GB2578966A - Method for displaying a panoramic image on an image reproduction device - Google Patents

Method for displaying a panoramic image on an image reproduction device Download PDF

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Publication number
GB2578966A
GB2578966A GB1915209.9A GB201915209A GB2578966A GB 2578966 A GB2578966 A GB 2578966A GB 201915209 A GB201915209 A GB 201915209A GB 2578966 A GB2578966 A GB 2578966A
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United Kingdom
Prior art keywords
image
panoramic image
individual images
observation angle
angle region
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Granted
Application number
GB1915209.9A
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GB201915209D0 (en
GB2578966B (en
Inventor
Haeussler Andreas
Budweiser Helmut
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Hensoldt Optronics GmbH
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Hensoldt Optronics GmbH
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/38—Registration of image sequences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2625—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of images from a temporal image sequence, e.g. for a stroboscopic effect
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
    • H04N25/41—Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Image Processing (AREA)

Abstract

Method for displaying a panoramic image, covering an observation angle, and consisting of multiple individual images, comprising displaying either a preliminary representation of the panoramic image or a partially processed panoramic image, wherein: the partially processed panoramic image comprises approximately merged individual images over part of the observation angle; the preliminary representation of the panoramic image comprises the unprocessed individual images arranged next to each other horizontally in rows, and the rows are arranged in strips one above the other. Images may overlap between strips. The preliminary representation may involve no processing, computation or overlay of transition or peripheral regions between adjacent images. Seperating lines between individual images may be superposed. Coloured marks may be superimposed as orientation aids. The angle of each image’s direction within the observation angle field of view may be displayed. Each strip may cover 60 or 90 degrees of the field of view and may be provided with an angle scale. Preliminary representations may be replaced with the partially processed panorama as soon as it is available. Images may be captured by a camera sensor that rotates azimuthally through 360 degrees or by many cameras offset from each other forming a staring sensor system.

