CN206602593U - Panoramic picture image collection system - Google Patents
Panoramic picture image collection system Download PDFInfo
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- CN206602593U CN206602593U CN201720325813.7U CN201720325813U CN206602593U CN 206602593 U CN206602593 U CN 206602593U CN 201720325813 U CN201720325813 U CN 201720325813U CN 206602593 U CN206602593 U CN 206602593U
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Abstract
The utility model embodiment discloses a kind of panoramic picture image collection system.The panoramic picture image collection system, including：At least two groups panoramic picture harvesters, wherein, any panoramic picture harvester is used for independent capturing panoramic view image；Controller, for being controlled respectively to the panoramic picture harvester, to cause each group panoramic picture harvester alternately to be gathered in the moving process with mobile vehicle.So that every group of panoramic picture harvester leaves the response time without being in acquisition state all the time, the restriction due to collection density and panoramic picture harvester collection response speed, the limited technical problem of produced bearer rate are solved.Realize on the premise of collection density is ensured, improve the translational speed of carrier, improve the collecting efficiency of street view image.
Description
Technical field
The utility model embodiment is related to acquisition technology, more particularly to a kind of panoramic picture image collection system.
Background technology
Streetscape map technology is provided by the rapid location inquiry experience that electronic map is possessed and panoramic picture
Virtual reality experience combines, and is brought great convenience to user job, life etc..The collection side of existing street view image
Method mainly includes carrier acquisition method and single-point head acquisition method.Carrier acquisition method passes through the panoramic picture that will be made up of many cameras
Harvester is fixed on mobile vehicle, such as automobile, and the street view image for being primarily adapted for use in the extensive areas such as avenue is adopted
Collection.
During the utility model is realized, utility model people has found following problem：Street view image is gathered to panorama sketch
The collection density tool of picture there are certain requirements, to realize the continuous purpose of street view image.And existing panoramic picture harvester because
The response speed of its camera and relevant hardware devices is limited, so can not highdensity continuous acquisition.Therefore in carrier acquisition method
In, the translational speed of carrier is restricted by collection density and panoramic picture harvester picking rate, the translational speed of carrier
It is generally necessary to control in a relatively low velocity interval, to ensure to gather density.If carrier can not be moved quickly, panorama
IMAQ it is less efficient.
The content of the invention
The utility model embodiment provides a kind of panoramic picture image collection system, to realize that improving the collection of streetscape panoramic picture imitates
The purpose of rate.
The utility model embodiment provides a kind of panoramic picture image collection system, including：
At least two groups panoramic picture harvesters, wherein, any panoramic picture harvester is used to individually gather complete
Scape image；
Controller, for being controlled respectively to the panoramic picture harvester, to cause each group panoramic picture to gather
Device is alternately gathered in the moving process with mobile vehicle.
The utility model embodiment by set on mobile vehicle at least two groups can independent capturing panoramic view image panorama
Image collecting device, and panoramic picture harvester interleaved acquisition panoramic picture is controlled using controller so that every group of panorama sketch
As harvester without being in acquisition state all the time, the response time is left, solves and is adopted due to gathering density and panoramic picture
Acquisition means gather the restriction of response speed, the limited technical problem of produced bearer rate.Realize and ensureing collection density
Under the premise of, the translational speed of carrier is improved, the collecting efficiency of street view image is improved.
Brief description of the drawings
Fig. 1 is the composition schematic diagram for the panoramic picture image collection system that the utility model embodiment one is provided；
Fig. 2 is the structural representation for the panoramic picture image collection system that the utility model embodiment two is provided；
Fig. 3 is the structural representation for the panoramic picture image collection system that the utility model embodiment three is provided；
Fig. 4 is the schematic flow sheet for the panoramic picture collection control method that the utility model example IV is provided；
Fig. 5 is the schematic flow sheet for the panoramic picture collection control method that the utility model embodiment five is provided；
Fig. 6 is a kind of structural representation for equipment that the utility model embodiment six is provided.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than limits of the present utility model.Further need exist for
It is bright, for the ease of description, the part related to the utility model rather than entire infrastructure are illustrate only in accompanying drawing.
