CN1367469A - Shooting, formation, transmission and display method of road overall view image tape - Google Patents
Shooting, formation, transmission and display method of road overall view image tape Download PDFInfo
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- CN1367469A CN1367469A CN 02110967 CN02110967A CN1367469A CN 1367469 A CN1367469 A CN 1367469A CN 02110967 CN02110967 CN 02110967 CN 02110967 A CN02110967 A CN 02110967A CN 1367469 A CN1367469 A CN 1367469A
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Abstract
The method for shoot, formation, transmission and display of road panorama image tape includes the following steps: real-time reading out an image line from image series of camera and arranging it along the directinoal order of road to form road panorama image type; using image feature extraction and media filtering method to eliminate image twists and turns resulted from carrier vibration; cutting the road panorama image tape into several fragments and implementing digital series real time transmission on network; adopting image conversion method to implement side visual window display, forward display, circular view embedded display and panoramic image cylinder display; using road panorama image to create city street view image library and create city information system and virtual guide system on the network. It integrates the computer image, graphic, multimedia and network communicatino technology into one body, and possesses important application value.
Description
Technical field:
The present invention relates to a kind of new digital medium---road overall view image tape method for making, comprise its picked-up, generation, transmission and display packing belonging to compunication, medium technique, digital information technology field.
Background technology:
Today of popularizing in the internet, the space of a city or a facility and visual information introduced on webpage played very big effect.But how such web displaying realizes with 2 dimension images and map.The numeral 360 degree ring scape images of inventor's invention at the beginning of the nineties, be that video recorder is done the circumference rotation on the fixed position, and with continuous images series input computing machine, by Computer Image Processing, tiny image segments on a certain fixed position in each image coupled together automatically obtain (Jiang Yu Zheng, Saburo Tsuji, andMinoru Asada, Color-based panoramic representation of outdoor environmentfor a mobile robot.9th International Conference on Pattern Recognition, 1988.Vol.2, pp.801-803.; Jiang Yu Zheng, Saburo Tsuji, PanoramicRepresentation for route recognition by a mobile robot.InternationalJournal of Computer Vision, Vol.9, no.1, pp.55-76,1992).This 360 degree ring scape images can also be handled by " bonding " of discrete some width of cloth discrete pictures after expansion and realize.After becoming commercialized, ring scape image produced software resemble QuickTime, make us can see fixed point position whole views on every side on the net, become one of virtual reality system of widespread use the most, in tourist attractions, real estate, the displaying aspect of the places of historic and cultural interest has played earthshaking effect.
Yet 360 degree ring scape images only are the image appearance forms that the fixed position is observed away, the complete scenery that shows continuously resemble the whole street, also do not have method for distinguishing except using video recording.Because the data volume of video recording is big, required time of the transmission in network is long, so also there is not the very good network carrier streetscape of display of high resolution in real time.As softwares such as Realplayer now commonly used, often interrupt slow or user owing to network speed more.With the view in all streets of video record entire city because huge view data and impossible.
Summary of the invention and embodiment:
The objective of the invention is at the deficiencies in the prior art, creation provides a kind of picked-up, generation, transmission and display packing of novel image model one road overall view image tape, make it that to compare data volume minimum with video recording, obtain conveniently, be beneficial in digital communication and transmit, can be used to construct the vision mode of urban environment, become a kind of novel image media, be widely used at the aspects such as recorded and stored of digital information technology field and urban development and tourism, history culture.
To achieve these goals, the present invention notices when video recorder sweeps away streetscape that in technical scheme the part of a lot of repetitions is arranged between the continuous images in the video recording.Utilize these characteristics to compress this part view data, can obtain data volume is several centesimal picture strip of video recording approximately.Thus, the present invention is when the video recording of taking along road, the image line (or narrow image segments) of one dimension is extracted in a certain fixing position from continuous images, and these image lines are arranged in calculator memory by the time, the 2 dimension picture strips that final generation is very long are to cover the road view of the overwhelming majority.This is equivalent to the image line scanning road view with 1 dimension, and the image line storage that successive projection becomes is extended to image.Road overall view image tape is on the view in the path record, have its unique effect in digital communication and the demonstration.
Aspect the generation of road overall view image tape, the present invention is installed on the mobile vehicle to several cameras or a panoramic shooting head one, along a path movement and picked-up video recording, and continuous images is handled in real time, obtain road overall view image, scenery is on the way carried out record with it.Such mobile vehicle can be vehicle, boats and ships, train or the non power driven vehicle that has antihunting device.The road overall view image tape that the present invention generated will be used for integrally writing down streetscape comprehensively, and preserve as historical archives.The view image tape that different times constitutes will be used to show the transition of avenue.
