201017222 七、指定代表圖： (一)本案指定代表圖為：第四圖。201017222 VII. Designated representative map: (1) The representative representative of the case is: the fourth picture.
(100)(100)
(200)(200)
(300) (二)本代表圖之元件符號簡單說明： 1·無畸變同心圓點座標（1〇〇) 2·無畸變同心圓點座標（2〇〇) 個 3.無畸變同心圓點座標除以畸變同心圓點座標並將相 偶次多項式圖表示出(300) 九、發明說明： 【發明所屬之技術領域】 •續’將球面的影像， 7明是-種廣統頭影像的校正方法—將廣聽頭影像，用座 式’將畸變的影像轉絲無餐之的影像財法，其方法包括：—妒 汽角鏡頭所形成的像是畸變像差，經過個座標轉換手 又 轉成為無畸變的影像。 5 201017222 【先前技術】 魚眼鏡頭其缺點是廣角鏡頭引進極大的畸變像差，其資料的運用性因 而降低’己過的專法提供-麟差較小財式去麵畸㈣校正；本 專利是種廣肖鏡像驗正方法-將廣角_影像，用絲轉換方式， 將畸變的影像轉成為無畸變之的影像的方法，其方法包括：—般廣角鏡頭 所形成的畸變像差影像，經過個座標轉換手續，將球面的影像轉成為無 畸變的影像。 ^ 【發明内容】 廣角鏡頭可搜集視場角大於45度之場景和目標，可用於随，防恐等 用途，及其他以大角度的搜尋的目的之影像祕；但是，由於廣角鏡頭引 進極大的畸變像差，其資料的運驗因崎低因此，若將廣角鏡頭大角 又的資料將畸變部分除去，將可提供大場角的無崎變資料對影像大角度 資料之取得將有功能的提昇。 己過的專利美國如7271853，6836298，6288689，6G91G75，5231673， 4424446$都未提及較具体的數值轉财式顿目專繼贈5，瓜概 案架工投影器系統之畸變校正_並未提及其校正方式而以㈣卿等人是 用函數漸近方式將畸變，是用多财函數敝叉祕法校正(300) (2) Brief description of the symbol of the representative figure: 1. Undistorted concentric dot coordinates (1〇〇) 2· Undistorted concentric dot coordinates (2〇〇) 3. Undistorted concentric dot coordinates Divided by the distortion concentric dot coordinates and the phase polynomial graph is shown (300). 9. Description of the invention: [Technical field of invention] Continued 'correction of the spherical image, 7 is the correction of the image of the Guangzhao head Method—The image of the wide-mouthed head is used to transfer the distorted image to the imagery method without the meal. The method includes: - the image formed by the 妒 角 angle lens is a distortion aberration, after a coordinate conversion hand Turn into an undistorted image. 5 201017222 [Prior Art] The shortcoming of the fisheye lens is that the wide-angle lens introduces a great distortion aberration, and the usefulness of its data is reduced. 'There has been a special method to provide - the difference between the small and the small face to face distortion (four) correction; this patent is A wide-angle image verification method - a method of converting a distorted image into an undistorted image by wide-angle _ image, using a silk conversion method, the method includes: a distortion aberration image formed by a wide-angle lens, after a coordinate The conversion procedure converts the spherical image into an undistorted image. ^ [Invention] The wide-angle lens can collect scenes and targets with an angle of view greater than 45 degrees. It can be used for anti-terrorism and other purposes, and other images with a large angle of search. However, due to the introduction of a large distortion image in the wide-angle lens Poor, the data of the inspection is low, so if the wide-angle lens and the large-angle data are removed, the large-angle non-snaggy data will be improved. The patents of the United States, such as 7271853, 6836298, 6288689, 6G91G75, 5231673, 4424446$, do not mention the more specific value-for-money-style special-purpose gift 5, the distortion correction of the melon project projector system _ Mentioning the way of correcting it, (4) Qing et al. use the function to asymptotically distorted, which is corrected by the multi-function function.
