CN208128409U - A kind of roaming type panorama sketch automatic shooting system - Google Patents
A kind of roaming type panorama sketch automatic shooting system Download PDFInfo
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- CN208128409U CN208128409U CN201820402072.2U CN201820402072U CN208128409U CN 208128409 U CN208128409 U CN 208128409U CN 201820402072 U CN201820402072 U CN 201820402072U CN 208128409 U CN208128409 U CN 208128409U
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- wheel undercarriage
- panorama
- panorama sketch
- camera
- shooting
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Abstract
The utility model discloses a kind of roaming type panorama sketch automatic shooting systems, including：Panorama camera, controlling terminal and wheel undercarriage, the panorama camera are connect by wiring with the wheel undercarriage；The controlling terminal is connect by wireless communication mode with the wheel undercarriage, thus multiple shooting points of the transmitting based on map and the movement routine sequentially formed along the multiple shooting point；The panorama camera is supported in the top of the wheel undercarriage by bracket, and the wheel undercarriage drives the panorama camera to move along the movement routine, so that the panorama camera obtains the panoramic picture of each shooting point.The utility model especially has apparent advantage to the scene of large area, has great practical value and commercial promise for exhibition and exhibition center, the digitlization in museum, visualization.
Description
Technical field
The utility model relates to field of image processing, in particular to a kind of roaming type panorama sketch automatic shooting system.
Background technique
Panorama sketch, which refers to, carries out horizontal 360-degree and the bat of vertical 180 degree centered on certain point (hereinafter referred to as " shooting point ")
It takes the photograph, obtained plurality of pictures the is spliced into, cylinder around shooting point, the square bodily form or spherical picture.Compared to tradition two
Picture is tieed up, panorama sketch can make viewer drag picture or rotation on computer screen according to the wish of oneself with mouse or finger
Turn the viewing equipment (such as smart phone, tablet computer, VR glasses) of the sensor of included measurement three-dimensional rotation angle to watch
Any corner in scene, to viewer with feeling on the spot in person, thus brings stronger feeling of immersion and actual experience sense.Entirely
The equipment that scape photography uses generally has slr camera, ordinary digital camera, mobile phone camera, special pan-shot camera (as managed
Light Theta S, Google Jump etc.).Using the advantages of slr camera, ordinary digital camera, mobile phone camera be initial outlay compared with
It is small, it can directly be shot using existing camera, the disadvantage is that needing many post-processing work can plurality of pictures
To be spliced into panorama sketch, use is more time-consuming, and needs camera each to shoot around shooting central point multiple rotary
The photo of angle can not be completed to shoot in real time.Special pan-shot camera uses and disposes multiple cameras in different directions
Mode obtains the picture of all angles to synchronize, while built-in splicing software is automatically performed image mosaic work, thus significantly
It reduces using threshold, also can satisfy the requirement of real-time.Disadvantage is exactly to need individually purchase this kind of product, initial investment ratio
It is larger.
When panning figure, we often shoot multiple panorama sketch in different location, we can lead in this way
Cross the details that several panorama sketch more fully show entire scene.In order to realize the switching between different shooting points, we are usually
It needs to specify on each panorama sketch by hand and jumps label, when these jump label when the user clicks, picture can be from working as
Preceding panorama sketch is switched in another width panorama sketch.It manually adds and jumps label there are many disadvantages：(1) post-processing is increased
Workload；(2) the picture integrality that label destroys panorama sketch is largely jumped, user experience is compromised；(3) label nothing is jumped
Body of laws reveals the relative position of distance and each shooting point, so different shooting points is all generally distinguished by name, such as
" kitchen ", " parlor " etc.；(4) due to the presence of problem (3), one panorama sketch of shooting is typically only capable in a room, if one
If there is more than one panorama in a room, then the two panorama sketch cannot be distinguished.