Embodiment one
Fig. 1 is the composition schematic diagram for the panoramic picture image collection system that the utility model embodiment one is provided.The panorama sketch
As acquisition system includes：At least two groups panoramic picture harvesters 110, wherein, any panoramic picture harvester 110 is used
In independent capturing panoramic view image；Controller 120, for being controlled respectively to the panoramic picture harvester 110, to cause
Each group panoramic picture harvester 110 is alternately gathered in the moving process with mobile vehicle.
Wherein, every group of panoramic picture harvester 110 is made up of the camera 1 of multichannel, and each camera 1 can be simultaneously
Image in different angular views is gathered respectively.By synthesizing the image in all angles visual field, panorama is ultimately generated
Image.Panoramic picture harvester needs at least two-way camera 1, and main flow uses two-way, three tunnels, four tunnels, five tunnels, six tunnels even
It is more, to obtain the image in each visual field.
As seen from Figure 1, in the present embodiment, one group of panoramic picture harvester 110 can include three cameras
1, three cameras 1 are arranged on the same plane parallel to horizontal plane, and are mutually 120 ° between each camera 1, to cause
Panoramic picture harvester 110 can cover 360 ° of planes.The reverse extending line of each center vertical line of camera 1 converges to same
Point, the point is the center of circle for the circumference that three cameras 1 are formed.Three cameras 1 of control are gathered simultaneously, every to obtain
Image in the corresponding visual field of individual camera 1.By pair taking pictures simultaneously, obtained three images splice, and form the position
Streetscape panoramic picture.
Wherein, camera 1 can be preferably fish eye lens, and fish eye lens angular field of view is wider, and maximum angular field of view is approached
220 ° or 230 °.Image in the range of large viewing can not only be obtained using fish eye lens, and have a larger field depth,
It is frequently used for making the panoramic image based on reality scene.The collection that disclosure satisfy that panoramic picture using three fish eye lenses will
Ask.Based on panoramic imagery principle, the panoramic picture harvester of other structures can be also used, is not limited herein.
Referring to Fig. 1, the panoramic picture image collection system includes two groups of panoramic picture harvesters 110, each group panoramic picture
Harvester 110 alternately works in the moving process of mobile vehicle.Also panorama sketch can be set according to the speed of mobile vehicle
As the quantity of harvester 110, it is for instance possible to use 3 groups, 4 groups or more multigroup.Wherein, every group of panoramic picture harvester
110 can independently realize the collection of panoramic picture.Mutually isostructural panoramic picture harvester 110 can be selected, also be may be selected
The panoramic picture harvester 110 of different structure.For example：First panoramic picture harvester is two-way camera, the second panorama
Image collector is set to six road cameras.Installed for the ease of combination, preferably select two groups of identical panoramic picture harvesters
110。
Controller 120 can be respectively connected to the parallel shutter of each camera 1 in every group of panoramic picture harvester 110
Line, to realize all cameras 1 in every group of scape image collecting device 110 of control while gathering image.Controller 120 is used to divide
It is other that each panoramic picture harvester 110 is controlled.When reaching acquisition condition, the operation of the triggering collection of controller 120,
Corresponding panoramic picture harvester 110 is controlled to be acquired.As a kind of embodiment therein, controller 120 can be adopted
Shutter pull bar is drawn with electromagnetic valve device, then is matched with another spring, it is had restitution.To realize in acquisition system
One group of panoramic picture harvester 110 carries out independent acquisition control.
, can be complete at every group by controller 120 in the mobile vehicle moving process for loading panoramic picture image collection system
When the corresponding acquisition condition of scape image collecting device 110 is triggered, realize that each group panoramic picture harvester 110 is alternately adopted
Collection.Acquisition condition can be that collection density as requested is automatically controlled, can also be by the manual triggering collection condition of operator.Show
Example property, a button can be set for every group of panoramic picture harvester 110 on the controller, user can pass through button control
Panoramic picture harvester 110 processed carries out interleaved acquisition.Preferably, according to the characteristic of mobile vehicle uniform motion, in controller
It is that every group of panoramic picture harvester 110 sets a timer on 120, each panoramic picture collection dress is controlled by timer
110 are put alternately to gather.