Description

Description:
Method for displaying a panoramic image on an image reproduction device The invention relates to a method for displaying a panoramic image, covering an observation angle region, on an image reproduction device, wherein the panoramic image is formed by a plurality of individual images received from at least one image source. The invention likewise relates to a panoramic image display apparatus.
DE 10 2010 053 895 Al relates to a surroundings presentation apparatus and to a vehicle having such a surroundings presentation apparatus and to a method for presenting a panoramic image.
It is known from practice that creating a correct and seamlessly merged panoramic image involves intensive computations and that the panoramic image can thus be displayed to an observer only with a time delay after the start of the (first) recording. However, this is highly disadvantageous, in particular in real-time applications or critical applications, such as a surroundings presentation apparatus for a vehicle or the like. A correct reproduction of the panoramic image is to be understood in the follow-ing text to mean a complete and consistent reproduction of details of the panoramic image.
Furthermore, checking the content of a panoramic image that has been merged by machine for correctness is desirable. Panoramic images that have not been correctly 25 seamlessly merged can be produced when: -the algorithm that is used has weaknesses or deficiencies, such as optical influences (e.g. a distortion) which have not been sufficiently corrected or insufficient consideration of hemispherical conditions, in particular starting and rising with an increasing elevation angle, -the quality of the image contents in the overlap regions (e.g. a contrast, brightness etc.) is insufficient, or -the image contents in the overlap regions are highly homogeneous and low in fea-tures.
Proceeding herefrom, it is the object of the present invention to improve a method for displaying a panoramic image and to improve a panoramic image display apparatus of the type mentioned in the introductory part, in particular to create a possibility for quick display of a panoramic image or to make possible a check of the content of a panoramic image that has been merged by way of machine.
This object is achieved according to the invention by the features specified in Claim 1.
The invention proposes a method for displaying a panoramic image on an image reproduction device covering an observation angle region or recording region, wherein the panoramic image is formed by a plurality of individual images that have been re-ceived from at least one image source and in each case cover a part of the observation angle region or recording region, wherein: -a preliminary representation of the panoramic image or an at least partially or completely processed panoramic image is optionally displayable on the image reproduction device, wherein -the at least partially or completely processed panoramic image has at least approximately seamlessly merged individual images at least over a pad of the observation angle region, wherein, -as a preliminary representation of the panoramic image, the individual images, in particular directly after receipt, are displayed without having been processed on the image reproduction device with correct positioning in a row and/or assigned and in one or more strips that are arranged one above the other, and wherein individual images which are adjacent within the at least one strip with respect to the observation angle region are represented horizontally next to one another.
The individual images of the panoramic image can be displayed on the image reproduction device such that they are directly arranged in a row, in particular horizontally next to one another and/or perpendicularly below one another, in one or more strips of individual images.
Owing to different representation variants of a panoramic image, which involve different image processing outlay and thus computation times, it is advantageously possi-ble to display a panoramic image to the user after only a very short period of time. The representation involving more complicated computations can be displayed subsequently, as soon as it is available, and replaces the former. The time that is required to compute a correct and seamlessly merged panoramic image is longer than it takes to create a panoramic image according to the invention from camera images which have simply been arranged in a row without computation at the transition locations. Nevertheless, the panoramic image consisting of camera images which have simply been arranged in a row offers an overview of the entire surroundings and is available significantly more quickly. This offers the advantage that the user receives the desired information relating to the environment more quickly. This is true in par-ticular for sensor systems with an azimuthally rotating camera or cameras with a large range, in which the surroundings can be scanned only sequentially. It is likewise possible for a partially or completely processed panoramic image to be optionally replaced by the preliminary representation in order to make possible a check of the content of a panoramic image that has been merged by machine. The preliminary representation or an at least partially or completely processed panoramic image can be selectively displayed, in particular as per the selection by the user, on the image reproduction device.
