KR100343836B1 - Panorama video surveillance system and controlling method therefore - Google Patents

Abstract

The present invention provides a hemispherical mirror reflecting an image in which the position of the object to be monitored is incident by 360 degrees, a first camera installed in a vertical direction with the hemispherical mirror to photograph an image reflected from the mirror, and a rear surface of the first camera. A second camera which is installed vertically and captures only an image portion covered by the first camera, and is incident only in the vertical direction with a 360 degree image incident in the horizontal direction on the hemispherical mirrors captured by the first and second cameras; The present invention provides a panoramic image monitoring system comprising a computer system unit for correcting and synthesizing a distortion of an image, and then converting and interpolating the image to output a panoramic image.

The present invention synthesizes a 360-degree image incident in the horizontal direction on the hemispherical mirror by a plurality of cameras capable of monitoring the horizontal and vertical direction, and outputs a panoramic image by outputting a panoramic image, obscured by the reflection mirror Since the omnidirectional image can be represented as a panoramic image on a two-dimensional plane without an image, the omnidirectional monitoring characteristic of the system is significantly increased accordingly.

Description

Panoramic video surveillance system and controlling method therefore

The present invention relates to a panoramic image monitoring system and a control method thereof, and particularly to a 360-degree image incident on the hemispherical mirror in a horizontal direction by a plurality of cameras capable of monitoring the horizontal and vertical directions and an image incident only in the vertical direction. The present invention relates to a panoramic image monitoring system and a control method thereof, by which a panoramic image on a two-dimensional plane can be expressed without a hidden image due to a reflection mirror by synthesizing and outputting a panoramic image. .

In general, as society develops, the necessity to protect or monitor human or technical resources has increased. For example, the surveillance of public and government entrances, the surveillance of financial sites, and the acquisition of footage and crossroads / crossroads to secure evidence. The use of surveillance systems has been raised in various areas of society, such as traffic traffic monitoring.

However, recently, a panoramic image system has been developed and used as one of various forms of such a surveillance system, and this panoramic image is being developed for a virtual experience such as virtual reality and complementing the existing narrow field of view image.

For example, among the various methods of obtaining such panoramic images, the Rees patent [Rees, DW (1970, April), Panoramic Tele-vision Viewing System, disclosed a hyperboloidal mirror capable of making each individual image with a circular image of 360 degrees United States Patent (3,505,465).] And Yagi, using a Yagi patent, a hemispherical mirror applied to a mobile robot called COPIS by obtaining a panoramic image through a system incorporating a mirror and a camera called HyperOmni. There is a yamazawa patent that overcomes the shortcomings of Yagiwa, which has a severe limitation of the field of view and image distortion using a triangular pyramid mirror.

Since the panoramic images using the mirrors used in these prior arts are different in image depending on the shape of the mirror or the performance of the camera, efforts have been made to implement a good panoramic image through the mirror structure.

Then, referring to FIG. 1, a panoramic image monitoring system using a conventional mirror as described above, a hemispherical reflection mirror 70 reflecting an incident 360 degree image and an image reflected from the hemispherical reflection mirror 70 are captured. To display or print a camera 71, a data signal processor 72 for data signal processing the image captured by the camera 71 as a panoramic image, and a panorama image signal-processed from the data signal processor 72 It consists of an output unit (73).

On the other hand, looking at the operation of the conventional panoramic monitoring system as described above, the hemispherical mirror 70 is first installed in the position of the object to be monitored, and then the camera 71 is disposed perpendicular to the hemispherical mirror 70. Then, the image of the surveillance position incident at 360 on the hemispherical mirror 70 is reflected, where the camera 71 captures the image as an image 74 as shown in FIG. 72). The data signal processor 72 processes the input image of the camera 71 into a panoramic image and displays the panoramic image through the output unit 73.