During mobile collection, the requirement of setting is typically had to collection density, for example, needs shooting one at interval of 8m
Zhang Quanjing image.When mobile vehicle translational speed quickly when, such as 16m/s, then need every 0.5s start a panorama sketch
The collection of picture.Panoramic picture harvester 110 is limited to its hardware performance, can there is the fixed minimum shutter response time.Most
When the small shutter response time is more than unit acquisition time, then one group of panoramic picture harvester 110 can not be just continuously shot, or
Person must reduce the speed of mobile vehicle, to extend unit acquisition time.The utility model embodiment effectively solves this
Problem.
The utility model embodiment provide panoramic picture image collection system, by set on mobile vehicle at least two groups can
The panoramic picture harvester of independent capturing panoramic view image, and it is complete using controller control panoramic picture harvester interleaved acquisition
Scape image so that every group of panoramic picture harvester leave the response time without being in acquisition state all the time, solve due to
Gather density and panoramic picture harvester gathers the restriction of response speed, the limited technical problem of produced bearer rate.It is real
Show on the premise of collection density is ensured, improved the translational speed of carrier, improve the collecting efficiency of street view image.
On the basis of such scheme, panoramic picture image collection system can also include：Alignment system, for obtaining carrying institute
State the mobile running parameter of the mobile vehicle of panoramic picture image collection system；Accordingly, the controller includes：Acquisition module, is used
In the acquisition mobile running parameter；Control module, for controlling each panoramic picture to adopt according to the mobile running parameter
Acquisition means interleaved acquisition panoramic picture.
Alignment system can be using global positioning system (Global Positioning System, GPS) or Big Dipper etc.
Navigation positioning system.By alignment system, controller 120 can obtain the mobile vehicle for carrying the panoramic picture image collection system
Mobile running parameter, such as translational speed, displacement.Accordingly, controller can be combined by pure hardware or software
The mode of hardware is realized.
Control module controls panoramic picture harvester interleaved acquisition panoramic picture according to the mobile change of mobile vehicle, its
Over-over mode has a variety of., then can be always preferentially using certain group panoramic picture collection for example when the speed of mobile vehicle is not fixed
Device, when its response time is not enough, then the panoramic picture harvester for starting standby group is acquired.Or, it can also fit
Collection is polled according to setting order for each group panoramic picture harvester, mobile vehicle is particularly well suited to speed stable
Situation.
The control module can be specifically for：For every group of panoramic picture harvester, according to unit acquisition parameter and
The collection sequence number of the panoramic picture harvester, calculates the starting acquisition parameter of the panoramic picture harvester；
According to the quantity and unit acquisition parameter of all panoramic picture harvesters, counting period acquisition parameter；
According to the mobile running parameter, each panoramic picture harvester is controlled to be opened when meeting starting acquisition parameter
Motion video is gathered, and starts next image collection according to the interval acquisition parameter.
Wherein, each acquisition parameter can be time or distance.
Illustrate the implication of above-mentioned each concept：Exemplary, still exemplified by including two groups of panoramic picture harvesters, move
The speed of dynamic load body can be 16m/s, and collection density requirements are 8m, then unit acquisition time is 0.5s.According to quantity and unit
Need to be again started up after acquisition parameter, the 1s of the interval acquisition parameter of calculating, i.e., every group panoramic picture harvester interval 1s.Adopt
Collection sequence number represents the starting acquisition time of the acquisition order, then first group of panoramic picture harvester of panoramic picture harvester
It is 0s, the starting acquisition time of second group of panoramic picture harvester is 0.5s.
Certainly, if the acquisition order of panoramic picture harvester is not fixed, it can also be calculated according to other rules
Its acquisition time.