Owing to selectively employable, different representation variants (unprocessed pre-liminary representation or seamlessly merged representation) of a panoramic image, it is advantageously possible to make available to the user a possibility for verifying and checking the contents of the overlay region, which has been computed and overlaid by machine, on the basis of the unprocessed preliminary representation. This is true especially in critical applications and provides reliability in the assessment of the real surroundings and security situation because incorrect information can be virtually ruled out. This is advantageous both in the case of partially processed and also in the case of completely processed panoramic images. Partially processed panoramic im-ages that should be mentioned are for example panoramic images in which a multiplicity of transitions between individual images exist. It is furthermore advantageously possible for the user, owing to the selectivity between the different representation variants, to perform a check of settings and adjustments of the image sources at any time.
The at least approximately seamlessly merged individual images of the at least partially or completely processed panoramic image can likewise be displayed in one or more strips that are arranged one above the other, wherein individual images that are adjacent within the at least one strip with respect to the observation angle region are represented horizontally next to one another. Alternatively or additionally, the panoramic image can thus be divided into a plurality of strips for the representation, preferably suitably scaled by way of electronic size adaptation.
In the case of in each case two strips that are arranged directly one above the other, an individual image arranged on a right or left periphery of the upper strip can be adjacent to an individual image arranged on the opposite periphery of the lower strip with respect to the observation region or recording region. Furthermore, in the case of an observation angle region of 360°, an individual image arranged on a right or left periphery of the lowermost strip can be adjacent to an individual image arranged on the opposite periphery of the uppermost strip with respect to the observation angle region or recording region.
In the case of in each case two strips that are arranged directly one above the other, the individual image, arranged on the very right, of the upper strip can be adjacent to the individual image, arranged on the very left, of the lower strip with respect to the observation angle region or recording region. Furthermore, in the case of an observation angle region of 360°, an individual image of the lowermost strip, arranged on the very right, can be adjacent to an individual image of the uppermost strip, arranged on the very left, with respect to the observation angle region or recording region.
The individual images in the preliminary representation can be unprocessed in a manner such that no computation or overlay of the transition regions or peripheral regions between individual images that are adjacent with respect to the observation angle region or recording region takes place.
It is advantageous if there is at least an overlap between the strips, that is to say a double representation of image contents at the peripheries of the individual images. It is possible because of this to ensure coverage of the observation angle region without gaps.
Graphic elements, in particular separating lines, can be superposed for separating the individual images.
Coloured marks can be superposed as orientation aids.
It is possible to display angle information in the region of the respective individual images that refers to the corresponding part of the observation angle region or recording region.
The at least one strip can be provided with an angle scale which refers to the obser20 vation angle region or recording region. This makes a spatial assignment possible for the user.
The at least one strip or the individual images of the at least one strip can cover 60°, for example in the case of the use of six strips, or 90°, for example in the case of the 25 use of four strips, of the observation angle region or recording region of in particular 360°.
The preliminary representation can be replaced by an at least partially or completely processed panoramic image as soon as it is available.
The at least one image source can be embodied in the form of a camera.
Claim 14 indicates a panoramic image display apparatus, comprising: - at least one camera as the image source; at least one image reproduction device; and - at least one image processing device that processes the individual images re-ceived from the at least one camera and transmits them to the image reproduction device for display, wherein - the panoramic image display apparatus is set up to perform a method according to the invention.
For the selection of different representation variants, the following can also be present in the panoramic image display apparatus: - at least one image memory for storing the images: and/or - at least one input device (such as a mouse, a keypad, a touchscreen or the like) as input possibility that makes the selection of the representation variants by the user 15 possible.
The camera can be embodied in the form of an azimuthally rotating sensor system that in particular rotates about an angle of 360°.
It is likewise possible for a plurality of cameras to be present, which are arranged with an offset with respect to one another and form a staring sensor system that in particular covers an observation angle region of 360°. Staring systems having cameras that are arranged with an offset (i.e. non-rotating cameras) are likewise utilizable as image sources. The offset of the cameras can here be effected such that the obser-vation angle range is covered without gaps, preferably with an overlap.
Advantageous refinements and developments of the invention are evident from the dependent claims.
One exemplary embodiment of the invention will be described in principle below with reference to the drawing.
In the figures: figure 1 schematically shows a preliminary representation of a panoramic image as per the method according to the invention; and figure 2 schematically shows an illustration of a partially or completely pro-cessed panoramic image using the method according to the invention.