The present invention can and demonstrate the road view in the fragment of transmitting the road picture strip on the network dynamically, in real time on the computing machine panel.Because the data volume of this image is very little, so be easy to a certain section road view real-time Transmission in wired or wireless network of will watch attentively.The present invention has adopted the method for dynamic transmission road overall view image tape in such network, large-scale city road view is transmitted in a large amount of storages fast, constitutes the virtual guide system on network, and road overall view image tape is presented on the screen of cell phone, form decentralized city navigation system.
The present invention has also createed the various display formats of road overall view image tape.They are: road overall view image tape launches to show that the demonstration of road overall view image tape (2 dimension forms show), the extension of road the place ahead view show that ring scape 2 dimensions on the road show.These are presented in the internet webpage, except that the online tourism that constitutes the virtual reality type, can also be applied to other Digital Media, for example geography education, traffic administration, environmental monitoring, address lookup, electronic game etc.
The present invention also organically combines view image tape and ring scape image in the visual pattern of urban environment shows, make storage and demonstration that image is all arranged on " point " and " line " in space, city, to obtain complete documentation and omnibearing demonstration, finally realize the target in digitizing " virtual city " to entire environment.
Concrete enforcement of the present invention comprises the steps: 1, the obtaining and generating of road overall view image.
The image line that setting one and camera motion direction intersect in the plane of delineation is read the image distribution value on the pixel line in real time from the image of continuous picked-up, and arranges along road direction (time shaft), to construct very long road overall view image tape.Any practice below available particularly.Be recorded on the video-tape with video camera view on the way, connection layout picture input computing machine in will using videotape to record then, and decide behind the image line its data are examined constantly expansion of shellfish substitution sampling, there is the afterbody of the internal memory of road overall view image, then from video tape input piece image down.So just can obtain road overall view image tape.Perhaps, use video camera and be connected the computer picture internal memory that has the realtime graphic input media, in image memory, the data on the image line are admitted in the memory headroom of road overall view image.
Camera among the present invention is just found out as seeing through a vertical masonry joint the observation of scenery, but each instantaneous tiny section sheet is connected, synthesizes in visual space (image memory) lining, the formation image.Camera has scanned view on the way, and the road overall view image tape of Huo Deing has comprised continuous view on the way like this, but only uses very little data.Compare with video recording, the data volume of such picture strip is more than one percent.
The present invention can also obtain various types of expansion road overall view images.These road panoramas are produced and generate very convenient, as long as camera is fixed on the carrier, drives or drive carrier and travel along the path, and video shooting, just can write down whole views along the street.
As laying the both sides of two video cameras onboard in the face of the vehicle direct of travel, when advancing, takes by vehicle both sides scenery along the street, just can construct very long picture strip, write down scenery along the street through Flame Image Process.
As use taper or similar catoptron to mix camera, or point to a plurality of photograph heads of the side of vehicle heading, or have the camera of the face forward of flake (wide-angle) camera lens, obtain the road overall view image tube.Compare with the road overall view image tape of front, the road overall view image tube has covered on the way the view content of various aspects up and down, and constitutes a continuous circumference.Such circumference image rings is continuously extended along with advancing of vehicle, forms a road overall view image tube along the path.2, eliminate the composition that carrier vibrates the image setback that caused with image process method.
When the road overall view image in the long street of picked-up, because camera is on the motion carrier that is fixed on resemble the shipping vehicle, so can be subjected to the influence of carrier vibration inevitably.Each moment, resulting tiny image no longer was totally continuous with the adjacent tiny image of its front and back.Like this, in the road overall view image that obtains, just can see it being that the characteristics of image of straight line limpens originally, even fracture that such image is difficult to be accepted by spectators.In order to obtain high-quality road panorama sketch, the present invention has adopted the method for a kind of image filtering and conversion, and line crooked or that fracture in the image is stretching.By extracting the limit approaching in the road overall view image tape with direction of motion, and follow the trail of continuous and even line segment that acutely be not interrupted, even up the tectonic line of the scenery of taking the photograph in the picture strip then by the method for medium filtering, with vehicle or setback composition cancellation that Ship Vibration caused.Conversion through such obtains the new images that the curve that vibration causes is evened up.
