KR101432123B1 - High Renewal Compass Direction Panorama Image Acquisition and Treatment Method - Google Patents

Abstract

In a method for acquiring and processing an omnidirectional panorama image at a high update rate, each of first to fourth wide viewing angle sensors (10-1, 10-2, 10-3, 10-4), which covers each of four 90°sections divided from a 360° omnidirectional section, acquires six sectional images (1, 2, 3, 4, 5, 6) divided from a 95° section, and applies a weighting function to the six sectional images (1, 2, 3, 4, 5, 6) to convert the six sectional images (1, 2, 3, 4, 5, 6) into section continuous images (1-1, 1-2, 1-3, 1-4, 1-5, 1-6) without overlap sections through re-matching. Next, the weighting function is applied to sections overlapped among a total of four section continuous images to create a 360° panorama image (C) having no overlapped sections through the re-matching. Therefore, according to a scanning optical system (1) of the present embodiment, a higher-resolution image can be acquired at a higher rate in a simple structure when being compared with a scheme that a rotating device or a planar detector is used together with a sensor.

Description

TECHNICAL FIELD [0001] The present invention relates to a panorama image acquisition method,

The present invention relates to acquisition and processing of panoramic images, and more particularly, to a method of acquiring a panoramic image of a panoramic image of a panoramic image, in which six scanned images acquired by each of the four sensors are converted into high- .

In general, IRST (Infrared Search and Track) (IRST), which is installed in a trap, automatically detects and tracks a small threat target such as a low-altitude anti-missile penetrating from a remote location, It is a video-based omnidirectional monitoring equipment.

This IRST is required to detect and track the remote high-maneuvering target, so that the update rate of the image frame should be fast in order to secure the reliability and accuracy. Particularly, it is necessary to acquire the 360 ° panoramic image in high resolution while maintaining the high- It is important.

As an example of an approach for acquiring 360 ° panoramic images in all directions, there is a rotatable panoramic image acquisition device. This is a method in which a rotating device including a servo and a stabilizing device is constituted together with a sensor equipped with a linear array detector so that one frame of an omni-directional image is obtained every one rotation of the sensor.

Korean Patent Publication No. 10-2009-0012290 (February 03, 2009)

However, the method of acquiring a 360 ° panoramic image by combining the rotating device and the sensor has a fundamental limitation that the update rate of the image frame does not exceed 1.5 Hz due to the performance of the rotating device and the limit of the exposure time of the detector in the sensor none.

There is a step-staring method that overcomes the limitations of this rotating panoramic image acquisition device. This is a method in which a sensor applying a planar detector is rotated step by step and an image is implemented through a compensation rotation in the opposite direction within the sensor.

However, such a step-staring method has another limitation that there is a limitation in increasing the structural complexity and speeding up the image acquisition time.

In view of the above, the present invention obtains 6 interval images from each of four sensors by driving the position of the scanning optical system, aligns and matches the high resolution images obtained from the respective sensors, And a panoramic image acquisition device of the Gauguin Renewable Skies panorama image which is composed of a 360 ° panoramic image by integrating all the continuous images of the sensor, And to provide a processing method.

According to another aspect of the present invention, there is provided a method for acquiring a panoramic image of panorama image, comprising the steps of: (a) when a scanning optical system is moved, The scanning optical system returns to the initial position, and (b) the scanning optical system returns to the initial position, The six continuous sections of the section image are aligned with overlapping sections, and then the sectioned continuous images are arranged in a section continuous image of 90 degrees or more by applying a weighting function to each of the overlap sections, , And 4 wide viewing angle sensors. (C) After the four section continuous images are aligned with the sensor overlapping sections, a weighting function is applied to each of the sensor overlapping sections to obtain 360 ° Panoramic images .

The four continuous images are more than 90 degrees. The movement of the scanning optical system is corrected in accordance with the step motor driving error. The 360 ° panoramic image has an update rate of 4 frames per second.

According to another aspect of the present invention, there is provided an apparatus for acquiring a panoramic image of a panoramic image, including a first, a second, a third, and a fourth wide view angle sensor, And each of the second, third and fourth wide viewing angle sensors is equipped with a stepping motor for moving the position of the scanning optical system.

The present invention relates to a method for acquiring a panoramic panoramic image by acquiring a continuous panoramic image of a wide viewing angle formed by aligning and matching six sectional images obtained from each of the sensors, The image acquisition update rate of 4Hz is maintained compared with the maximum 1.5Hz image update rate of the equipment.

In addition, the present invention eliminates a complex structure such as a rotating device for obtaining a wide viewing angle image, thereby improving the structural complexity and reducing the failure rate of the apparatus compared with the rotary panoramic image acquisition apparatus or the step-staring system, There is an effect that the acquisition time can be increased.

