CN112637505A - 720-degree panoramic image and video splicing method - Google Patents
720-degree panoramic image and video splicing method Download PDFInfo
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- CN112637505A CN112637505A CN202011561683.XA CN202011561683A CN112637505A CN 112637505 A CN112637505 A CN 112637505A CN 202011561683 A CN202011561683 A CN 202011561683A CN 112637505 A CN112637505 A CN 112637505A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000005457 optimization Methods 0.000 claims abstract description 9
- 238000007781 pre-processing Methods 0.000 claims abstract description 4
- 230000004927 fusion Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000005375 photometry Methods 0.000 claims description 3
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- VTYYLEPIZMXCLO-UHFFFAOYSA-L Calcium carbonate Chemical compound [Ca+2].[O-]C([O-])=O VTYYLEPIZMXCLO-UHFFFAOYSA-L 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910000019 calcium carbonate Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- G06T5/80—
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
The invention discloses a 720-degree panoramic image and video splicing method, which comprises the following steps: (1) image acquisition: setting a plurality of cameras, fixing the cameras on a holder, connecting the holder with a stepping motor, continuously rotating and shooting 360 degrees, shooting enough original images with an overlapping area by rotating the cameras, wherein the sum of visual angles corresponding to the original images is more than or equal to 720 degrees, (2) image preprocessing: camera parameters are estimated from image data in the camera using calibration techniques and a distortion correction model is built to correct for image distortion. According to the 720-degree panoramic image and video splicing method, the distortion correction model is established by using the calibration technology to correct the image distortion, the image distortion caused by a camera can be corrected, the image metering optimization is arranged, and the metering parameters such as the brightness and the color of each image forming the panoramic image are adjusted by using the metering optimization technology, so that the overall brightness and the color of the panoramic image are more natural.
Description
Technical Field
The invention relates to the technical field of nano calcium carbonate modification, in particular to a 720-degree panoramic image and video splicing method.
Background
The image is a figure or a video generated by capturing an actual picture by an imaging device such as a camera, a video camera, etc., and the image is all pictures having visual effects, and comprises: on paper media, on film or photographs, on television, projector, or computer screens. Images can be classified into two categories according to different image recording modes: analog images and digital images. Analog images can record image brightness information through the change of intensity of some physical quantity (such as light, electricity and the like), such as analog television images; the digital image records brightness information of each point on the image by using data stored in a computer, and as the requirements of people on the image are higher and higher, a panoramic image or a stereoscopic image is generally expected to be seen, wherein the panoramic image refers to an image which can reach a normal effective visual angle according with eyes.
The existing 720-degree panoramic image and video splicing method simply splices collected images to form a panoramic image, and has no good adjustment method for distortion during image collection and brightness and color difference among a plurality of images, so that the natural effect of the color of the panoramic image is poor, and the requirements of users cannot be met.
Disclosure of Invention
The invention aims to provide a 720-degree panoramic image and video splicing method to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a720-degree panoramic image and video splicing method comprises the following steps:
(1) image acquisition: arranging a plurality of cameras, fixing the cameras on a tripod head, connecting the tripod head with a stepping motor, carrying out 360-degree continuous rotation shooting, shooting enough original images with overlapping areas through rotating the cameras, wherein the sum of visual angles corresponding to the plurality of original images is more than or equal to 720 degrees;
(2) image preprocessing: estimating camera parameters from image data in the camera by using a calibration technology, and establishing a distortion correction model to correct image distortion;
(3) image registration;
(4) image positioning: searching the adjacent relation of each image, and then positioning the position of each image according to the adjacent relation;
(5) optimizing image photometry: the photometric parameters such as brightness, color and the like of each image forming the panoramic image are adjusted by using a photometric optimization technology, so that the overall brightness and color of the panoramic image are more uniform and natural, and a better visual effect is achieved;
(6) image fusion:
(61) splicing a plurality of images into the same coordinate space;
(62) removing the splicing seams to enable the multiple images to be fused into a panoramic image;
(7) and (3) outputting the panoramic image: and (5) projecting and outputting the panoramic image obtained in the step (5).