However, in the conventional panoramic monitoring system using the reflection mirror as described above, since the hemispherical mirror 70 and the camera 71 are vertically arranged, a panoramic image of 360 degrees can be obtained at a horizontal angle, but the camera 71 is installed at the installation position. Due to this, an image obstruction is generated as shown in “A” of FIG. 2, and thus a panoramic image of the entire area cannot be obtained. Also, the panoramic image 74 as described above is used to reflect an image reflected on the hemispherical mirror 70. Since it is a curved screen subjected to the imaging process, there is a problem that it is difficult to grasp the image properly because the distortion occurs in the image when processed into a two-dimensional plane image.

Accordingly, the present invention has been invented to solve the above problems, the image is incident only in the vertical direction and the 360-degree image incident on the hemispherical mirror by a plurality of cameras capable of monitoring the horizontal and vertical direction To output a panoramic image and display the image in all directions as a panoramic image on a two-dimensional plane without distorting the image according to the reflection mirror. The purpose is to provide.

Still another object of the present invention is to convert the individual images distorted in the horizontal and vertical directions by the characteristics of the reflecting mirror to a normal image and display them on the display, thereby maximizing the display characteristics of the individual images and the control of the panoramic image To provide a method.

The present invention for achieving the above object is a hemispherical mirror for reflecting an image incident to the position of the monitoring object 360 degrees, a first camera installed in the vertical direction with the hemispherical mirror to capture the image reflected from the mirror and A second camera installed vertically on the rear surface of the first camera to capture only an image portion covered by the first camera, and a 360 degree horizontal incident on the hemispherical mirrors captured by the first and second cameras; The present invention provides a panoramic image surveillance system comprising a computer system that corrects and synthesizes a distortion of an image incident only in a vertical direction with an image, and then converts and interpolates the image to output the panoramic image.

According to another aspect of the present invention, there is provided an image photographing step of photographing, by a plurality of cameras, an image reflected in an omnidirectional mirror from a hemispherical mirror installed at a position to be monitored in a panoramic image monitoring system, and in a horizontal direction on a hemispherical mirror captured by the image photographing step. An image synthesis step of synthesizing the image which is incident only in the vertical direction and the 360 degree image which is incident to the image; A panoramic image output step of outputting an omnidirectional panoramic image of a specified surveillance target position, and if an image output signal of an individual region is input after an interpolation stage, the image of the individual region of the designated surveillance target position stored in the storage device is stored. Panoramic video surveillance system including outputting individual area video output step Provides a control method.

1 is a convex diagram of a conventional panoramic surveillance system.

FIG. 2 is an explanatory diagram illustrating an area covered by the camera of FIG. 1. FIG.

3 is a simplified configuration diagram of the system of the present invention.

4 is a convex diagram of one embodiment of a system of the present invention;

5 is a flowchart of the present invention.

6 is an explanatory diagram showing the geometrical principle of the system of the present invention;

7 is an explanatory diagram illustrating the synthesis of input images of two cameras applied to the present invention.

8 is an explanatory diagram illustrating a process of converting a circular image bent by a reflection mirror into a normal panoramic image;

<Explanation of symbols for the main parts of the drawings>

1: hemispherical mirror 2: first camera

3: obscured image part 4: second camera

5: computer system part 6: data signal processing part

7: central processing unit 8: storage unit

9: output unit 10: key panel unit

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 3, the system of the present invention is provided with a hemispherical mirror 1 reflecting an image in which the position of the surveillance object is incident by 360 degrees, and is installed in a direction perpendicular to the hemispherical mirror 1 and reflected from the mirror 1. A first camera 2 for capturing an image, and a second camera vertically mounted to the rear of the first camera 2 and capturing only an image portion (A in FIG. 2) covered by the first camera 2. (4) and the distortion of the 360-degree image incident in the horizontal direction and the image incident only in the vertical direction to the hemispherical mirror image 1 captured by the first and second cameras 4 are corrected and synthesized. It consists of a computer system unit 5 for converting and interpolating the image and outputting the panorama image and the individual image.