In addition, the present invention can provide a 360 ° panoramic wide viewing angle image at a rate of 4 frames per second by means of a single sensor device in which four sensors are integrated, so that infrared tracking and tracking equipment IRST). ≪ / RTI >

FIG. 1 is an example of four wide view angle sensors having a 95 ° view according to the present invention, FIG. 2 is an example of obtaining a 360 ° panorama image in four wide view angle sensors according to the present invention, 4 is a flowchart for acquiring a 360 ° panoramic image with four wide view angle sensors according to the present invention and performing a high update rate of 4 frames per second, 5 is an example of an image obtained in each of the four wide viewing angle sensors according to the present invention at six scanning positions by the scanning optical system, and FIG. 6 is a view showing an example in which six scanned images obtained through the scanning optical system according to the present invention FIG. 7 is an example of an interval continuous image aligned with a wide viewing angle image of 95 ° vertical and 22.5 °. FIG. 7 is an example of an interval continuous image obtained by using four wide view angle sensors according to the present invention An example in which the section is treated with a weighting function, Figure 8 is a processing method in the overlapping region of the weighting function in Fig. 7 is an example of the application of the actual image.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.

FIGS. 1, 2, and 3 show examples of a scanning optical system for capturing a Gauging angle wide angle panoramic image using a 360 ° panoramic image and a wide viewing angle sensor, .

1, the wide viewing angle sensor 10 is composed of first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4, 3 and 4 wide viewing angle sensors 10-1, 10-2, 10-3 and 10-4 are constituted by a group arranged so as to divide 360 ° omnidirection by 95 °, respectively. In this case, the division angle of 95 deg. Is one example. In this embodiment, the range of 90 deg. To 135 deg. Is 22.5 deg. X 6 = 135 deg. When there is no overlapping section of each section image.

Therefore, in the surveillance region, each of the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4 is responsible for 95 degrees, The scanned image is obtained as an interval image of six sections. In this case, the interval image clock is 22.5 ° vertical and 18 ° horizontally, and the resolution is a high resolution of 1,280 pixels in vertical direction and 1,024 pixels in horizontal direction.

For example, the first wide viewing angle sensor 10-1 obtains a six-section interval image with respect to 95 °, and the second, third, and fourth wide viewing angle sensors 10-2, 10-3, Each obtains an interval image of 6 intervals with respect to 95 degrees.

As shown in FIG. 2, the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4 may constitute a 360 ° panoramic image. For this purpose, the 6-segment section images acquired by the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4, respectively, Section continuous image. The first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4 are simultaneously operated. , 10-2, 10-3, 10-4) corresponds to 24 Hz. This 360 ° panoramic image is a high resolution type of 20,480 pixels in horizontal direction and 1,280 pixels in vertical direction and is repeated at 4 frames per second.

As shown in FIG. 3, the scanning optical system includes a wide viewing angle sensor (10-1, 10-2, 10-3, and 10-4) that includes first, second, 10, 10-2, 10-3, and 10-4, and a step motor 1-1 for rotating each of the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, The image pickup sensor 1 is provided behind the lens.

Particularly, the step motor 1-1 is configured such that the 95 ° sections taken by the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, Section. The step motor 1-1 further includes a resolver for measuring the positional shift of the scanning optical system.

Therefore, the scanning optical system is moved in six stages through the driving of the stepping motor 1-1, and as a result, an interval image of six sections obtained for 95 degrees is obtained. Completion of the 95 [deg.] Drive means return to the initial position of the scanning optical system.

Meanwhile, FIG. 4 shows an embodiment of a process of obtaining a high-resolution 360 ° panoramic image by the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4 .

S10 to S60 are examples of the first wide viewing angle sensor 10-1 and S10-4 to S60-4 indicate the same process as an example of the fourth wide viewing angle sensor 10-4, The wide viewing angle sensors 10-2 and 10-3 may be represented by S10-2 to S60-2 and S10-3 to S60-3, respectively.

Hereinafter, S10 to S60 which are examples of the first wide viewing angle sensor 10-1 will be described.

When the scanning optical system is driven once as in S10, one section image is obtained as in S20, and the sectional image is divided into six sections of 95 deg. As in S30. S40 is a state in which the scanning optical system returns to the initial position, which means that the second, third, and fourth wide viewing angle sensors 10-2, 10-3, and 10-4 after the first wide viewing angle sensor 10-1 sequentially It means that the segment image is acquired.

On the other hand, Fig. 5 illustrates the process of S10 to S30. As shown in the figure, each of the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3 and 10-4, which are moved by the scanning optical system 1, A certain line of sight is maintained during the detector exposure time. In addition, the six sectional images (1, 2, 3, 4, 5, and 6) measure the positions of the scanning optical systems by the resolver of the step motor 1-1.

(1), (2), (3), (4), (5) and (6)) obtained from the first wide viewing angle sensor 10-1 are 22.5 degrees vertical and 95 degrees horizontally. Pixel, and a high resolution of 5,045 pixels horizontally. These results are the same for each of the second, third, and fourth wide viewing angle sensors 10-2, 10-3, and 10-4.