, can be according to the collection density of setting respectively to each group by increasing alignment system and the improvement to controller
Panoramic picture harvester carries out accurately acquisition control.Cost of labor is reduced, while also improving the accurate of collection position
Degree.
Embodiment two
Fig. 2 is the structural representation of the panoramic picture image collection system provided in the utility model embodiment two.The present embodiment
At least two groups panoramic picture harvesters 110 are stacked according to space upper-lower position relation.
Referring to Fig. 2, the panoramic picture image collection system includes two groups of panoramic picture harvesters 110, and user also can basis
The quantity of the setting speed setting panoramic picture harvester 110 of carrier.Here, the not number to panoramic picture harvester 110
Amount is defined.
As seen from Figure 2, two groups of panoramic picture harvesters 110 can be stacked according to spatial relationship up and down.The
Two groups of panoramic picture harvesters 110 can be arranged at the surface of first group of panoramic picture harvester 110.It can so protect
Card each group panoramic picture harvester 110 can carry out panorama collection, and the shooting visual field will not be mutually blocked during work.Two groups
The camera 1 of panoramic picture harvester 110 can be correspondingly arranged, and can not be also correspondingly arranged.It can be two groups of panoramas to be correspondingly arranged
The projection of each camera 1 of image collecting device 110 in the horizontal plane is overlapping.
It is preferred that, it is correspondingly arranged using camera 1, locus can be avoided in upper panoramic picture harvester 110
In camera 1 appear in the image that panoramic picture harvester 110 of the locus under is collected.
In addition, the circumferentially distributed center of circle of first group of panoramic picture harvester 110 and second group of panoramic picture harvester
The 110 circumferentially distributed centers of circle can be the same or different.It is preferred that, first group of panoramic picture harvester 110 is circumferentially distributed
The center of circle project and overlap in the horizontal plane with second group of circumferentially distributed center of circle of panoramic picture harvester 110.To cause panorama
The center of gravity of image capturing system is on the straight line perpendicular to horizontal plane where geometric center, to strengthen panoramic picture collection system
The stability of system, it is convenient to install and debug.In addition, the radius of the circumferentially distributed circle of first group of panoramic picture harvester 110 with
The radius of the circumferentially distributed circle of second group of panoramic picture harvester 110 can be the same or different, can be according to actual need
It is adjusted.
The present embodiment is by the way that at least two groups panoramic picture harvesters are set according to the stacking of space upper-lower position relation
Put, other groups of panoramic picture harvesters can be avoided to appear in gathered panoramic picture, capturing panoramic view image is improved
Acquisition quality.
Embodiment three
Fig. 3 is the structural representation for the panoramic picture image collection system that the utility model embodiment three is provided.The present embodiment exists
On the basis of previous embodiment, further by least two cameras in panoramic picture harvester described in every group in same water
In circumferentially distributed in plane, and the camera of each group panoramic picture harvester is arranged alternately circumferentially.
Referring to Fig. 3, the panoramic picture image collection system includes two groups of panoramic picture harvesters, and A groups and B are designated as respectively
Group, user can also set the quantity of panoramic picture harvester according to the setting speed of carrier.
In the present embodiment, A groups panoramic picture harvester includes 3 cameras that are circumferentially distributed and being mutually 120 °,
That is camera A-1, camera A-2 and camera A-3, B group panoramic picture harvester are equally circumferentially distributed and mutual including 3
Into 120 ° of camera, i.e. camera B-1, camera B-2 and camera B-3.
Constitute panoramic picture image collection system every group of panoramic picture harvester 110 included by camera should be same
It is in circumferentially distributed on individual horizontal plane, so setting can cause camera not appear in other groups of panoramic picture harvesters
In image taken by 110.