As a further description of the above technical solution:
the overlapping area of the original image obtained in the step (1) is 30%.
As a further description of the above technical solution:
the image registration in the step (3) comprises the following steps:
(31) extracting characteristic points of each image;
(32) for each extracted feature point, searching a feature point corresponding to the extracted feature point on other images, namely searching an imaging point of the same object on a plurality of images, and calling the imaging point as a matching feature point;
(33) removing wrong matched feature points according to a certain rule, namely purifying the feature points;
(34) and matching the images according to the purified characteristic point pairs, namely calculating a transformation matrix between every two overlapped images according to a certain geometric transformation model.
As a further description of the above technical solution:
and (3) in the step (6), the image fusion adopts a fusion algorithm for image gray scale, the image is decomposed into a series of sub-band images with different resolutions, frequency characteristics and direction characteristics, then the weighted average is carried out near the overlapping boundary of the images on each decomposed frequency domain, and finally the images on all frequencies are spliced into a panoramic image.
As a further description of the above technical solution:
the shooting focuses of the plurality of cameras in the step (1) are positioned on the same circumference, and the extension line of each shooting focus passes through the center of the circumference.
As a further description of the above technical solution:
the step (1) further comprises the steps of building a big data network cloud platform, receiving the multi-angle image data acquired by the plurality of cameras, and carrying out amplification and filtering processing on the received multi-angle image data acquired by the plurality of cameras.
As a further description of the above technical solution:
and (5) projecting and outputting the panoramic image in the step (7) by adopting a projection output mode of cylindrical projection output.
Compared with the prior art, the invention has the beneficial effects that: the camera parameters are estimated from the image data in the camera by utilizing the calibration technology, the distortion correction model is established to correct the image distortion, the image distortion caused by the camera can be corrected, then, the image photometric optimization is arranged, and the photometric parameters such as the brightness, the color and the like of each image forming the panoramic image are adjusted by utilizing the photometric optimization technology, so that the overall brightness and the color of the panoramic image are more uniform and natural, a better visual effect is achieved, and the viewing effect of a user is improved.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a technical scheme that: a720-degree panoramic image and video splicing method comprises the following steps:
(1) image acquisition: arranging a plurality of cameras, fixing the cameras on a tripod head, connecting the tripod head with a stepping motor, carrying out 360-degree continuous rotation shooting, shooting enough original images with overlapping areas through rotating the cameras, wherein the sum of visual angles corresponding to the plurality of original images is more than or equal to 720 degrees;
(2) image preprocessing: estimating camera parameters from image data in the camera by using a calibration technology, and establishing a distortion correction model to correct image distortion;
(3) image registration;
(4) image positioning: searching the adjacent relation of each image, and then positioning the position of each image according to the adjacent relation;
(5) optimizing image photometry: the photometric parameters such as brightness, color and the like of each image forming the panoramic image are adjusted by using a photometric optimization technology, so that the overall brightness and color of the panoramic image are more uniform and natural, and a better visual effect is achieved;
(6) image fusion:
(61) splicing a plurality of images into the same coordinate space;
(62) removing the splicing seams to enable the multiple images to be fused into a panoramic image;
(7) and (3) outputting the panoramic image: and (5) projecting and outputting the panoramic image obtained in the step (5).
And (3) the overlapping area of the original image obtained in the step (1) is 30%.
The image registration in the step (3) comprises the following steps:
(31) extracting characteristic points of each image;
(32) for each extracted feature point, searching a feature point corresponding to the extracted feature point on other images, namely searching an imaging point of the same object on a plurality of images, and calling the imaging point as a matching feature point;
(33) removing wrong matched feature points according to a certain rule, namely purifying the feature points;
(34) and matching the images according to the purified characteristic point pairs, namely calculating a transformation matrix between every two overlapped images according to a certain geometric transformation model.
And (6) adopting a fusion algorithm for image gray level in image fusion, decomposing the image into a series of sub-band images with different resolutions, frequency characteristics and direction characteristics, then carrying out weighted average on the vicinity of the overlapping boundary of the images in each decomposed frequency domain, and finally splicing the images in all frequencies into a panoramic image.