Existing roaming type panorama sketch is improved on the basis of multiple spot panorama sketch.This kind of equipment is generally with there are two types of
Camera：One is common optical cameras, and for carrying out the shooting of photochrome, one is depth cameras, for shooting depth
Degree figure.Depth map is a two-dimension picture, and the value of each pixel is not the RGB information of photochrome or the ash of black-and-white photograph on figure
Information is spent, but the distance put from camera to some in 3D scene, this distance are known as " depth ".When shooting, the equipment is same
When record photochrome and depth map around shooting point all angles, then by splicing to obtain panorama to color image
Figure, obtains the 3D model of entire scene by the fusion of the depth map of splicing and multiple shooting points to depth map.Meanwhile from
The relative distance of the available each shooting point of the depth map of each shooting point, so that our available each shooting points are in scene 3D mould
Accurate location in type.3D model plays the role of map in this process.But at present this is based on depth camera
The roaming type panorama sketch of head still has several disadvantages, so that they can be only applied in smaller indoor scene：
(1) in order to merge the depth maps of different shooting points, it would be desirable to adjacent depth map has the part to overlap each other, by
It is limited (generally within 4 meters) in the detection range of depth camera, it must not be too far away between adjacent shooting point, when scene compares
A large amount of shooting points are just needed when big, the depth map of these points is fused into 3D model and needs a large amount of calculate；
(2) it in order to shoot the panorama sketch and depth map of different location, needs that complete equipment is manually moved to each shooting point
Up, artificial reconnaissance depends on the experience and quality of operator, therefore not only reconnaissance quality not can guarantee and (density often occurs not
, the problems such as leak source), and inefficiency (can only generally shoot less than 30 shooting points within an hour), therefore carrying out greatly
It is often unable to do what one wishes when scene capture.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of roaming type panorama sketch automatic shooting system, particularly with
(thousands of square metres or more) of scene of large area have apparent advantage, for exhibition and exhibition center, museum digitlization,
Visualization has great practical value and commercial promise.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：
A kind of roaming type panorama sketch automatic shooting system, including：Panorama camera, controlling terminal and wheel undercarriage, it is described
Panorama camera is connect by wiring with the wheel undercarriage；The controlling terminal passes through wireless communication mode and the wheel undercarriage
Connection, thus multiple shooting points of the transmitting based on map and along the multiple shooting point sequentially form move road
Diameter；The panorama camera is supported in the top of the wheel undercarriage by bracket, and the wheel undercarriage drives the panorama camera edge
The movement routine it is mobile so that the panorama camera obtains the panoramic picture of each shooting point.
Preferably, the wheel undercarriage has for controlling mobile driving wheel and stepper motor, for the predetermined time
Frequency collection circumferential direction environmental data and the measurement component of displacement information, for synchronizing positioning and map structuring calculates
Microcomputer, for the router with the controlling terminal wireless telecommunications, wherein the stepper motor, the measurement component,
The router is connect with the microcomputer respectively.
Preferably, the measurement component includes：Laser radar, sonar sensor, acceleration transducer and gyroscope.
Preferably, the bracket is hollow structure, and the wiring passes through the hollow inside of the bracket.
Preferably, the wiring is data line and power supply line.
Compared with prior art, the beneficial effects of the utility model are：By wheel undercarriage according to the path band planned
Dynamic panorama camera automatically snaps the shooting point in scene, substantially increases shooting speed.Such as one 1000 square metres of field
Ground generally requires 300 shooting points, and the roaming type panorama sketch based on depth camera needs 7~8 hours to be shot, and
The roaming type panorama sketch automatic shooting system that the utility model is proposed only needs 1~2 hour can be completed.
Detailed description of the invention
Some specific realities of the utility model are described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter
Apply example.Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that
The drawings are not necessarily drawn to scale.In attached drawing：
Fig. 1 is a kind of structural schematic diagram of roaming type panorama sketch automatic shooting system of the utility model；
Fig. 2 is the structural schematic diagram of wheel undercarriage in a kind of roaming type panorama sketch automatic shooting system of the utility model；
Fig. 3 is the Simple Calculation process that point is shot in a kind of roaming type panorama sketch automatic shooting method of the utility model
Figure；
Fig. 4 is the shooting point under rotating coordinate system in a kind of roaming type panorama sketch automatic shooting method of the utility model
Position and movement routine, wherein O is starting point, and S is terminal.
Meaning represented by each symbol is as follows in figure,
1- panorama camera；2- bracket；3- wheel undercarriage；4- controlling terminal；5- router；6- microcomputer；7- laser
Radar；8- sonar sensor；9- stepper motor；10- driving wheel；11- acceleration transducer；12- gyroscope.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.It should be noted that
The explanation of these embodiments is used to help to understand the utility model, but does not constitute the restriction to the utility model.This
Outside, technical characteristic involved in the various embodiments of the present invention described below is as long as they do not conflict with each other
It can be combined with each other.