In addition, the quantity for the camera that A group panoramic picture harvesters and B group panoramic picture harvesters are included also may be used
With difference, for the panoramic picture harvester of other quantity cameras, its distribution mode also circumferentially direction, the angle between it
Degree is determined by the quantity of camera, i.e., with 360 ° divided by the quantity of camera.Special, the panorama for including 2 cameras
Image collecting device, because it is reversely is correspondingly arranged, also corresponds to circumferentially distributed, the angle between camera is 180 °.
Because any one group of panoramic picture harvester 110 can determine that a horizontal plane, therefore, other groups of panoramic pictures
Harvester 110 should be in the panoramic picture harvester 110 in same level and all in circumferentially distributed.
Because A group panoramic picture harvesters and B group panoramic pictures harvester are in same level and in circumferential
Distribution, it is possible that the overlapping situation of camera, overlapping to avoid producing, in the present embodiment, using each group panoramic picture
The camera of harvester is arranged alternately circumferentially.
Referring to Fig. 3, the angle between camera A-1, camera A-2 and the camera A-3 of A group panorama harvesters is
120°；Camera B-1, camera B-2 and the camera B-3 of second group of panoramic picture harvester.Between angle be also
120°.Camera is respectively embedded into first group of panoramic picture harvester between camera in second group of panoramic picture harvester
Space, i.e. B-1 be located between A-1 and A-2, B-2 be located between A-2 and A-3, B-3 be located between A-3 and A-1.In circumference side
Upwards, camera is circumferentially distributed according to A-1, B-1, A-2, B-2, A-3 and B-3, that is, forms the shooting of A group panorama harvesters
The camera of head and B group panorama harvesters is arranged alternately circumferentially.So, the camera of every group of panoramic picture harvester is all
In same level, and it will not produce overlapping.
It is preferred that, the angle between the adjacent camera of each two in panoramic picture image collection system can be set to phase
Together.It is possible to prevente effectively from camera results in more preferable panoramic picture to the interference of the panoramic picture collected.
The panoramic picture image collection system that the present embodiment is provided.By by panoramic picture harvester described in every group at least
Two cameras are in circumferentially distributed in same level, and the camera of each group panoramic picture harvester radially interleaved is set
Put, other groups of panoramic picture harvesters can be avoided to appear in gathered panoramic picture, capturing panoramic view image is improved
Acquisition quality.
Example IV
The schematic flow sheet for the panoramic picture collection control method that Fig. 4 provides for the utility model example IV, this implementation
The method of example is applied to be acquired panoramic picture image collection system using the panoramic picture image collection system that above-described embodiment is provided
The situation of control.It can be performed by panoramic picture acquisition control device, the device can be real by way of hardware and/or software
It is existing, and typically can apply in controller.
Referring to Fig. 4, the panoramic picture collection control method, including：
S410, the mobile running parameter for obtaining the mobile vehicle for carrying the panoramic picture image collection system.
Exemplary, the mobile vehicle or panoramic picture image collection system of the panoramic picture image collection system can carried
Upper installation alignment system, direction, speed and the real time position and current time of mobile vehicle can be obtained by alignment system
Etc. information.By above- mentioned information, the mobile running parameter of mobile vehicle can be calculated.The mobile running parameter can be with table
The change in displacement measured levying when panoramic picture image collection system starts, and since upper one displacement measured gathering position
Change.The mobile running parameter can include：Displacement variable and the time variation amount in mobile vehicle uniform motion etc..
S420, each panoramic picture harvester interleaved acquisition panoramic picture controlled according to the mobile running parameter.
The change in location of mobile vehicle can be determined by mobile running parameter, because change in location and collection density are close
Correlation, can accurately control each group of panoramic picture harvester in panoramic picture image collection system alternately to enter by change in location
Row panoramic picture is gathered.
The technical scheme of the present embodiment, by the mobile change for obtaining the mobile vehicle for carrying the panoramic picture image collection system
Change parameter, each panoramic picture harvester interleaved acquisition panoramic picture is controlled according to the mobile running parameter.Realize
On the premise of collection density is ensured, the translational speed of lifting carrier is realized, the purpose of the collecting efficiency of street view image is improved.
