WO2005003857A1 - A method of digital imaging device’s scene panoramic imagery and display method thereof - Google Patents
A method of digital imaging device’s scene panoramic imagery and display method thereof Download PDFInfo
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- WO2005003857A1 WO2005003857A1 PCT/CN2004/000754 CN2004000754W WO2005003857A1 WO 2005003857 A1 WO2005003857 A1 WO 2005003857A1 CN 2004000754 W CN2004000754 W CN 2004000754W WO 2005003857 A1 WO2005003857 A1 WO 2005003857A1
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- panoramic
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- 238000000034 method Methods 0.000 title claims abstract description 80
- 238000003384 imaging method Methods 0.000 title claims abstract description 79
- 238000009432 framing Methods 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 13
- 230000003287 optical effect Effects 0.000 abstract description 7
- 238000004422 calculation algorithm Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012805 post-processing Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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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
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- 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
Definitions
- the present invention relates to a digital imaging method, in particular to a method for generating a panoramic image by using a movable digital imaging device to stitch continuous background images in real time, and a method for displaying a panoramic image obtained based on the above method.
- Image processing technology in particular to a method for generating a panoramic image by using a movable digital imaging device to stitch continuous background images in real time, and a method for displaying a panoramic image obtained based on the above method.
- Digital cameras and mobile phones with integrated micro-cameras are convenient, compact, easy to carry, and can take pictures at any time.
- the limitation of physical size makes this type of photographing equipment have poor imaging quality and small field of view, which cannot meet people's expectations for taking pictures.
- Chinese patent 92215421. X has designed a 360 ° panoramic camera, which includes a camera body, a lens, a power controller and a camera chassis. An imaging surface with a slit-type exposure hole is opened in the middle of the fuselage. A micromotor and a reducer are installed in the chassis below the fuselage. The small gear meshes with the inner gear of the chassis, and the power controller has a three-speed regulator that controls the speed of the motor.
- This device has high accuracy and is suitable for shooting indoor panoramas; however, for outdoor wide landscapes and large group photos, additional mechanical devices and driving components need to be added, so it is not suitable for portable use.
- Chinese patent application 00802545. 2 discloses a two-reflector system, one is a hyperboloid mirror, and the other is a concave ellipse or spherical mirror, which eliminates optical aberrations through optical principles and is used for capturing Wide angle panoramic image.
- the system's sophisticated and bulky optical equipment is also not suitable for installation in small and flexible portable equipment.
- a photo is digitized into a digital collection of millions of pixels, and the processing of the photo can make full use of high-speed and large-capacity computers for pixel-level editing; therefore, the stitching combination of multiple photos is simplified to Reorganization and arrangement of corresponding pixel sets.
- the two photos with partial overlap can be matched in the computer first to locate the overlapping position, and then be continuously stitched into a larger photo according to the content. In this way, the purpose of expanding the imaging field and improving the imaging quality can be achieved without changing the imaging equipment.
- this method is directly applied to a digital camera or a mobile phone integrated with a micro-camera, even if a high-quality picture shield can be obtained through the offline processing of a computer, it also loses the characteristics of instant and convenience of these mobile shootings.
- Chinese patent ZL 01230425. 5 designed a digital camera for rotating shooting, which is a micro-motor and rotating device added to the existing digital camera circuit. Under the control of the control circuit, the micro-motor drives the rotating device to make the dark box rotate on the base.
- the image information processing circuit receives a series of digital signals every rotation, and finally composes a complete image.
- the device has a certain degree of automation and continuity, but it uses additional mechanical devices to precisely rotate the camera.
- Image synthesis is a fixed stitching process. It is not flexible, bulky, and not suitable for mobile phones or mobile phones.
- Digital cameras are a kind of portable and freely taking pictures. If the camera is rotated manually, this method requires the operator to rotate precisely mechanically. Obviously, this is impractical. Summary of the invention
- the main purpose of the present invention is to provide a method and display method for on-site panoramic imaging of a digital imaging device, to make up for the lack of insufficient imaging quality of a camera phone, and to provide a convenient and practical mobile phone.
- the scene imaging method simplifies user operations and meets the requirements of on-site imaging.