As shown in Figure 1, the roaming type panorama sketch automatic shooting system of the utility model, mainly includes：Panorama camera 1, control
Terminal 4 processed and wheel undercarriage 3.Wherein, the panorama camera 1 is connect by wiring with the wheel undercarriage 3, and the control is eventually
End 4 is connect by wireless communication mode with the wheel undercarriage 3.In the present embodiment, panorama camera 1 is supported in wheel by bracket 2
The top on formula chassis 3, to have the most open pan-shot visual field.In other embodiments, panorama camera 1 can also be by propping up
Frame 2 is supported in most suitable position.Bracket 2 is hollow, so that wiring passes through hollow bracket 2.Panorama camera 1 passes through each
Kind wiring, such as power supply line, data line, connect with wheel undercarriage 3.Controlling terminal 4 can be intelligent mobile terminal, such as load
There are the tablet computer or smart phone of the utility model panorama sketch automatic shooting system.Between controlling terminal 4 and wheel undercarriage 3
Wireless communication can be using the modes such as wifi, bluetooth.
As shown in Fig. 2, wheel undercarriage 3 mainly includes eight modules：Router 5, microcomputer 6, laser radar 7, sound
Receive sensor 8, stepper motor 9, driving wheel 10, acceleration transducer 11, gyroscope 12.Laser radar 7, adds sonar sensor 8
Velocity sensor 11, gyroscope 12 have collectively constituted measurement component.Wherein, stepper motor 9, measurement component, router 5 respectively with
Microcomputer 6 connects.Panorama camera 1 is not a part on chassis in Fig. 2, but provides panorama sketch number for the computer on chassis
According to.It is not marked out for brevity in Fig. 2 power supply (battery), but it should be evident that since each component part is mostly electronics electricity
Gas equipment, power supply are default devices, are come even if not marking out, those of ordinary skill in the art will also understand that its necessity and be each
Electronic electric equipment properly configures power supply.Driving wheel 10 and stepper motor 9 are moved integrally for controlling.7 harmony of laser radar
Sensor 8 of receiving is for acquiring circumferential environmental data.And acceleration transducer 11 and gyroscope 12 are used to acquire oneself of wheel undercarriage 3
Body motion information.Router 5 is responsible for and external communication, transmits order and data between wheel undercarriage 3 and controlling terminal 4.It is micro-
Type computer 6 is capable of handling the various orders from controlling terminal 4, and sends corresponding device for execution movement.Moreover, micro-
Type computer 6 can also integrate the information of each sensor feedback, synchronize positioning and map structuring (SLAM,
Simultaneous Localization And Mapping) it calculates.
Based on the structure of Fig. 1 and Fig. 2, wheel undercarriage 3 can be mobile according to the movement instruction from the controlling terminal 4,
And with predetermined time frequency collection circumferential direction environmental data and displacement information, so that the data based on acquisition complete synchronous positioning
And map structuring.Wherein, predetermined time frequency, which can be set as needed, is set as 0.2 in embodiment for any number
Second/time.Then, in the case where completing map structuring, controlling terminal 4 can be used in planning multiple shooting points and planning along
The movement routine of the multiple shooting point sequentially formed.Wheel undercarriage 3 drives panorama camera 1 to move along the movement routine
It moves, so that the panorama camera 1 obtains the panoramic picture of each shooting point, so that finally roaming obtains entire big sky
Between panorama sketch combination.
To sum up, the utility model proposes roaming type panorama sketch automatic shooting system overcome it is unrestrained based on depth camera
Disadvantage in trip formula panorama sketch：Firstly, the depth map for not needing fusion depth transducer shooting generates the 3D model of scene, but
The 2D map of scene is generated by several sensors and SLAM algorithm.The cost of whole system is not only reduced in this way, also significantly
Reduce calculation amount, can be done in real time the drafting of map, user no longer needs to wait even more than ten hour several hours
It can see final result.Secondly, calculating shooting point and planning path automatically by algorithm, artificial operating mistake is avoided,
It ensure that the quality of reconnaissance.Finally, driving panorama camera 1 to the shooting in scene according to the path planned by wheel undercarriage 3
Point automatic shooting, substantially increases shooting speed.Such as one 1000 square metres of place, generally require 300 shooting points, base
7~8 hours are needed to be shot in the roaming type panorama sketch of depth camera, and the roaming type that the utility model is proposed is complete
Scape figure automatic shooting system only needs 1~2 hour can be completed.
