CN116993581A - Method for realizing panoramic stitching of articulated vehicle by five cameras - Google Patents
Method for realizing panoramic stitching of articulated vehicle by five cameras Download PDFInfo
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- CN116993581A CN116993581A CN202310069442.0A CN202310069442A CN116993581A CN 116993581 A CN116993581 A CN 116993581A CN 202310069442 A CN202310069442 A CN 202310069442A CN 116993581 A CN116993581 A CN 116993581A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims description 4
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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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
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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Abstract
The invention relates to a method for realizing panoramic stitching of a hinged vehicle by using five cameras, which comprises the following steps: acquiring data, generating physical coordinates of a panoramic top view, generating a panoramic first top view, generating a panoramic second top view and generating a final panoramic top view; the technical field of 360 panoramic parking systems is related to, and aims to solve the problem that in the prior art, when a traditional looking-around system is applied to a hinged vehicle, when the hinging angle is not 0, serious dislocation exists, and a method for realizing panoramic stitching of the hinged vehicle by using five cameras is provided.
Description
Technical Field
The invention relates to a technology for panoramic stitching of a hinged vehicle, belongs to the technical field of automobile panoramic image processing, and in particular relates to a method for realizing panoramic stitching of a hinged vehicle by using five cameras.
Background
360 panorama parking system is one set and watches 360 degrees panorama fusion around the car through on-vehicle display screen, ultra wide visual angle, seamless concatenation's timely bird's eye view image, knows the peripheral sight blind area of vehicle, helps the driver of the car more directly perceived, parking auxiliary system of vehicle more safely.
The relative position between cameras of the traditional 360-degree panoramic looking-around system camera can not change along with the running of the vehicle after the traditional 360-degree panoramic looking-around system camera is installed on the vehicle, the traditional looking-around system is directly applied to the articulated vehicle, and when the articulation angle is not 0, serious dislocation can exist.
Disclosure of Invention
The invention aims to solve the problem that in the prior art, when a traditional looking-around system is applied to a hinged vehicle, when the hinging angle is not 0, serious dislocation exists, and provides a method for realizing panoramic stitching of the hinged vehicle by using five cameras.
A method for realizing panoramic stitching of a hinged vehicle by using five cameras comprises the following steps:
1.1, collecting data:
respectively acquiring one frame of original image data from a front camera, a left front camera, a right camera, a left rear camera and a right rear camera;
1.2, generating panoramic top view physical coordinates:
generating physical coordinates of each point of the top view according to the vehicle width of the vehicle and the configurable visual field range parameters;
1.3, generating a panoramic first top view:
forming a panoramic first top view by using images of the front camera, the left front camera, the right camera and the left rear camera according to the camera calibration parameters;
1.4, generating a panoramic second top view:
forming a panoramic second top view with images of the front camera, the front left camera, the right camera, and the rear right camera according to the camera calibration parameters;
1.5, generating a final panoramic top view:
acquiring a hinge angle T from a hinge angle sensor in real time;
panoramic top view of the front part of the hinge plate: directly taking a first top view;
a partial panoramic top view of the rear of the hinge plate: dividing the rear according to the hinging angle T, taking a panoramic first top view on the left side and a panoramic second top view on the right side; namely, the horizontal included angle with the connecting line of the hinge angle sensor is smaller than T, and the horizontal included angle with the connecting line of the hinge angle sensor is larger than T.
The beneficial effects of adopting above-mentioned technical scheme are: according to the invention, panoramic images of the articulated vehicle are realized through the five cameras, the articulated angle sensing device and the single processor which are arranged on the tractor, so that a user can intuitively observe the vehicle periphery condition of the articulated vehicle from all angles, the practicability is extremely strong, and the cost is lower.
Detailed Description
The invention will be further described with reference to the following preferred embodiments of the invention. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention.
In this scheme respectively install a camera in the place ahead, left place ahead, right place ahead, left rear, right rear at the tractor, that is front camera, left front camera, right camera, left back camera and right back camera, wherein, left back camera and right back camera need install in the corner, can compromise the image beside the car and behind the car like this. Through carefully observing the camera image, can see, if do not have the shielding of trailer, four cameras of preceding camera, left front camera, right camera and left back camera just can realize panorama concatenation, and equally, four cameras of preceding camera, left front camera, right camera and right back camera also can realize panorama concatenation.
The method for realizing panoramic stitching of the articulated vehicle by using the five cameras in the scheme comprises the following specific operation steps:
1.1, collecting data:
respectively acquiring one frame of original image data from a front camera, a left front camera, a right camera, a left rear camera and a right rear camera;
1.2, generating panoramic top view physical coordinates:
generating physical coordinates of each point of the top view according to the vehicle width of the vehicle and the configurable visual field range parameters;
1.3, generating a panoramic first top view:
forming a panoramic first top view by using images of the front camera, the left front camera, the right camera and the left rear camera according to the camera calibration parameters;
1.4, generating a panoramic second top view:
forming a panoramic second top view with images of the front camera, the front left camera, the right camera, and the rear right camera according to the camera calibration parameters;
1.5, generating a final panoramic top view:
acquiring a hinge angle T from a hinge angle sensor in real time;
panoramic top view of the front part of the hinge plate: directly taking a first top view;
a partial panoramic top view of the rear of the hinge plate: dividing the rear according to the hinging angle T, taking a panoramic first top view on the left side and a panoramic second top view on the right side; namely, the horizontal included angle with the connecting line of the hinge angle sensor is smaller than T, and the horizontal included angle with the connecting line of the hinge angle sensor is larger than T.
Finally, the vehicle body shielding part in the top view is filled with the vehicle model.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (1)
1. A method for realizing panoramic stitching of a hinged vehicle by using five cameras is characterized by comprising the following steps:
1.1, collecting data:
respectively acquiring one frame of original image data from a front camera, a left front camera, a right camera, a left rear camera and a right rear camera;
1.2, generating panoramic top view physical coordinates:
generating physical coordinates of each point of the top view according to the vehicle width of the vehicle and the configurable visual field range parameters;
1.3, generating a panoramic first top view:
forming a panoramic first top view by using images of the front camera, the left front camera, the right camera and the left rear camera according to the camera calibration parameters;
1.4, generating a panoramic second top view:
forming a panoramic second top view with images of the front camera, the front left camera, the right camera, and the rear right camera according to the camera calibration parameters;
1.5, generating a final panoramic top view:
acquiring a hinge angle T from a hinge angle sensor in real time;
panoramic top view of the front part of the hinge plate: directly taking a first top view;
a partial panoramic top view of the rear of the hinge plate: dividing the rear according to the hinging angle T, taking a panoramic first top view on the left side and a panoramic second top view on the right side; namely, the horizontal included angle with the connecting line of the hinge angle sensor is smaller than T, and the horizontal included angle with the connecting line of the hinge angle sensor is larger than T.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310069442.0A CN116993581A (en) | 2023-02-06 | 2023-02-06 | Method for realizing panoramic stitching of articulated vehicle by five cameras |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310069442.0A CN116993581A (en) | 2023-02-06 | 2023-02-06 | Method for realizing panoramic stitching of articulated vehicle by five cameras |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116993581A true CN116993581A (en) | 2023-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310069442.0A Pending CN116993581A (en) | 2023-02-06 | 2023-02-06 | Method for realizing panoramic stitching of articulated vehicle by five cameras |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116993581A (en) |
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2023
- 2023-02-06 CN CN202310069442.0A patent/CN116993581A/en active Pending
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