Here, the hemispherical mirror 1 may be configured as a parabolic mirror.

In addition, the computer system unit 5 is perpendicular to the 360-degree image incident in the horizontal direction to the hemispherical mirror image 1 captured by the first and second cameras 4 as shown in FIG. 4. Data signal processing, for example, a data signal processing unit 6 for encoding and error correction processing, and correcting and synthesizing the distortion of the video signal processed by the data signal processing unit 6, and then converting the image. And a central processing unit (7) for interpolating and outputting the panoramic image, a storage unit (8) for storing data signals processed by the central processing unit (7), and an output from the central processing unit (7). And an output unit 9 for displaying or printing the panorama image or the individual image.

Here, the central processing unit 7 is connected to the key panel unit 10 for inputting a user's control command signal, the first camera 2 is a high resolution imaging camera, the second camera 4 is a low resolution Is an imaging camera.

Next, a control method of the present invention system configured as described above will be described.

As shown in FIG. 5, the system of the present invention proceeds from the initial state S1 to the image capturing step S2 to capture an image reflected in all directions from the hemispherical mirror installed at the position to be monitored with a plurality of cameras. After the image capturing step S2, the process proceeds to the image capturing decision step S3 to determine whether the capturing of the currently-monitored image is completed within a predetermined time. In addition, if it is determined during the image capturing determination step S3 that the imaging of the currently monitored image is not completed within a predetermined time, the process returns to the previous step S2 and repeats the loop.

However, when the imaging of the currently set monitoring target image is completed within a predetermined time as a result of the determination during the image capturing determination step S3, the process proceeds to the image synthesizing step S4 and the first and second cameras 2 and 4 (4). Extracts and corrects the distorted portion of the 360 degree image incident in the horizontal direction and the image incident only in the vertical direction on the hemispherical mirror photographed by H), and then synthesizes the corrected image. After the image synthesis step (S4), the image conversion and interpolation step (S5) is performed to convert and store the synthesized image. In addition, the image interpolation step (S5), and then proceeds to the panorama image output step (S6) to output the omnidirectional panoramic image of the designated monitoring target position stored in the storage unit (8).

Thereafter, after the panorama image output step, the process proceeds to the individual image output determination step S7 to determine whether an image output signal of the individual region is input. At this time, if it is determined during the individual image output determination step (S7), if the image output signal of the individual region is input, the process proceeds to the individual region image output stage (S8) and the designated monitoring target position stored in the storage unit (8). It will output the image of the individual area of. However, if the image output signal of the individual region is not input as a result of the determination during the individual image output determination step S7, the process ends.

That is, when the user sets the imaging function control signal to the key panel unit 10 of the computer system unit 5, the central processing unit 7 of the computer system unit 5 recognizes this and installs the hemispherical mirror installed at the position to be monitored. The image reflected in the omnidirectional direction from (1) is captured by the first and second cameras 4 as shown in FIG.

That is, as shown in FIG. 6, the image portion (A of FIG. 2) formed on the actual camera 2 has a two-dimensional image like the image formed on the virtual planar image portion 11. At this time, the image makes it possible to calculate the coordinate values (X, Y, Z) of the real image without warping through the calculation of the angle between the mirror 1 and the real coordinate system 12. The second camera 4 captures a direct vertical image of an area (A in FIG. 2) covered by the first camera 2.

Then, the first and second cameras 4 perform constant signal processing on the captured image screens of the monitored target positions and input the data signals to the data signal processor 6. Accordingly, the data signal processing section 6 is a 360-degree image incident in the horizontal direction to the hemispherical mirror image 1 captured by the inputted first and second cameras 4 and an image signal incident only in the vertical direction. Is subjected to data signal processing, for example, encoding and error correction processing, and input to the central processing unit 7. Then, the central processing unit 7 corrects the distortion of the video signal input from the data signal processing unit 6. That is, the central processing unit 7 is a first camera as shown in FIG. 7 among 360 degrees of images incident in the horizontal direction to the hemispherical mirror image 1 captured by the first and second cameras 4. An image portion (A in FIG. 2) of the image 13 captured by (2) by the first camera 2 is extracted and at the same time, among the image signals incident only in the vertical direction by the second camera 4, the image is extracted. Only the video signal in the boundary region 14 is extracted and synthesized as shown in FIG. 7.