Elements having the same function are provided in the figures with the same reference signs.
Figure 1 shows a simplified illustration of an image reproduction device 1, on which a panoramic image 2 covering an observation angle region is displayed, wherein the panoramic image 2 is formed by a plurality of individual images 4 that have been received from at least one image source 3 (indicated in dashed lines) and cover in each case a pad of the observation angle region. The individual images 4, in particular directly after receipt, are displayed without having been processed on the image reproduction device 1 with correct positioning in a row and/or assigned and in one or more strips 5 that are arranged one above the other. Individual images 4 which are adjacent within the at least one strip 5 with respect to the observation angle region are represented horizontally next to one another. In the present exemplary embodiment, four strips 5 for an observation angle region of 360° are displayed.
The preliminary representation of the panoramic image 2 (see figure 1) or an at least partially or completely processed panoramic image 2' (see figure 2) is able to be dis-played selectively on the image reproduction device 1, in particular after selection by the user or on the basis of a user input. The at least partially or completely processed panoramic image 2' has at least approximately seamlessly merged individual images at least over a part of the observation angle region (not illustrated in more detail in figure 2). As is evident from figure 2, the at least approximately seamlessly merged individual images of the at least partially or completely processed panoramic image 2 can likewise be displayed in one or more strips 5 that are arranged one above the other, wherein individual images that are adjacent within the at least one strip 5 with respect to the observation angle region are represented horizontally next to one another.
In the case of in each case two strips 5 that are arranged directly one above the oth5 er, an individual image 4 arranged on a right or left periphery of the upper strip 5 can be adjacent to an individual image 4 arranged on the opposite periphery of the lower strip 5 with respect to the observation angle region.
In the case of in each case two strips 5 that are arranged directly one above the °thy:, er, the individual image 4 of the upper strip 5, arranged on the very right, can be adjacent to the individual image 4 of the lower strip 5, arranged on the very left, with respect to the observation angle region.
The individual images 4 of the panoramic image 2 in the preliminary representation 15 can be unprocessed in a manner such that no computation or overlay of the transition regions or peripheral regions between individual images 4 that are adjacent with respect to the observation angle region takes place.
An overlap of the individual images 4 can be present between the strips 5.
As is shown in figure 1, graphic elements, in particular separating lines 6, can be superposed for the purpose of separating the individual images 4 horizontally in the present case.
Alternatively or additionally, coloured marks 7 can be superposed as orientation aids below or above the individual images 4.
It is possible to display angle information 8 in the region of the respective individual images 4 that refers to the corresponding part or corresponding directions of the ob30 servation angle region.
The panoramic image 2, 2' can be provided with metadata 9, such as image resolu-tion, time of recording (time and date), position or the like.
A panoramic image display apparatus can comprise: at least one camera as the image source 3; - at least one image reproduction device 1; and at least one image processing device 10 that processes the individual images 4 received from the at least one camera and transmits them to the image reproduction device 1 for display, wherein the panoramic image display apparatus is set up to perform a method according to the invention.
For the selection of different representation variants, the following can also be present in the panoramic image display apparatus: - at least one image memory for storing the images; and/or - at least one input device as input possibility that makes the selection of the repre15 sentation variants by the user possible.
The camera can be embodied in the form of an azimuthally rotating sensor system (not illustrated in more detail) that in particular rotates about an angle of 360°. It is likewise possible for a plurality of cameras to be present, which are arranged with an offset with respect to one another and form a staring sensor system that in particular covers an observation angle region of 360°.
As is evident from figure 2, the at least one strip 5 can be provided with a horizontal angle scale 11 which refers to the observation angle region and reproduces the se-25 quence of the angle information.
The at least one strip 5 or the individual images 4 of the at least one strip 5 in the present exemplary embodiment cover(s) 90° of the observation angle region of 360°. In further exemplary embodiments, which are not illustrated, it is also possible for dif-ferent partial regions of the observation angle region to be covered by the strips 5 (for example 60° when using six strips 5).
The preliminary representation of the panoramic image 2 can be replaced on the image reproduction device 1 by an at least partially or completely processed panoramic image 2' as soon as it is available. Alternatively or additionally, the at least partially or completely processed panoramic image 2' can be replaced by the preliminary repre-sentation of the panoramic image 2 for checking purposes.
List of reference signs 1 Image reproduction device 2 Panoramic image as preliminary representation 2' At least partially processed panoramic image 3 Image source 4 Individual images Strips 6 Separating lines to 7 Coloured marks 8 Angle information 9 Metadata Image processing device 11 Angle scale