In the step (1), the shooting focuses of the plurality of cameras are located on the same circumference, and the extension line of each shooting focus passes through the center of the circumference.
The step (1) further comprises the steps of building a big data network cloud platform, receiving the multi-angle image data acquired by the plurality of cameras, and carrying out amplification and filtering processing on the received multi-angle image data acquired by the plurality of cameras.
(7) And the projection output of the middle panoramic image is cylindrical projection output in a projection output mode.
According to the 720-degree panoramic image and video splicing method, camera parameters are estimated from image data in a camera by using a calibration technology, a distortion correction model is established to correct image distortion, the image distortion caused by the camera can be corrected, image photometric optimization is arranged, photometric parameters such as brightness and color of each image forming the panoramic image are adjusted by using the photometric optimization technology, the overall brightness and color of the panoramic image are more uniform and natural, a better visual effect is achieved, and the viewing effect of a user is improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A720-degree panoramic image and video splicing method is characterized by comprising the following steps:
(1) image acquisition: arranging a plurality of cameras, fixing the cameras on a tripod head, connecting the tripod head with a stepping motor, carrying out 360-degree continuous rotation shooting, shooting enough original images with overlapping areas through rotating the cameras, wherein the sum of visual angles corresponding to the plurality of original images is more than or equal to 720 degrees;
(2) image preprocessing: estimating camera parameters from image data in the camera by using a calibration technology, and establishing a distortion correction model to correct image distortion;
(3) image registration;
(4) image positioning: searching the adjacent relation of each image, and then positioning the position of each image according to the adjacent relation;
(5) optimizing image photometry: the photometric parameters such as brightness, color and the like of each image forming the panoramic image are adjusted by using a photometric optimization technology, so that the overall brightness and color of the panoramic image are more uniform and natural, and a better visual effect is achieved;
(6) image fusion:
(61) splicing a plurality of images into the same coordinate space;
(62) removing the splicing seams to enable the multiple images to be fused into a panoramic image;
(7) and (3) outputting the panoramic image: and (5) projecting and outputting the panoramic image obtained in the step (5).
2. A 720 ° panoramic image and video stitching method as claimed in claim 1, wherein the step (1) is implemented to obtain an original image overlap area of 30%.
3. A 720 ° panoramic image, video stitching method according to claim 1, wherein the image registration in step (3) comprises the following steps:
(31) extracting characteristic points of each image;
(32) for each extracted feature point, searching a feature point corresponding to the extracted feature point on other images, namely searching an imaging point of the same object on a plurality of images, and calling the imaging point as a matching feature point;
(33) removing wrong matched feature points according to a certain rule, namely purifying the feature points;
(34) and matching the images according to the purified characteristic point pairs, namely calculating a transformation matrix between every two overlapped images according to a certain geometric transformation model.
4. A 720 ° panoramic image and video stitching method as claimed in claim 1, wherein the image fusion in step (6) adopts a fusion algorithm for image gray scale, the image is decomposed into a series of sub-band images with different resolutions, frequency characteristics and direction characteristics, then the weighted average is performed near the overlapping boundary of the images in each decomposed frequency domain, and finally the images at all frequencies are stitched into a panoramic image.
5. A 720 ° panoramic image and video stitching method as claimed in claim 1, wherein the shooting focuses of the plurality of cameras in step (1) are located on the same circle, and the extension line of each shooting focus passes through the center of the circle.
6. The method for splicing the 720-degree panoramic image and the video according to claim 1, wherein the step (1) further comprises the steps of constructing a big data network cloud platform, receiving the multi-angle image data acquired by the plurality of cameras, and amplifying, filtering and processing the received multi-angle image data acquired by the plurality of cameras.
7. The method for splicing the 720-degree panoramic image and the video as claimed in claim 1, wherein the projection output mode of the panoramic image in the step (7) is cylindrical projection output.
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2020
- 2020-12-25 CN CN202011561683.XA patent/CN112637505A/en active Pending
Patent Citations (8)
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| CN103517041A (en) * | 2013-09-29 | 2014-01-15 | 北京理工大学 | Real-time full-view monitoring method and device based on multi-camera rotating scanning |
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Application publication date: 20210409 |