Embodiment five
Fig. 5 is the schematic flow sheet for the panoramic picture collection control method that the utility model embodiment five is provided.This implementation
Example is optimized based on above-described embodiment, in the present embodiment, will be each described complete according to the mobile running parameter control
Scape image collecting device interleaved acquisition panoramic picture is specifically optimized for：For every group of panoramic picture harvester, adopted according to unit
Collect parameter and the collection sequence number of the panoramic picture harvester, calculate the starting acquisition parameter of the panoramic picture harvester；Root
According to the quantity and unit acquisition parameter of all panoramic picture harvesters, counting period acquisition parameter；According to the mobile change
Parameter, controls each panoramic picture harvester to carry out IMAQ when meeting starting acquisition parameter, and according between described
Start next image collection every acquisition parameter.
Referring to Fig. 5, the panoramic picture collection control method, including：
S510, the mobile running parameter for obtaining the mobile vehicle for carrying the panoramic picture image collection system.
S520, for every group of panoramic picture harvester, according to unit acquisition parameter and the panoramic picture harvester
Sequence number is gathered, the starting acquisition parameter of the panoramic picture harvester is calculated.
Starting acquisition parameter can trigger each group of panoramic picture harvester in panoramic picture image collection system first to enter
The parameter of row IMAQ.Exemplary, it can include：Originate acquisition time or starting collection displacement.It is complete for each group
Scape image collecting device, it has corresponding starting acquisition parameter.By different starting acquisition parameters, panorama sketch can be realized
The purpose alternately gathered as harvester.
For starting acquisition parameter, it can be calculated according to unit acquisition parameter and the collection sequence number of panoramic picture harvester
It is determined that.Unit acquisition parameter therein is related to collection density, generally related by the density requirements of streetscape panoramic picture.It is exemplary
, collection density can be 8m, accordingly, and unit acquisition parameter is also 8m, or, calculated through translational speed, unit collection ginseng
Number is 0.5s.The collection sequence number of panoramic picture harvester can be the elder generation for being acquired image specified by system or user
Sequence number afterwards.Each group of panoramic picture harvester has the unique and collection sequence number different with other groups.Sequence number reflect every group it is complete
Scape image collecting device carries out the sequencing of panoramic picture collection.
Originating acquisition parameter can be from starting collection displacement, can be by the collection sequence number and list of panoramic picture harvester
The product of position collection distance gathers displacement as starting.Exemplary, unit collection distance is still 8m, if panoramic picture collection dress
The serial number 3 put, then starting collection displacement is 24m；If the serial number 4 of panoramic picture harvester, starting gathers displacement and is
32m。
S530, quantity and unit acquisition parameter according to all panoramic picture harvesters, counting period acquisition parameter.
Wherein, interval acquisition parameter can be after first collection is completed, with the ginseng changed after the completion of last collection
Number.Interval acquisition parameter can include：It is spaced acquisition time or interval collection displacement.
Exemplary, in mobile vehicle uniform motion, interval acquisition parameter is interval acquisition time.Can be according to movement
The speed and unit acquisition parameter counting period acquisition time of carrier.The unit acquisition time is multiplied by panoramic picture collection
The quantity for all panoramic picture harvesters that system includes obtains being spaced acquisition time.Exemplary, the speed of mobile vehicle
Can be 16m/s, unit collection distance is 8m, then unit acquisition time is 0.5s.If the quantity of panoramic picture harvester is
3, then it is 1.5s to be spaced acquisition time；If the quantity of panoramic picture harvester is 4, and interval acquisition time is 2s.
S540, according to the mobile running parameter, control each panoramic picture harvester meeting starting collection ginseng
IMAQ is carried out during number, and starts next image collection according to the interval acquisition parameter.