- Another object of the present invention is to provide a method and display method for on-site panoramic imaging of digital imaging equipment, avoiding the use of any additional mechanical or optical equipment, and maintaining the usual manual photographing habits; meanwhile, using human-machine cooperation, active framing, Continuous shooting and intelligent stitching form a novel and practical real-time processing method.
- Yet another object of the present invention is to provide a display method for a portable digital imaging device to effectively display a panoramic image on the scene, scrolling and displaying large-format panoramic photos on a small screen, taking into account the completeness of global content and the clarity of local details; Dynamic effect; The image is smooth and clear, which is better than the video effect.
- a method for on-site panoramic imaging of a digital imaging device includes at least:
- Step 1 Match the currently acquired dynamic image of the digital imaging device with the previous image;
- Step 2 According to the matching result of step 1, stitch the previous image and the currently acquired dynamic image to form a panoramic image.
- the above matching process can adopt the most basic traversal (exhaustive) method, or through further optimization, a fast scene matching method can be obtained to speed up the search for accurate overlapping positions.
- the fast scene matching method includes at least the following two processes:
- Step 11B Set a moving step size not less than 1 and an initial overlap position
- Step 12B Calculate the similarity value of the currently acquired dynamic image and the previous image at the overlapping position; use the 8 neighborhoods with a moving step distance around the overlapping position as candidate overlapping positions, and calculate each candidate overlapping position. Similarity value
- Step 13B Select the smallest similarity value among the calculated similarity values; and use the overlapping position corresponding to the smallest similarity value as the new initial overlapping position;
- Step 14B Reduce the moving step; perform step 12B until the moving step is not greater than 1.
- Search by mountain climbing method :
- Step 11C Set the initial overlapping position according to the set ratio, and set the moving step to 1.
- Step 12C Calculate the similarity value of the currently acquired dynamic image and the previous image at the overlapping position; 8 neighborhoods around the position are candidate overlapping positions, and the similarity value of each candidate overlapping position is calculated;
- Step 13C Select the smallest similarity value among the calculated similarity values; Step 14C: If the similarity value of the initial overlapping position is not equal to the minimum similarity value, then the overlapping position corresponding to the minimum similarity value As the new initial overlapping position, step 12C is performed; otherwise, the matching ends.
- the specific processing flow is:
- Step 21 Store the data of the previous image including the overlapping area in the splicing buffer of the digital imaging device;
- Step 22 extract the data of the overlapping area from the data of the previous image and the data of the currently acquired moving image respectively;
- Step 23 After performing weighted average processing on the data of the two overlapping areas taken out in step 22, the obtained weighted average data is stored in the overlapping area i or of the data of the previous image in the stitching buffer of the digital imaging device;
- Step 24 Store the data of the currently acquired moving image data that does not include the overlapping area after the overlapping area of the stitching buffer.
- the purpose of the foregoing weighted average is to make the stitched images have a better transition effect at the stitching place. Therefore, the following methods can be used to perform weighting processing:
- a D is an image block of the previous image in the overlap region, is an image block of the currently acquired dynamic image in the overlap region, and G is an image block of the stitched image in the overlap region; and, A D and B D
- the vector form I AD of , C D and are expressed as:
- w is the horizontal or vertical distance position of P k eD along the splicing direction in the overlapping area
- L is the length of the overlap region along the splicing direction.
- the above-mentioned weighting methods are linear, and non-linear weighting methods can also be adopted. These methods are only specific algorithms and can be directly referenced, and will not be repeated here.
- the digital imaging device actually continuously detects the shooting state, and the stitching operation will only be performed after the user takes the current photo; otherwise, according to the method of the present invention, the real-time matching operation is continued and the calculation is performed.
- the deviation value of the current overlapping area from the preset recommended overlapping position is fed back to the user with a signal of a framing prompt, waiting for the user's adjustment and shooting operations.
- the panorama shooting state is terminated.
- the specific display method is: The panoramic image display command input by the user continuously transmits the panoramic image data to be displayed to a display buffer of a digital imaging device; the display processing module of the digital imaging device reads and outputs the panoramic image data to a display interface to form a panoramic screen Scroll display effect.
- the main advantage of the present invention is to make up for the shortcomings of the existing digital imaging equipment that cannot provide a convenient and practical panoramic imaging function in real time, simplify the operation of user stitching images, and meet the requirements of field imaging;
- the invention avoids the use of any additional mechanical or optical equipment, and maintains the usual manual photographing habit.