，用 FPGA _度之視場校正’崎實際場景，在大肖度範圍仍有大 的誤差》 而本專利是一種廣角鏡頭影像的校正方法—將廣角鏡頭影像，用一種 位置轉換方式，將畸變的影像轉成為無畸變之的影像的方法，其方法包括： 6 201017222 將畸變影像計算後，利用位置轉換方式將影像成像資訊恢復到原來位置。 ' 在實際_上，可祕影像料間關心、®環倾，再經過魚眼鏡頭 或光學軟体計算成像同心圊像。原圖像為不同半後同心圓（1〇〇)，將經過 廣角鏡軸像圖像之各同心圓半徑值⑽)與原圖像同心圓半徑值⑽)作 相對位置相除，可得相對不同半徑依序（如圖三），對各崎變後半徑與原半 仕之比例的關係，可以數學擬方式得一偶次無限多項關係式漸近關係式 (300)， ❹ Z="a + bx2 +dX6 +eX% +β(χο +gx^ +_____ 再將畸變成像位置影像資料重置以得到無畸變影像，如圖四。 將畸變位置資料，利用偶次多項關係式漸近，找出該資料無畸變位置， 將資料回填’如此就完成資料的重建，而顯示出無畸變影像^還原後之無 崎變影像’與原無畸變影像回覆率99. %以上。 本㈣在雜供-種本發㈣—觀肖鏡聊像正方法—將廣角 眷鏡頭影像，用座標轉換方式，將畸變的影像轉成為無畸變之的影像的方法， 、方法匕括·般廣角鏡頭所形成的像是畸變像差經過個座標轉換手續， 將球面的影像，轉成為無畸變的影像。 魚眼鏡頭其缺點是廣角鏡頭引進極大的畸變像差，其資料的運用性因 而降低己過的專利無法提供一種有效方式去校正超過⑼度以上極大的畸 變像差；而本專概供—種廣角綱影像正方法-將廣請頭影像， 用座標轉換方式’將畸變的影像轉成為無畴變之的影像的方法，其方法包 201017222 括：一般廣角鏡頭所形成的像是畸變像差，經過個座標轉換手續，將球面 的影像’轉成為無畸變的影像。可用於以廣角鏡頭所成在CCD上所成之像， 存入記憶体，再經過轉換手續，將球面的影像，轉成為無畸變的影像，可 形成無畸變的影像。 實施例一： φ 以個場角75度的有效焦距為2. 5刪鏡頭為例，場景成像，如表一所列 五個同心等距圈和經過鏡頭所對應半徑, using the FPGA _ degree field of view correction 'saki actual scene, there is still a large error in the large Xiao range." This patent is a wide-angle lens image correction method - the wide-angle lens image, using a position conversion method, the distortion image The method of converting into an undistorted image includes: 6 201017222 After calculating the distortion image, the image imaging information is restored to the original position by using the position conversion method. In the actual _, the secret image between the material care, the product is tilted, and then the fisheye lens or optical software is used to calculate the image of the concentric image. The original image is a different half-concentric concentric circle (1〇〇), which divides the concentric circle radius value (10) of the wide-angle mirror axis image and the original image concentric circle radius value (10) as relative positions, which can be relatively different. The radius is sequentially (as shown in Fig. 3). For the relationship between the radius of each post-sagaing radius and the original half-life, you can mathematically obtain an even-order infinite multi-relational relationship (300), ❹ Z="a + Bx2 +dX6 +eX% +β(χο +gx^ +_____ Then reset the distortion imaging position image data to obtain the distortion-free image, as shown in Figure 4. The distortion position data is asymptotically solved by the even-order polynomial relationship. The data has no distorted position, and the data is backfilled. This completes the reconstruction of the data, and shows the undistorted image ^the reduced image after the restoration and the original undistorted image coverage rate of 99. % or more. This (four) in the miscellaneous supply - species This (4) - Viewing the mirror to talk about the positive method - the wide-angle lens image, using the coordinate conversion method, the distortion of the image into a distortion-free image method, the method is like a wide-angle lens formed by the distortion The aberration passes through a coordinate conversion procedure, the ball The image becomes a distortion-free image. The shortcoming of the fisheye lens is that the wide-angle lens introduces a large distortion aberration, and the application of the data is reduced. The patents that have been used cannot provide an effective way to correct the distortion image exceeding (9) degrees. Poor; and this special offer - a wide-angle image positive method - will be wide-ranging image, using the coordinate conversion method to convert the distorted image into a domain-free image, the method package 201017222 includes: general wide-angle lens The formed image is a distortion aberration. After a coordinate conversion procedure, the spherical image is turned into an undistorted image. It can be used for the image formed on the CCD by a wide-angle lens, stored in the memory, and then converted. The image of the spherical surface is converted into an undistorted image to form an undistorted image. Embodiment 1: φ The effective focal length at a field angle of 75 degrees is 2.5, and the scene is imaged as shown in Table 1. Five concentric equidistant circles and the radius corresponding to the lens
所形成同心等間距半徑 9.39578 7.51662 Ϊ63747 Ϊ75831 1787916 經過鏡頭所對應半徑 1.30784 1.29542 1:27396 1.22872 1.08454 表-The concentric equidistant radius formed is 9.39578 7.51662 Ϊ63747 Ϊ75831 1787916 The radius corresponding to the lens 1.30784 1.29542 1:27396 1.22872 1.08454 Table -