According to the mobile running parameter of acquisition, any one group of panoramic picture harvester can individually be controlled.Root
The starting acquisition parameter and interval acquisition parameter of the panoramic picture harvester obtained according to calculating are filled to this group of panoramic picture collection
Put and individually controlled.The control can include：Originate acquisition control and interval acquisition control.Exemplary, according to described
Since mobile running parameter, the mobile running parameter measured start when meet the starting collection of the panoramic picture harvester
During parameter, the panoramic picture harvester is controlled to be gathered for the first time；Since the upper one mobile change measured gathering position
Change parameter and meet interval acquisition parameter, control the panoramic picture harvester to be acquired.
The technical scheme of the present embodiment, can calculate corresponding acquisition parameter to any one group of panoramic picture harvester,
And control is acquired to it according to acquisition parameter.Realize on the premise of collection density is ensured, be moved through in mobile vehicle
The purpose that interleaved acquisition is precisely controlled is carried out to panoramic picture harvester in journey, the translational speed of carrier is improved, improves
The collecting efficiency of street view image.
Embodiment six
Fig. 6 is a kind of structural representation for equipment that the utility model embodiment six is provided.Fig. 6 shows real suitable for being used for
The block diagram of the example devices 12 of existing the utility model embodiment.The equipment 12 that Fig. 6 is shown is only an example, should not be right
The function of the utility model embodiment and use range band come any limitation.
As shown in fig. 6, equipment 12 is showed in the form of universal computing device, the equipment 12 can typically be carried on mobile load
On body.The component of equipment 12 can include but is not limited to：One or more processor or processing unit 16, system storage
28, the bus 18 of connection different system component (including system storage 28 and processing unit 16).
Bus 18 represents the one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC)
Bus, enhanced isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Equipment 12 typically comprises various computing systems computer-readable recording medium.These media can be it is any can be by equipment 12
The usable medium of access, including volatibility and non-volatile media, moveable and immovable medium.
System storage 28 can include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Equipment 12 may further include it is other it is removable/nonremovable,
Volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read-write it is irremovable
, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although not shown in Fig. 6, use can be provided
In the disc driver to may move non-volatile magnetic disk (such as " floppy disk ") read-write, and to may move anonvolatile optical disk
The CD drive of (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver can
To be connected by one or more data media interfaces with bus 18.Memory 28 can include at least one program product,
The program product has one group of (for example, at least one) program module, and it is each that these program modules are configured to perform the utility model
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42, can be stored in such as memory 28
In, such program module 42 include but is not limited to operating system, one or more application program, other program modules and
The realization of network environment is potentially included in each or certain combination in routine data, these examples.Program module 42 is usual
Perform the function and/or method in the embodiment described by the utility model.
Equipment 12 can also communicate with one or more external equipments 14 (such as keyboard, sensing equipment, display 24),
External equipment 14 can also include：Parallel cable release, is realized by parallel cable release and every group of panoramic picture harvester is carried out
Control respectively.The equipment communication interacted with the equipment 12 can be also enabled a user to one or more, and/or with causing this to set
The standby 12 any equipment (such as network interface card, modem etc.) that can be communicated with one or more of the other computing device are led to
Letter.This communication can be carried out by input/output (I/O) interface 22.Also, equipment 12 can also pass through network adapter 20
Communicated with one or more network (such as LAN (LAN), wide area network (WAN) and/or public network, such as internet).
As illustrated, network adapter 20 is communicated by bus 18 with other modules of equipment 12.Although it should be understood that not showing in figure
Go out, other hardware and/or software module can be used with bonding apparatus 12, included but is not limited to：It is microcode, device driver, superfluous
Remaining processing unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 16 is stored in program in system storage 28 by operation, thus perform various function application and
Data processing, for example, realize the panoramic picture collection control method that the utility model embodiment is provided.
Embodiment seven
The utility model embodiment seven additionally provides a kind of storage medium for including computer executable instructions, the calculating
Machine executable instruction as computer processor when being performed for performing the panoramic picture acquisition control side described in above-described embodiment
Method.