Referring to FIG. 4 again, the position error correction and the overlapped region position calculation are performed as in S50. Then, as in S60, a continuous image is generated by applying a weighting function to the overlapping region of the region image.

6 shows an example in which the section images (1, 2, 3, 4, 5, 6) of the first wide viewing angle sensor 10-1 are successively arranged according to the overlap section B, The relationship between the first wide viewing angle sensor and the neighboring second and fourth wide viewing angle sensors according to the overlapping period B-1 between the process of making a continuous image and the interval continuous image of the second and fourth wide viewing angle sensors will be described . At this time, the position of the overlapping section is calculated by using the resolver position of the step motor 1-1.

This sorting operation is the same for each of the second, third, and fourth wide viewing angle sensors 10-2, 10-3, and 10-4. Therefore, each of the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4 is continuously aligned by the inter-sensor overlapped section B-1.

FIG. 7 shows an example of application of a weighting function for switching to a continuous continuous image. In FIG. 7, an interval image (1) of the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3, The image processing is performed by applying the weighting function to the overlapping section B of the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, 10-4, 10-2, 10-3, 2, 10 - 3, 10 - 4) can be listed as a continuous continuous image clock having a range of 95 °. This method is the same as the method of applying the weighting function for overlapping of the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3 and 10-4.

FIG. 8 shows an example of applying the method for converting into the continuous continuous image of FIG. 7 to an actual image, in which two images are successively arranged by the image processing using the weighting function.

Referring again to FIG. 4, a superposition section operation is performed between four wide view angle sensors as in S70, and then a 360 ° panorama image is generated by applying a weighting function to overlapping sections between sensors as in S80.

The overlapped section B-1 between the sensors is the overlapping portion of the first wide viewing angle sensor 10-1 and the second wide viewing angle sensor 10-2 and the second wide viewing angle sensor 10-2 and the third wide viewing angle sensor 10-2, Is the overlapping portion of the wide viewing angle sensor 10-3 and the overlapped portion of the third wide viewing angle sensor 10-3 and the fourth wide viewing angle sensor 10-4 and the fourth wide viewing angle sensor 10-4 Is the overlapping portion of the first wide viewing angle sensor 10-1.

Therefore, if image processing is performed by applying a weighting function to the overlapped section B-1 between the respective sensors, the first, second, third and fourth wide viewing angle sensors 10-1, 10-2, 10-3 , 10-4) is composed of a 360 ° panoramic image (C).

As described above, in the method of acquiring the panoramic image of the Gauguin Renewable Skies panorama image according to the present embodiment, the first, second, third and fourth wide viewing angle sensors 10-1 and 10-2 , 10-3, and 10-4, and the first, second, third, and fourth wide viewing angle sensors 10-1, 10-2, 10-3, and 10-4, (6), (6), (7), (8), (9), (10), (10) (1), (1), (1), (2), (3), (4), (5) and (6) are obtained by applying the weighting function to the six interval images And a 360 ° panoramic image is generated by applying a weighting function to the overlapping sections of four consecutive continuous images to remove overlapping sections. . Therefore, in the scanning optical system 1 according to the present embodiment, the configuration is simple while acquiring a high-resolution image at a high speed compared with a method using a rotating device or a planar detector together with a sensor.

1: image pickup sensor 1-1: step motor
10: Wide viewing angle sensor
10-1, 10-2, 10-3, 10-4: 1st, 2nd, 3, 4 wide viewing angle sensors

Claims (6)

(a) When the scanning optical system is moved, the first wide viewing angle sensor among the four first, second, third, and fourth wide viewing angle sensors having an imaging region of 90 degrees or more captures six sectional images, The third optical view angle sensor, and the fourth optical view angle sensor successively capture six section images, and when the six section shot images are completed by the first, second, third, and fourth wide viewing angle sensors, The optical system returns to the initial position,
(b) after six sections of the section image captured by the first wide viewing angle sensor among the first, second, third, and fourth wide viewing angle sensors are aligned with overlapping sections, respectively, And 6 sections of the section image taken by each of the second, third, and fourth wide viewing angle sensors are arranged in the second, third, and fourth section continuous images, respectively. And is generated as a continuous image of four sections,
(c) The four section continuous images are generated as a 360-degree panoramic image by applying a weighting function to overlapping sections of the first, second, third, and fourth section continuous images, respectively
Wherein the panorama image is acquired by the panoramic image acquisition unit.
The method according to claim 1, wherein the imaging region of each of the four section continuous images is 90 degrees or more.
[Claim 2] The method according to claim 1, wherein each position of the overlapping section is corrected according to a step motor driving error for rotating the scanning optical system having the first, second, Processing method.
The method of claim 1, wherein the 360 ° panoramic image has an update rate of 4 frames per second.
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