It is according to the present utility model another based on the above-mentioned system being made of panorama camera, controlling terminal and wheel undercarriage
On one side, the utility model additionally provides a kind of roaming type panorama sketch automatic shooting method.
Firstly, in mainly S1 and S2 wheel undercarriage map making step.
S1：The wheel undercarriage is mobile according to the movement instruction from the controlling terminal, and is adopted with predetermined time frequency
Collect circumferential environmental data；
S2：The wheel undercarriage completes synchronous positioning and map structuring based on the data of acquisition.
In sample phase, the wheel undercarriage is by driving wheel, stepper motor, measurement component, microcomputer and routing
Device is constituted, and therefore, the work relationship in S1 between each component specifically includes S101, S102, S103 step.
S101：The microcomputer receives the movement instruction from the controlling terminal, and is transferred to the stepping electricity
Machine；
S102：The stepper motor and the driving wheel are mobile according to the movement instruction；
S103：The measurement component is transferred to the miniature calculating with predetermined time frequency collection circumferential direction environmental data
Machine.
In S103, other than acquiring circumferential environmental data, the movement of the measurement component further includes：With the predetermined time
The displacement information of wheel undercarriage described in frequency collection, and it is transmitted to the microcomputer.
Secondly, the shooting point of controlling terminal, movement routine planning step in mainly S3.
S3：On the map, the controlling terminal plans multiple shooting points and planning along the multiple shooting point
The movement routine of position sequentially formed.
As shown in figure 3, the planing method in S3 specifically includes S301, S302, S303, S304 step, moreover, S301 may be used also
To be subdivided into S301A, S301B, S301C, S301D, S301E, S301F, S301G step.On the basis of after S301 subdivision,
Between S302 and S303, there can also be S302H step.Specific sequence of steps is as follows.
S301：Coordinate system is established on the map, forms orthogonal X-axis and Y-axis.
S301A：Map described in binary conversion treatment, so that visible part is denoted as " 1 ", invisible part is denoted as " 0 "；
S301B：All pixel coordinates equal to " 1 " are extracted, to constitute X Vector Groups X=(x1, x2..., xn) and Y-direction amount group Y
=(y1, y2..., yn)；
S301C：Formed the matrix based on the X Vector Groups and Y-direction amount group, and seek the matrix barycentric coodinates its
In, matrix is indicated with formula (1), and barycentric coodinates are indicated with formula (2)；
S301D：The difference for calculating each pixel coordinate and the barycentric coodinates, to obtain central moment, wherein difference
It is indicated with formula (3), central moment is indicated with formula (4)；
S301E：The main shaft in the map where long side or short side and angle existing between transverse direction are calculated,
In.Angle is indicated with formula (5)；
S301F：The map is rotated into the angle, so that the main shaft of the map and lateral registration, to obtain
Under rotating coordinate system, the standard coordinate value of each pixel seat, wherein standard coordinate value is indicated with formula (6)；
S301G：Using the transverse direction as X-axis, with perpendicular to described lateral vertical for Y-axis, as shown in Figure 4；
S302：With a plurality of the first grid lines for being parallel to or coinciding with X-axis, a plurality of it is parallel to or coincides with Y-axis
Second grid lines divides the map, per having the first spacing between adjacent two first grid lines, per adjacent two institutes
Stating has the second spacing between the second grid lines, wherein the intersection point of first grid lines and second grid lines forms more
A shooting point, wherein the grid lines of S302 is as shown in Figure 4；
S302H：The map is resetted, so that the main shaft returns to initial position, thus obtain under former coordinate system, it is each
The initial coordinate values of the pixel coordinate, wherein initial coordinate values are indicated with formula (7)；
S303：Obtain the coordinate of each shooting point retained；
S304：Plan the movement routine of multiple shooting points along reservation sequentially formed.