The computer-readable storage medium of the utility model embodiment, can be using one or more computer-readable media
Any combination.Computer-readable medium can be computer-readable signal media or computer-readable recording medium.Computer
Readable storage medium storing program for executing for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, dress
Put or device, or any combination above.More specifically example (non exhaustive list) bag of computer-readable recording medium
Include：It is electrical connection, portable computer diskette, hard disk, random access memory (RAM) with one or more wires, read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, it is computer-readable
Storage medium can be it is any include or storage program tangible medium, the program can be commanded execution system, device or
Device is used or in connection.
Computer-readable signal media can be included in a base band or as the data-signal of carrier wave part propagation,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limit
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium beyond storage medium is read, the computer-readable medium, which can send, propagates or transmit, to be used for
Used by instruction execution system, device or device or program in connection.
The program code included on computer-readable medium can use any appropriate medium to transmit, including but not limited to without
Line, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write by one or more programming languages or its combination based on performing the utility model operation
Calculation machine program code, described program design language includes object oriented program language-such as Java, Smalltalk, C
++, in addition to conventional procedural programming language-such as " C " language or similar programming language.Program code can
Fully to perform on the user computer, partly perform, performed as an independent software kit on the user computer,
Part performs or performed completely on remote computer or server on the remote computer on the user computer for part.
In the situation of remote computer is related to, remote computer can be by the network of any kind --- including LAN (LAN)
Or wide area network (WAN)-subscriber computer is connected to, or, it may be connected to outer computer (for example utilizes Internet service
Provider comes by Internet connection).
Note, above are only preferred embodiment of the present utility model and institute's application technology principle.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, can carried out for a person skilled in the art various bright
Aobvious change, readjust and substitute without departing from protection domain of the present utility model.Therefore, although pass through above example
The utility model is described in further detail, but the utility model is not limited only to above example, is not departing from
In the case that the utility model is conceived, other more equivalent embodiments can also be included, and scope of the present utility model is by appended
Right determine.
Claims (6)
1. a kind of panoramic picture image collection system, it is characterised in that including：
At least two groups panoramic picture harvesters, wherein, any panoramic picture harvester is used to individually gather panorama sketch
Picture；
Controller, for being controlled respectively to the panoramic picture harvester, to cause each group panoramic picture harvester
Alternately gathered in the moving process with mobile vehicle.
2. system according to claim 1, it is characterised in that at least two groups panoramic picture harvesters are according to space
Overlying relation is stacked.
3. system according to claim 1, it is characterised in that at least two in panoramic picture harvester described in every group
Camera is in circumferentially distributed in same level, and the camera of each group panoramic picture harvester is set in circumferential radially alternating
Put.
4. system according to claim 1, it is characterised in that the system also includes：
Alignment system, the mobile running parameter of the mobile vehicle for obtaining the carrying panoramic picture image collection system；
Accordingly, the controller includes：
Acquisition module, for obtaining the mobile running parameter；
Control module, for controlling each panoramic picture harvester interleaved acquisition panorama sketch according to the mobile running parameter
Picture.
5. system according to claim 4, it is characterised in that the control module specifically for：
For every group of panoramic picture harvester, according to unit acquisition parameter and the collection sequence number of the panoramic picture harvester,
Calculate the starting acquisition parameter of the panoramic picture harvester；
According to the quantity and unit acquisition parameter of all panoramic picture harvesters, counting period acquisition parameter；
According to the mobile running parameter, each panoramic picture harvester is controlled to start figure when meeting starting acquisition parameter
Start next image collection as collection, and according to the interval acquisition parameter.
6. system according to claim 5, it is characterised in that each acquisition parameter is time or distance.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106851228A (en) * | 2017-03-30 | 2017-06-13 | 百度在线网络技术（北京）有限公司 | Panoramic picture image collection system, control method, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106851228A (en) * | 2017-03-30 | 2017-06-13 | 百度在线网络技术（北京）有限公司 | Panoramic picture image collection system, control method, equipment and storage medium |
| CN106851228B (en) * | 2017-03-30 | 2023-05-05 | 百度在线网络技术（北京）有限公司 | Panoramic image acquisition system, control method, equipment and storage medium |
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