- by using human-machine cooperation, active framing, continuous shooting and intelligent stitching, a novel and practical real-time image processing method a novel and practical real-time image processing method .
- it also provides a convenient means for users to display stitched images on digital imaging equipment.
- FIG. 1 is a flowchart of a specific embodiment of the present invention
- FIG. 2 is a flowchart of an embodiment of a multi-resolution search in a matching process according to the present invention
- FIG. 3 is a flowchart of an embodiment of a mountain climbing search method in a matching process of the present invention. detailed description
- the present invention first matches a currently acquired dynamic image of a digital imaging device with a previous image; then, according to the matching result, stitches the last image and the currently acquired dynamic image to form a panoramic image.
- the purpose of the previous step is to perform matching processing on the currently acquired dynamic image and the scene of the previous image, and find the area with the greatest similarity among them.
- the specific digital panorama generation processing for the above two consecutively taken photos , Need to go through the following steps to deal with:
- Step 1 Set a possible overlap position for the currently acquired dynamic image and the previous image of the digital imaging device, and calculate the content similarity measurement value of the two images under the overlap position;
- Step 2 Search all candidate overlap positions and select the smallest content similarity measure value.
- the corresponding overlap position is the most accurate content overlap position of the two images. Referring to FIG. 1, the following is a specific example of implementing the above method: First, an initial overlap position is set for the currently acquired dynamic image and the previous image; second, the similarity value of the currently acquired dynamic image and the previous image at the overlap position is calculated;
- the overlapping position corresponding to the minimum similarity value is selected as the final accurate overlapping position.
- a D is an image block of the previous image in the overlapping area, and is an image block of the currently acquired dynamic image in the overlapping area; and the vector forms I AD and I BD of A D and B D are respectively expressed as: jAD _ p BD p BD J
- a D P ° is the first pixel A, B D of the r-th pixel
- the above method is the most basic traversal (exhaustive) method.
- using this method to find the optimal overlap position is a large amount of calculation and takes a long time, which is not convenient for real-time calculation by a portable device.
- the fast scene matching method described in the following embodiment can be obtained to accelerate the search for accurate overlapping positions.
- Multi-resolution search First, set a moving step size of not less than 1, such as 16, and an initial overlapping position;
- the smallest similarity value is selected from the calculated similarity values; and the overlapping position corresponding to the smallest similarity value is used as the new initial overlapping position;
- the traversal method needs to measure the similarity of 76800 possible overlapping positions, and the above multi-resolution search method (such as a coarse resolution traversal with a step size of 16 and its subsequent steps)
- the taper search strategy with long halving requires only 332 measurements, and the calculation amount is 1/231.
- the above scene matching algorithm does not need to perform a full-format matching search, but performs a local heuristic search in a set area.
- the specific method is:
- the smallest similarity value is selected from the calculated similarity values
- the overlapping position obtained at this time is the best matching position.
- the above mountain climbing method can generally find a local optimal solution within 16 to 240 times according to the complexity of the image content and the shooting error of the user, which can greatly reduce the amount of calculation.
- the user determines the stitching for example, the user of the digital camera presses the photo shutter to take a picture, and then stitches the two images described above to form a panoramic image.
- the invention uses the weighted average of the corresponding pixels in the overlapping area to improve the stitching quality.
- the previous image A and the currently acquired dynamic image B overlap at position D, and A D and image blocks in the overlapping area of image A and B, respectively.
- G is the stitched image overlapping The image blocks within the region; and the vector forms I AD , I BD and I eD of A D , B D , and C D are respectively expressed as:
- P k CD wl x P k AD + wl x P k BD
- wl and w2 are weighting coefficients, and their sum is 1
- P k AD is the k-th pixel in A D
- P k BD B D the first pixel
- Step 21 Store the data of the previous image A including the overlapping area in the stitching buffer C of the digital imaging device;
- Step 22 retrieve the data A D , B D of its overlapping area from the data of the previous image A and the data of the currently acquired dynamic image B, respectively;
- Step 23 Use the average method or the data of the two overlapping areas A D and B D taken in step 22 After processing by the linear weighted average method, the obtained weighted average data is stored in the overlapping area AD of the data of the previous image A in the stitching buffer C of the digital imaging device;
- Step 24 the moving image data of the current B is not included in the acquired data memory after the overlap region to the overlapping region C in buffer C D splicing.