The limit of taking out that the present invention is above-mentioned to be mentioned is a general feature extraction method in the Flame Image Process.But add behind the computed image differential (difference) that the binaryzation computing finishes.Following the trail of consecutive image also is that utilization Flame Image Process method commonly used is finished.Medium filtering is that the ordinate value of family of curves tracked on each lateral attitude in the image is carried out, the ordinate value of the point range of each point and front and back distributes on the medium filtering consideration curve, can remove on the curve catastrophe point longitudinally, also the straight line that fractures that causes of i.e. vibration.Length travel amount when correcting catastrophe point, with the vertical image line length travel on the position, it is fair that this just can come into line vertical image line and the pixel line before and after its, in the road overall view image because of vibration the straight line of complications extremely stretching.3, the technology of block count word series (String) transmission realizes road overall view image tape.
When road overall view image extends to several kilometers or when longer, its transmission meeting in network is because data volume influences demonstration with the linear increment of path.The present invention addresses this problem the method that has adopted the transmission of block count word series.Make the road overall view image can dynamically real-time transmission.This method is not whole street road panorama sketch to be transmitted the back uniformly show, but the road panorama is divided into a lot of fragments, according to the site of road that will observe of the input of user interface (with mouse by map that shows on the screen and site of road), position and the Dynamic Selection image sections calculated on the road are used for real-time transmitting and displaying.The quantity of image sections increases with the growth of road length.Outside the current image sections of observing of explicit user, also be transmitted in its adjacent image sections, with the continuous demands of buffering, constitute virtual navigation to the view data that links to each other.In conjunction with the little characteristics of road overall view image data volume, can in real time dynamic landscape be presented in the form, with the requirement of satisfying visitor's front and back displacement, browsing, search the road scape.The bright transmitting software of we need not be downloaded, and just can show in the windows program of webpage.4, the display packing of road overall view image tape.
The present invention shows several modes below the employing at 2 dimension images of road overall view image tape:
(1) road side display window: this resembles the sensation when looking around the side streetscape by bus.This demonstration is continuous, and front and back are free to advance or retreat.Picture strip and other webpages can also interlocks, make its catalogue that becomes further retrieval, index.Such demonstration just can realize by the translation of road overall view image.
(2) the place ahead of road overall view image tape shows: after the view image tape distortion of road both sides, be presented on the same screen, show the sensation that road extends.Such road view demonstration moves forward and backward along with user's mouse moving.When showing, we can adopt the method for image projection (texture mapping) that the road overall view image of both sides is hinted obliquely on the plane of stretching, edge, distant place, and to obtain the effect of streetscape, the 2 dimension conversion of perhaps image being carried out similarly obtain.
(3) 360 degree ring scapes embed and show: with the road overall view image tape distortion of both sides or embed in the 360 degree ring scape images, and with moving of the person of looking position road overall view image tape is rotated, cause the dynamic senses that moves forward and backward like this.Road overall view image tape comprises the scenery of road both sides, and the fragment of its all each point on road is all incorporated in such ring scape 2 dimension images, and moves along the direction of optical flow field.
(4) demonstration of panorama image tube: also do the expansion that is similar to 360 degree ring scape images for the road overall view image tube and show.Compare with 360 degree ring scapes demonstrations, the image has here been expanded the visual field on above-below direction, so just can take in and show many skyscrapers.
In order to realize above-mentioned demonstration, can use 2 dimension image conversion methods, particularly according to various display mode, calculate the evolution function of picture point between road panorama sketch and the image panel that each is required one by one, do the image conversion then and the color of the each point of road panorama sketch is thrown on the relevant position to the display screen just can be realized.Such instantaneous picture conversion is to carry out in real time according to user's control, and user or observer can show by the dynamic road panorama sketch of the disconnected acquisition of mouse or other selection road, interface, to experience the actual sensation that moves on road.5, construct the vision mode of city space with road overall view image and local ring scape image.
The present invention is divided into fixed point and " route " with space, a city by map, has taken the photograph 360 degree ring scape image and road overall view images on these Points And lines respectively, to constitute complete urban look picture library, realizes the city virtual environment on the network.On the point of crossing of road, also take 360 degree ring scape images.Local ring scape image and road overall view image tape coincide, and can be transformed in smoothly during demonstration between ring scape and the road overall view image.The road overall view image tube of perhaps photographing panorama (spheroid projection) image and there in the intersection fits like a glove on this position.Like this, when showing that on screen virtual road travels, forward to when intersecting the path from a path, just had the demonstration of enough view data on screen to switch to intersection point 360 degree ring scape images, switch to the process of next road overall view image again from a road overall view image.Such demonstration is level and smooth continuous.In the demonstration of virtual urban environment, be furnished with 2 dimension maps, just can in corresponding form, show image segments and panorama to the appointment of defined point and route on the map, provide online urban information retrieval and virtual navigation with visual information with mouse.