As shown in figure 4, we select in the rotating coordinate system after having obtained shooting point, it is most left in most next row
The shooting point of side is as starting point O, and according to from left to right, sequence from top to bottom is that all shooting points sort in " bow " shape, from
And incoming terminal S.The path that planning obtains in this way compares the path planned by hand and more normally, more saves time, and avoids density
It is unevenly distributed and the problems such as leak source.In order to adapt to the special circumstances in actual scene, operator can also be in controlling terminal to certainly
The path of the dynamic shooting point generated and planning is adjusted, for example deletes the shooting sequence of certain points, change somewhere
Deng.
Finally, wheel undercarriage drives panorama camera in mainly S4 based on finally determining shooting point and movement routine
Carry out follow shot.
S4：The wheel undercarriage drives the panorama camera to move along the movement routine, so that the panorama phase
Machine obtains the panoramic picture of each shooting point.
Operator will shoot point and movement routine, and mode from controlling terminal is transferred to microcomputer by wireless communication
On, to start automatic shooting program.Wheel undercarriage is immediately according to the movement routine of planning, each shooting point of passing by order
Position, and in each point photographs panorama sketch.Then each panorama sketch is sent back into controlling terminal.When all shooting points are all clapped
After the completion of taking the photograph, we have just obtained a roaming type panorama sketch, can watch in controlling terminal, or upload to network in webpage
Upper sharing, viewing.
The embodiments of the present invention is explained in detail in conjunction with attached drawing above, but the utility model is not limited to be retouched
The embodiment stated.For a person skilled in the art, right in the case where not departing from the utility model principle and spirit
These embodiments carry out a variety of change, modification, replacement and modification, still fall in the protection scope of the utility model.
Claims (5)
1. a kind of roaming type panorama sketch automatic shooting system, which is characterized in that including：Panorama camera, controlling terminal and wheeled
Chassis, the panorama camera are connect by wiring with the wheel undercarriage；The controlling terminal passes through wireless communication mode and institute
Wheel undercarriage connection is stated, thus multiple shooting points of the transmitting based on map and sequentially forming along the multiple shooting point
Movement routine；The panorama camera is supported in the top of the wheel undercarriage by bracket, and the wheel undercarriage drives described complete
Scape camera is moved along the movement routine, so that the panorama camera obtains the panoramic picture of each shooting point.
2. a kind of roaming type panorama sketch automatic shooting system according to claim 1, which is characterized in that the wheel undercarriage
With for controlling mobile driving wheel and stepper motor, being used for predetermined time frequency collection circumferential direction environmental data and itself fortune
The measurement component of dynamic information, is used for the control eventually the microcomputer for synchronizing positioning and map structuring calculating
Hold wireless telecommunications router, wherein the stepper motor, the measurement component, the router respectively with the microcomputer
The connection of calculation machine.
3. a kind of roaming type panorama sketch automatic shooting system according to claim 2, which is characterized in that the measurement component
Including：Laser radar, sonar sensor, acceleration transducer and gyroscope.
4. a kind of roaming type panorama sketch automatic shooting system according to claim 1, which is characterized in that during the bracket is
Hollow structure, the wiring pass through the hollow inside of the bracket.
5. a kind of roaming type panorama sketch automatic shooting system according to claim 4, which is characterized in that the wiring is number
According to line and power supply line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402072.2U CN208128409U (en) | 2018-03-23 | 2018-03-23 | A kind of roaming type panorama sketch automatic shooting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820402072.2U CN208128409U (en) | 2018-03-23 | 2018-03-23 | A kind of roaming type panorama sketch automatic shooting system |
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| Publication Number | Publication Date |
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| CN208128409U true CN208128409U (en) | 2018-11-20 |
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| CN201820402072.2U Expired - Fee Related CN208128409U (en) | 2018-03-23 | 2018-03-23 | A kind of roaming type panorama sketch automatic shooting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111563965A (en) * | 2019-02-14 | 2020-08-21 | 贝壳技术有限公司 | Method and device for generating panorama by optimizing depth map |
-
2018
- 2018-03-23 CN CN201820402072.2U patent/CN208128409U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111563965A (en) * | 2019-02-14 | 2020-08-21 | 贝壳技术有限公司 | Method and device for generating panorama by optimizing depth map |
| CN111563965B (en) * | 2019-02-14 | 2024-04-05 | 如你所视(北京)科技有限公司 | Method and device for generating panoramic image by optimizing depth image |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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