one stern and two sides of a ship body, but images shot by adjacent cameras in six cameras have an overlapping area so as to facilitate subsequent splicing treatment. As an optimization of the panoramic image stitching algorithm, when image stitching is performed, firstly, two images are stitched together to obtain three images, and then, after a good effect is achieved, the cameras of the two stitched images are used as a whole to be stitched with the other two images. The whole system work flow is shown in fig. 3, the power is switched on, the system starts to work:
through the step 1, the cameras at different positions of the ship respectively acquire the environment images in the corresponding shooting ranges.
Through step 2, the image processing system extracts feature points of the captured environmental image.
Through step 3, the image processing system matches the extracted feature points.
Through step 4, the image processing system registers the feature points of the two images.
And 5, copying one image to a specific position of the other image by the image processing system according to the registration of the characteristic points of the two images.
After step 6, the image processing module detects the gradient of the splicing seam of the copied spliced image at the overlapped boundary.
Through the step 7, the control module obtains the splicing gradient of the spliced image for judging the subsequent splicing effect.
Through the step 8, if the splicing gradient of the output image is larger than the image gradient required by the setting, the control module sends out an instruction, the motor drives the ball to adjust the height of the camera until the image splicing gradient is smaller than or equal to the preset splicing seam gradient, and the image information collected after the height is adjusted is transmitted to the image splicing system. And returning to the step 2, performing splicing processing again, taking the spliced image as a new whole, detecting the splicing gradient with the adjacent image, adaptively adjusting the height of the camera, and repeating the above processes until the splicing gradients obtained by all the adjacent cameras reach the preset gradient value, so that the panoramic image achieves the expected effect.
Through step 9, if the stitching gradient of the output image meets the image gradient of the preset requirement, the corresponding panoramic stitching image is output.
After the ideal panoramic image is obtained through the step 10, the corresponding height of the camera is stored and used as the reference height during the subsequent image acquisition, so that the rapid calling during navigation is facilitated.
While the present invention has been described with reference to the particular embodiments illustrated in the drawings, which are meant to be illustrative only and not limiting, it will be apparent to those of ordinary skill in the art in light of the teachings of the present invention that numerous modifications can be made without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An automatic splicing system for ship panoramic images is characterized by comprising: a plurality of groups of liftable camera devices (7), an image processing module (8) and a control module (9);
the liftable camera device (7) comprises a camera (1), a guide rail (2), a motor (3), a camera protection cabin (4), a ball (5) and a support frame (6); the support frame (6) is fixedly arranged between the camera protection cabin (4) and the motor (3) and comprises two frame bodies which are arranged in parallel, and the other end of the support frame is blocked by a baffle; the upper surfaces of the two frame bodies of the supporting frame (6) are correspondingly provided with guide rails (2); the camera is characterized in that a plurality of balls (5) are symmetrically arranged on the bottom surface of the camera (1), the distance between the symmetrical balls (5) is equal to the distance between the guide rails (2) arranged on the two frame bodies, so that the symmetrically arranged balls (5) respectively slide along one of the guide rails (2) arranged on the two frame bodies, and the camera (1) moves along the support frame (6) between the baffle and the camera protection cabin (4) through the balls (5); the motor (3) is connected to the camera (1) to control the camera (1) to move along the guide rail (2);
the image processing module (8) is connected to the camera (1) in each liftable camera device (7) and is used for receiving images shot by the camera (1) and performing image splicing processing;
the control module (9) is connected to a motor (3) in the liftable camera device (7) and used for adjusting the height of the camera (1) through the motor (3) according to the splicing processing result of the image processing module (8).
2. The automatic splicing system of ship panoramic images according to claim 1, wherein the image processing module (8) performs image splicing on the pictures shot by a plurality of cameras installed on a ship through an image splicing algorithm, and calculates the image gradient at the splicing seam.
3. The automatic splicing system of ship panoramic images according to claim 2, wherein the control module (9) adjusts the position height of one or more of the plurality of cameras (1) according to the image gradient of the spliced images calculated by the image processing module (8) so as to minimize the gradient between the adjacent spliced images.
4. The automatic splicing system for ship panoramic images according to claim 1, wherein the liftable camera device (7), the image processing module (8) and the control module (9) transmit data in a wireless communication mode.
5. The automatic splicing system of ship panoramic images according to claim 1, wherein the motor (3) is connected with a power module, the power module and the motor (3) are both fixedly connected with the support frame (6), and the power module is used for supplying power to the motor (3).
6. The automatic splicing system of ship panoramic images according to claim 1, wherein the guide rail (2) extends into the camera protection cabin (4) at the position where the support frame (6) is connected with the camera protection cabin (4) so that the camera (1) slides along the guide rail (2) to the inside of the camera protection cabin (4).
7. The automatic splicing system of ship panoramic images according to claim 1, wherein a plurality of sets of liftable camera devices (7) are arranged around the ship and are used for respectively shooting environmental images around the ship in different directions; when the focal length of the camera is adjusted to the maximum, the shooting pictures of the adjacent cameras must have an overlapping area.
8. The automatic splicing system for ship panoramic images according to claim 1, wherein during navigation, a captain can adjust the focal length of a camera in a specific shooting direction as required to obtain an environmental image at a near place or a far place, and simultaneously control or automatically adjust the other cameras (1) through the control module (9) to change the height and the focal length, match the environmental image at the corresponding focal length, and display the panoramic spliced image at the corresponding focal length in real time.
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| CN114463640A (en) * | 2022-04-08 | 2022-05-10 | 武汉理工大学 | Multi-view ship identity recognition method with local feature fusion |
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