Claims (16)

  1. Patent Claims: 1. Method for displaying a panoramic image (2,2') on an image reproduction device (1) covering an observation angle region, wherein the panoramic image (2,2') is formed by a plurality of individual images (4) that have been received from at least one image source (3) and cover in each case a part of the observation angle region, characterized in that: - a preliminary representation of the panoramic image (2) or an at least partially processed panoramic image (2') is optimally displayable on the image reproduction de-to vice (1), wherein - the at least partially processed panoramic image (2') has at least approximately seamlessly merged individual images (4) at least over a part of the observation angle region, wherein, - as a preliminary representation of the panoramic image (2), the individual images (4), in particular directly after receipt, are displayed without having been processed on the image reproduction device (1) with correct positioning in a row and/or assigned and in one or more strips (5) that are arranged one above the other, and wherein individual images (4) which are adjacent within the at least one strip (5) with respect to the observation angle region are represented horizontally next to one an-other.
  2. 2. Method according to Claim 1, wherein the at least approximately seamlessly merged individual images (4) of the at least partially processed panoramic image (2) are likewise displayed in one or more strips (5) that are arranged one above the oth-er, and wherein individual images (4) that are adjacent within the at least one strip (5) with respect to the observation angle region are represented horizontally next to one another.
  3. 3. Method according to Claim 1 or 2, wherein, in the case of in each case two strips 30 (5) that are arranged directly one above the other, an individual image (4) arranged on a right or left periphery of the upper strip (5) is adjacent to an individual image (4) arranged on the opposite periphery of the lower strip (5) with respect to the observa-tion angle region.
  4. 4. Method according to Claim 1, 2 or 3, wherein, in the case of in each case two strips (5) that are arranged directly one above the other, the individual image (4), ar-ranged on the very right, of the upper strip (5) is adjacent to the individual image (4), arranged on the very left, of the lower strip (5) with respect to the observation angle region.
  5. 5. Method according to one of Claims 1 to 4, wherein the individual images (4) in the 10 preliminary representation are unprocessed in a manner such that no computation or overlay of the transition regions or peripheral regions between individual images (4) that are adjacent with respect to the observation angle region takes place.
  6. 6. Method according to one of Claims 1 to 5, wherein at least an overlap of the indi15 vidual images (4) is present between the strips (5).
  7. 7. Method according to one of Claims 1 to 6, wherein graphic elements, in particular separating lines (6) for separating the individual images (4), are superposed.
  8. 8. Method according to one of Claims 1 to 7, wherein coloured marks are superposed as orientation aids.
  9. 9. Method according to one of Claims 1 to 8, wherein angle information (8) that refers to the corresponding directions of the observation angle region are displayed in the 25 region of the respective individual images (4).
  10. 10. Method according to one of Claims 1 to 9, wherein the at least one strip (5) is provided with an angle scale (11) that refers to the observation angle region.
  11. 11. Method according to one of Claims 1 to 10, wherein the at least one strip (5) or the individual images (4) of the at least one strip (5) cover 60° or 90° of the observation angle region.
  12. 12. Method according to one of Claims 1 to 11, wherein the preliminary representa-tion is replaced on the image reproduction device (1) by an at least partially processed panoramic image (2) as soon as it is available.
  13. 13. Method according to one of Claims 1 to 12, wherein the at least one image source (3) is a camera.
  14. 14. Panoramic image display apparatus, comprising: - at least one camera as the image source (3); - at least one image reproduction device (1); and - at least one image processing device (10) that processes the individual imag-es (4) received from the at least one camera and transmits them to the image reproduction device (1) for display, wherein -the panoramic image display apparatus is set up to perform a method according to one of Claims 1 to 13.
  15. 15. Panoramic image display apparatus according to Claim 14, wherein the at least one camera is embodied in the form of an azimuthally rotating sensor system that in 20 particular rotates about an angle of 360°.
  16. 16. Panoramic image display apparatus according to Claim 14, wherein a plurality of cameras are present, which are arranged with an offset with respect to one another and form a staring sensor system that in particular covers an observation angle re-25 gion of 360°.
GB1915209.9A 2018-10-23 2019-10-21 Method for displaying a panoramic image on an image reproduction device Active GB2578966B (en)

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Citations (5)

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Publication number Priority date Publication date Assignee Title
US5444478A (en) * 1992-12-29 1995-08-22 U.S. Philips Corporation Image processing method and device for constructing an image from adjacent images
US5581638A (en) * 1993-07-26 1996-12-03 E-Systems, Inc. Method for autonomous image registration
US20100329586A1 (en) * 2009-06-29 2010-12-30 International Business Machines Corporation Creating emission images of integrated circuits
WO2011069698A1 (en) * 2009-12-11 2011-06-16 Tessera Technologies Ireland Limited Panorama imaging
US20160104285A1 (en) * 2014-10-10 2016-04-14 IEC Infrared Systems LLC Calibrating Panoramic Imaging System In Multiple Dimensions

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010053895A1 (en) 2010-12-09 2012-06-14 Eads Deutschland Gmbh Environment display device as well as a vehicle with such an environment-presentation device and method for displaying a panoramic image

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5444478A (en) * 1992-12-29 1995-08-22 U.S. Philips Corporation Image processing method and device for constructing an image from adjacent images
US5581638A (en) * 1993-07-26 1996-12-03 E-Systems, Inc. Method for autonomous image registration
US20100329586A1 (en) * 2009-06-29 2010-12-30 International Business Machines Corporation Creating emission images of integrated circuits
WO2011069698A1 (en) * 2009-12-11 2011-06-16 Tessera Technologies Ireland Limited Panorama imaging
US20160104285A1 (en) * 2014-10-10 2016-04-14 IEC Infrared Systems LLC Calibrating Panoramic Imaging System In Multiple Dimensions

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DE102018126371A1 (en) 2020-04-23
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