Since the synthesized image signal is a bent image, the central processing unit 7 converts the synthesized image signal into a normal image and converts the image into a normal panorama image. After selecting and extracting the interpolated image by rotating the normal image 17, the curved image is displayed as a panoramic image 16 which is expanded by matching the point-to-point block. The panoramic image 16 is stored in the storage unit 8.

When the output signal of the panoramic image 16 is inputted through the key panel unit 10 of the computer system unit 5, the central processing unit 7 recognizes this and the monitoring target stored in the storage unit 8. The omnidirectional image screen of the position is output through the output unit 9. In addition, when the output signal of only the video signal of the individual region of the panorama signal is requested through the key panel unit 10 of the computer system unit 5, the central processing unit 7 recognizes this and transmits it to the storage device unit 8. The image screen of the selected individual region among the stored panorama images is output through the output unit 9.

As described above, the present invention synthesizes a panoramic image by synthesizing a 360-degree image incident in the horizontal direction and an image incident only in the vertical direction by a plurality of cameras capable of monitoring the horizontal and vertical directions. By outputting, the omnidirectional image can be represented as a panoramic image on a two-dimensional plane without the image obscured by the reflection mirror, thereby significantly increasing the omnidirectional monitoring characteristic of the system.

In addition, according to the present invention, since the individual images distorted in the horizontal and vertical directions by the characteristics of the reflecting mirror is converted into a normal image and displayed on the display, the display characteristics of the individual images are maximized, such as the use of multiple cameras. It works.

Claims (4)

A hemispherical mirror that reflects an image at which the position of the monitoring object is incident by 360 degrees, a first camera that is installed perpendicular to the hemispherical mirror to capture an image reflected from the mirror, and is installed perpendicularly to the rear of the first camera A second camera that captures only an image portion covered by the first camera, and a 360-degree image incident horizontally on the hemispherical mirrors captured by the first and second cameras and an image incident only vertically And a computer system unit for compensating, synthesizing, synthesizing, and then converting and interpolating the image to output the panoramic image. The panoramic image monitoring system according to claim 1, wherein the panoramic image is implemented by combining the first camera image and the second camera image. The computer system of claim 1, wherein the computer system unit corrects and synthesizes a distortion of an image signal incident only in a vertical direction and a 360 degree image incident in a horizontal direction on the hemispherical mirrors captured by the first and second cameras. A central operation processor which converts and interpolates an image and outputs a panoramic image, a storage unit which stores data signals processed by the central operation processor, and a panorama image or an individual image output from the central operation processor; A panoramic image monitoring system, characterized by comprising an output unit for printing. An image capturing step of capturing images reflected in all directions from a hemispherical mirror installed at a position to be monitored by a plurality of cameras in a panoramic image monitoring system; and 360 degrees of images incident in a horizontal direction on the hemispherical mirror captured by the image capturing step. The image synthesis step of extracting the distorted portion of the image incident only in the vertical direction and rotating it into a normal image, and then synthesizing the corrected image, and after selecting the individual region selected from the image signals synthesized after the image synthesis step. The image interpolation step of extracting and converting the image to standard view, interpolating and storing, and if the output signal of the panoramic image is input after this image interpolation step, the omnidirectional panoramic image stored in the storage unit is stored. A panoramic image output step of outputting and an individual region after the image interpolation step If the video output signal is input is a control method for a panoramic surveillance system which is characterized in that it comprises a separate region image output step of outputting the image of the individual areas being observed at the specified stored in the storage unit.