^形成同心等距圈和經過鏡頭所對應半徑 序 原圖像位和成像點相除值^ Form a concentric equidistant circle and the radius corresponding to the lens. The original image bit and the image point division value
7.184218 5.80246 4.425149 3.058713 L7326827.184218 5.80246 4.425149 3.058713 L732682
表二.相對次序和圖像位和成像點相除值 201017222 在極座標之圖像，經過魚眼鏡頭或光學軟体計算成像：將成像點與原 圖像位置作比對，若以原圖像位和成像點相除如表三，將其繪出如圖四， 可得一偶次多項關係式(1)， 2 = 1.000+ 0.5475Z2 +0.0232X4 +0.004Z6 _(1) 最小均方根擬合差值為0.9988 再將成像位置影像資料重置，可以還原成為無畸變影像。 實施例二： ® 在直角座標之圖像’如圖五，經過魚眼鏡頭或光學軟体計算成像_將成 像點與原圖像位置作比對，若以原圖像位和成像點相除可得一偶次多項關 係式，再將成像位置影像資料重置以得到無畸變影像。再將成像位置影像 資料重置，可以還原成為無畸變影像。 實施例三： 如圖六，以廣角鏡頭所成在CCD上所成之像，存入記憶体，再經過轉換 手續，將球面的影像，轉成為無畸變的影像；廣角鏡頭所成在CCD上所成之 ❹像，存入記憶体，再經過轉換手續，將球面的影像，轉成為無蜂變的影像， 可形成無畸變的影像。 本發明乃是-種廣角鏡聊像的校正方法—將廣角鏡頭影像，然而亦 可以用其它之特定的方法來實現，皆不脫離本發明之特點與精神所在。因 此專利所列舉之實例在各方面皆應該被視為例示性而不是限制性範例，故 所有相似性的改變只要合乎本專利之巾請的範騎定義及精神均應該被 包含在本專利所主張的範_内。 201017222 【圖式簡單說明】 圖一無畸變同心圓點座標（100) 圖二無畸變同心圓點座標（200) 圖三無畸變同心圓點座標（1〇〇)除以畸變同心圓點座標（2〇〇)並 將相對作標以一個偶次多項式表示出 圖四將畸變同心圓點座標（200)轉換成無畸變同心圓點座標手續 (400) ' ^ ' 圖五將畸變直角座標轉換成無畸變直角座標手續(5〇〇) 【主要元件符號說明】 無畸變同心圓點座標（100) 無畸變同心圊點座標（200) 無畸變同心圓點座標除以畸變同心圓點座標並將相對作標以一個偶次 多項式圖表示出(300) 將崎變同心圓點座標轉換成無畸變同心圓點座標手續(4〇〇) 將畸變直角座標轉換成無畸變直角座標手續(5〇〇)Table 2. Relative order and image bit and image point division value 201017222 In the polar coordinate image, the image is calculated by the fisheye lens or optical software: the imaging point is compared with the original image position, if the original image position Divide from the imaged point as shown in Table 3, and draw it as shown in Figure 4. You can get an even multiple relationship (1), 2 = 1.000+ 0.5475Z2 +0.0232X4 +0.004Z6 _(1) Minimum rms The difference is 0.9988 and the imaging position image data is reset, which can be restored to an undistorted image. Example 2: ® image at right angle coordinates 'Figure 5, calculated by fisheye lens or optical software _ Compare the imaged point with the original image position, if the original image position is separated from the imaged point An even number of relationships are obtained, and the imaging position image data is reset to obtain an undistorted image. By resetting the imaging position image data, it can be restored to an undistorted image. Embodiment 3: As shown in Fig. 6, the image formed by the wide-angle lens on the CCD is stored in the memory, and then the conversion process is performed to convert the spherical image into an undistorted image; the wide-angle lens is formed on the CCD. The image is stored in the memory, and after the conversion process, the image of the sphere is converted into an image without bee-changing, which can form an image without distortion. The present invention is a method for correcting a wide-angle lens chat image - a wide-angle lens image, but can be implemented by other specific methods without departing from the spirit and spirit of the present invention. Therefore, the examples cited in the patents should be considered as illustrative and not limiting in all respects, and all changes in similarity should be included in this patent as long as they conform to the definition and spirit of the patent. Van _ inside. 201017222 [Simple description of the diagram] Figure 1 Undistorted concentric dot coordinates (100) Figure 2 Undistorted concentric dot coordinates (200) Figure 3 Undistorted concentric dot coordinates (1〇〇) divided by distortion concentric dot coordinates ( 2〇〇) and the relative mark is represented by an even polynomial. Figure 4 converts the distortion concentric dot coordinates (200) into undistorted concentric circle coordinates (400) ' ^ ' Figure 5 converts the distortion right angle coordinates into Undistorted right angle coordinate procedure (5〇〇) [Main component symbol description] Undistorted concentric dot coordinates (100) Undistorted concentric 圊 coordinates (200) Undistorted concentric dot coordinates divided by distortion concentric dot coordinates and will be relative The marking is shown by an even polynomial graph (300) Converting the Saga-Concentric Circle Coordinates into Undistorted Concentric Dot Coordinates (4〇〇) Converting Distorted Right-Angle Coordinates into Undistorted Right-Angle Coordinates (5〇〇)