Road overall view image tape of the present invention can be opened up the new application of aspects such as Digital Media, network service, art recreation.When utilizing network to introduce regional facility, broken through the image model of fixed view in the past.The path image model that the present invention moves continuously can more fully be summarized the comprehensive landscape in an area.
Road overall view image tape picked-up of the present invention is convenient.Travel as long as drive and video shooting, can therefrom extract and obtain.View description to road can expand to tens of kilometers, uses the same method and continues to extend, and then can both absorb for the path of any length.In a city, all paths are all scanned, also just can construct the streetscape picture library in a city.In conjunction with map, cooperation searches on network, and the Visual Display in each street and place in the city just can be provided, and is significant to the development of infotech.
Road overall view image tape of the present invention has its special meaning to preserving historical and cultural heritage, can need intactly record to the view and the thin portion in historical ancient city, constructs the vision mode in ancient city efficiently, carrying forward cultural quintessence, and for offspring's research.
Road panorama of the present invention has obtained very favourable effect in the transmission of cable network or wireless mobile communications with its very little data volume.Transmit panoramic picture in real time, image is little when having overcome in the network video recording transmission, and resolution is low, interrupts shortcomings such as many, makes the user can pass through the leisurely and carefree accessing streetscape of high-precision road overall view image tape.
If with the screen top offset of road overall view image tape, can also be used for the direction giving system of commerce, real estate, culture, building, history, tourism etc. as the emerging instrument of city navigation at cell phone.
If on digital camera, assign one to generate the road overall view image chip, also might take the generation road overall view image tape on the spot with general home-use digital camera, outwards transmit with mobile phone then.This transmission can be comprehensive, complete by big field-of-view image with the view and the state at some disaster scene, passes toward disaster monitoring control center in time, is beneficial to make accurately and effectively and makes a decision and instruction.
Because the demonstration of road overall view image can be examined the shellfish method by the simplest 2 dimension image translations and be realized, so the background that road overall view image tape can be used as electronic game shows that future all is widely used in advertisement, amusement.
In a word, computer picture and figure are merged in the present invention, and the multi-media network mechanics of communication is in typical case's invention of urban information system, for the propagation and the retrieval of the information of city or facility crucial meaning are arranged.
Claims (2)
1, a kind of picked-up of road overall view image tape, generation, transmission and display packing is characterized in that carrying out as follows:
1) with the on the way landscape map picture input computing machine of camera record on video-tape, or video camera is connected on the computing machine that has the realtime graphic input media, in consecutive image, the data on the image line are examined shellfish in the memory headroom of road overall view image, construct road overall view image tape or road overall view image tube;
2) adopt feature extraction method in the Flame Image Process, extract the limit approaching in the road overall view image tape with direction of motion, and the tracking continuous segments, even up the tectonic line of the scenery of taking the photograph in the picture strip then by the method for medium filtering, with vehicle or setback composition cancellation that Ship Vibration caused;
3) adopt block count word series transmission technology, the road panorama is divided into a lot of fragments, input position according to user interface, position and the Dynamic Selection image sections calculated on the map road are used for real-time transmitting and displaying, outside the current image sections of observing of explicit user, also transmit its adjacent image sections,, constitute virtual navigation with the continuous demands of buffering to the view data that links to each other;
4) use the two dimensional image transform method, realize that road side form shows, the place ahead of road overall view image tape shows that 360 degree ring scapes embed and show the demonstration of panorama image tube;
5) utilization constitutes complete city streetscape picture library at the road overall view image and the local ring scape image of avenue and intersection picked-up, constructs the vision mode of city space, provides online urban information retrieval and virtual navigation with visual information.
2, as picked-up, generation, transmission and the display packing of the said road overall view image tape of claim 1, the comprehensive camera system that it is characterized in that when generating road overall view image tape or road overall view image tube, using multiple cameras or video camera and taper class reflective mirror to be constituted.