- the averaging method is used at the same time to use the information of the two original images in the overlapping area. Therefore, the obvious abrupt changes in the boundaries caused by the inconsistent image content are avoided, so that the overlapping area of the stitched image can smoothly transition between natural and non-overlapping areas.
- the linear weighted average method can be used to gradually and smoothly transition the content in the overlapping area from image A to image B, which can more effectively improve the final mosaic quality.
- a non-linear weighting method can also be used to improve or improve the picture quality of the stitched image in the overlapping area.
- the specific weighting algorithm is not here-enumeration. Specifically, when a digital imaging device, such as a digital camera or a mobile phone with a camera function, performs on-site panoramic imaging, after the above matching process is completed, the digital imaging device also needs to detect a shooting state.
- the digital imaging device After the user takes the current photo, that is, after the user presses the shutter, Then the stitching operation is performed; otherwise, the digital imaging device will continue to perform the above-mentioned real-time matching while waiting for the shooting operation of the user, and calculate the deviation value of the current overlapping area from the recommended overlapping position preset by the system to provide framing tips
- the signal is fed back to the user, waiting for the user's adjustment and shooting operations.
- the panorama shooting status is terminated
- the above real-time matching result is fed back to the user on the spot, which can effectively guide the user to frame and ensure the quality of stitching.
- the system is set to stitch from left to right.
- the system recommends 1/5 image size as the most Best overlap position.
- the system captures the current new scene in real time to match the previous photo. If the calculated overlap position is 1/2, the system prompts the user to continue Rotate to the right; if the calculated overlap position is 1/8, the system prompts the user to rotate to the left.
- the system calculates the top and bottom deviations, and signals the user with an upper and lower boundary signal. Since the above digital imaging equipment is generally a portable product, the screen size of this type of product for display is limited, so its display interface cannot completely display the stitched panoramic image. Therefore, the following processing is required to enable the panoramic image to be displayed on the screen.
- Display on the digital imaging device First, receive a panoramic image display command input by the user (this command can be achieved by pressing the corresponding key set on the digital imaging device), and then transmit the panoramic image data to be displayed to the digital imaging device.
- Display buffer specific command analysis and processing steps include:
- the system monitors the duration of the user pressing the direction key in real time. The longer the duration, the faster the scrolling speed in that direction.
- the function of the present invention is to effectively and conveniently improve the imaging field and shooting effect of digital photographing equipment by using pattern recognition and digital processing technology. It can be widely used in photographing mobile phones, digital cameras, and other portable digital photographing equipment.
- the present invention is directed to the characteristics of digital camera equipment that require real-time convenience, one for shooting and one for real-time stitching, omitting the processes of sorting and transmission in the prior art, and after the shooting, the panoramic image can be generated on the spot; the present invention uses intelligent identification technology,
- the microprocessor accurately calculates the overlapping position of two adjacent photos, thereby achieving continuous seamless stitching of content; traditional image stitching methods are all post-processing methods, and stitching is performed on a group of photos that have been taken.
- the present invention performs image matching in real-time during the user's shooting process, guides the user to make a reasonable framing according to the previous photo, and generally instructs the user to save the entire image with a 1/5 overlapping area when framing.
- the workload of device calculation is reduced, so that matching can be performed quickly, real-time and validity of matching are guaranteed, and the final image stitching quality is also well guaranteed.
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CNB031465080A CN100338631C (zh) | 2003-07-03 | 2003-07-03 | 数字成像设备现场全景成像的方法 |
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CN107305682A (zh) * | 2016-04-22 | 2017-10-31 | 富士通株式会社 | 用于对图像进行拼接的方法和装置 |
CN107529017A (zh) * | 2017-10-12 | 2017-12-29 | 长沙全度影像科技有限公司 | 一种全景相机的多拼接模式的系统及方法 |
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KR100790887B1 (ko) * | 2006-09-22 | 2008-01-02 | 삼성전자주식회사 | 영상 처리장치 및 방법 |
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CN107529017A (zh) * | 2017-10-12 | 2017-12-29 | 长沙全度影像科技有限公司 | 一种全景相机的多拼接模式的系统及方法 |
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