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| CNB021109672A CN1162806C (en) | 2002-03-07 | 2002-03-07 | Shooting, formation, transmission and display method of road overall view image tape |
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| CNB021109672A CN1162806C (en) | 2002-03-07 | 2002-03-07 | Shooting, formation, transmission and display method of road overall view image tape |
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| CN1367469A true CN1367469A (en) | 2002-09-04 |
| CN1162806C CN1162806C (en) | 2004-08-18 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100378759C (en) * | 2004-06-07 | 2008-04-02 | 索尼株式会社 | Image processing apparatus and method, and program |
| CN101201722B (en) * | 2006-12-13 | 2010-06-02 | 索尼株式会社 | Display device and method, image supply device and method |
| CN1760860B (en) * | 2004-10-15 | 2010-09-08 | 富士通株式会社 | Device part assembly drawing image search apparatus and method |
| CN1841411B (en) * | 2005-03-28 | 2011-05-11 | 上海中策工贸有限公司 | Transmission system for wireless electronic traffic sign and position |
| CN102053781A (en) * | 2009-11-03 | 2011-05-11 | Lg电子株式会社 | Terminal and control method thereof |
| CN102073468A (en) * | 2011-01-05 | 2011-05-25 | 广东威创视讯科技股份有限公司 | Method for realizing image edge blending based on window system |
| CN102254467A (en) * | 2010-05-17 | 2011-11-23 | 上海量明科技发展有限公司 | Tourism resource education equipment with three-dimensional data acquisition and fusion and realization method thereof |
| CN102413376A (en) * | 2010-09-22 | 2012-04-11 | 汤姆森特许公司 | Method for navigation in panoramic scene |
| CN102607566A (en) * | 2011-01-25 | 2012-07-25 | 鸿富锦精密工业（深圳）有限公司 | Road live-action navigation system and method |
| CN103607568A (en) * | 2013-11-20 | 2014-02-26 | 深圳先进技术研究院 | Stereo street scene video projection method and system |
| US8982154B2 (en) | 2007-05-25 | 2015-03-17 | Google Inc. | Three-dimensional overlays within navigable panoramic images, and applications thereof |
| US9230604B2 (en) | 2013-10-21 | 2016-01-05 | Industrial Technology Research Institute | Video indexing method, video indexing apparatus and computer readable medium |
| CN108447042A (en) * | 2018-03-06 | 2018-08-24 | 北京建筑大学 | The fusion method and system of urban landscape image data |
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- 2002-03-07 CN CNB021109672A patent/CN1162806C/en not_active Expired - Fee Related
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| CN100378759C (en) * | 2004-06-07 | 2008-04-02 | 索尼株式会社 | Image processing apparatus and method, and program |
| CN1760860B (en) * | 2004-10-15 | 2010-09-08 | 富士通株式会社 | Device part assembly drawing image search apparatus and method |
| CN1841411B (en) * | 2005-03-28 | 2011-05-11 | 上海中策工贸有限公司 | Transmission system for wireless electronic traffic sign and position |
| CN101201722B (en) * | 2006-12-13 | 2010-06-02 | 索尼株式会社 | Display device and method, image supply device and method |
| US8982154B2 (en) | 2007-05-25 | 2015-03-17 | Google Inc. | Three-dimensional overlays within navigable panoramic images, and applications thereof |
| CN102053781A (en) * | 2009-11-03 | 2011-05-11 | Lg电子株式会社 | Terminal and control method thereof |
| CN102254467A (en) * | 2010-05-17 | 2011-11-23 | 上海量明科技发展有限公司 | Tourism resource education equipment with three-dimensional data acquisition and fusion and realization method thereof |
| CN102413376B (en) * | 2010-09-22 | 2016-09-07 | 汤姆森特许公司 | The method navigated in panoramic scene and user terminal apparatus |
| CN102413376A (en) * | 2010-09-22 | 2012-04-11 | 汤姆森特许公司 | Method for navigation in panoramic scene |
| CN102073468A (en) * | 2011-01-05 | 2011-05-25 | 广东威创视讯科技股份有限公司 | Method for realizing image edge blending based on window system |
| CN102607566A (en) * | 2011-01-25 | 2012-07-25 | 鸿富锦精密工业（深圳）有限公司 | Road live-action navigation system and method |
| US9230604B2 (en) | 2013-10-21 | 2016-01-05 | Industrial Technology Research Institute | Video indexing method, video indexing apparatus and computer readable medium |
| CN103607568A (en) * | 2013-11-20 | 2014-02-26 | 深圳先进技术研究院 | Stereo street scene video projection method and system |
| US10217283B2 (en) | 2015-12-17 | 2019-02-26 | Google Llc | Navigation through multidimensional images spaces |
| CN108447042A (en) * | 2018-03-06 | 2018-08-24 | 北京建筑大学 | The fusion method and system of urban landscape image data |
| CN110849381A (en) * | 2018-08-20 | 2020-02-28 | 环达电脑(上海)有限公司 | Multi-route point navigation method |
| CN110849381B (en) * | 2018-08-20 | 2023-06-09 | 环达电脑(上海)有限公司 | Multi-route point navigation method |
| CN110881122A (en) * | 2019-12-09 | 2020-03-13 | 重庆文理学院 | Virtual reality tourism system |
| CN110881122B (en) * | 2019-12-09 | 2021-06-15 | 重庆文理学院 | Virtual reality tourism system |
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