WO2010118674A1

WO2010118674A1 - Image acquisition equipment

Info

Publication number: WO2010118674A1
Application number: PCT/CN2010/071716
Authority: WO
Inventors: 林永琪; 占林; 吴姣黎; 苏红宏; 刘源
Original assignee: 华为终端有限公司
Priority date: 2009-04-14
Filing date: 2010-04-13
Publication date: 2010-10-21
Also published as: CN101527828A; DE202010004978U1; CN101527828B

Abstract

An image acquisition equipment is provided. The image acquisition equipment is able to adjust mounting positions of cameras (1) therein, so as to be convenient for subsequent processing of images acquired by each of the cameras (1). The image acquisition equipment comprises multiple cameras (1) and a camera fixing device (2). The camera fixing device (2) fixes the multiple cameras (1) at a certain angle, and can adjust the position of at least one of the multiple cameras (1), so that the images photographed by the multiple cameras (1) are provided with non-overlapping regions. The embodiment of the invention can be used for acquiring images.

Description

Image acquisition device

The present application claims priority to Chinese Patent Application No. 2009-1013279, the entire disclosure of which is incorporated herein by reference. Technical field

The present invention relates to the field of image processing technologies, and in particular, to an image capture device. Background of the invention

The current telepresence system basically adopts multiple independent cameras or a camera group in a conference room environment, wherein each camera captures an image of a certain angle, and finally stitches the images of the respective angles to form a A complete image.

In order to achieve good image stitching, multiple independent cameras or multiple cameras in a camera group need to be strictly deployed so that they have a certain and good relative positional relationship. Otherwise, each camera will be photographed from various angles. The image is distorted after the images are stitched together, and the distortion of the image includes the upper and lower misalignment of the image or the left and right misalignment.

The existing camera deployment is to determine the installation position of each independent camera or each independent camera in a camera group through experiment or calculation, and then mount the camera or camera group in a predetermined position to make multiple independent cameras or one camera. A plurality of cameras in the group maintain a fixed relative positional relationship, so that subsequent images such as splicing of images collected from different angles can be processed.

In the process of implementing the above camera deployment, the inventors found that at least the following problems exist in the prior art:

In the process of performing subsequent splicing processing on images acquired by multiple independent cameras or camera groups, if the image distortion or the image cannot be spliced due to improper positioning of the camera and the camera group, it is difficult to fix the image. The mounting position of the camera or camera group is further adjusted, so it is difficult to have multiple independent cameras or multiple camera groups. The relative position between the cameras is adjusted, so that it is difficult to eliminate the distortion caused by the image, which is disadvantageous for subsequent image processing. Summary of the invention

The technical problem to be solved by the embodiments of the present invention is to provide an image acquisition device, which can adjust the installation position of the camera therein, and facilitate subsequent processing on the image collected by the image acquisition device.

To solve the above technical problem, the embodiment of the present invention adopts the following technical solutions:

An image capture device includes: a plurality of cameras, and a camera fixing device, wherein the camera fixing device fixes the plurality of cameras at a certain angle, and can perform position on at least one of the plurality of cameras Adjusting, the images captured by the plurality of cameras have non-overlapping regions.

According to the image acquisition device provided by the embodiment of the present invention, since the camera fixing device fixes the plurality of cameras at a certain angle and can adjust the position of at least one of the plurality of cameras, the camera can be adjusted. a mounting position to change the relative positional relationship between the cameras, so that the relative positions between the cameras can be adjusted to a good state, so that the images captured by the plurality of cameras have non-overlapping regions, so as to facilitate the image The images collected by the acquisition device are processed for subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

1 is a schematic structural diagram of an image collection device according to an embodiment of the present invention;

2 is a schematic diagram showing the internal structure of the image acquisition device shown in FIG. 1;

Figure 3 is a side elevational view of the single camera assembly of the image capture device of Figure 2;

4 is a schematic structural view of the image capturing device shown in FIG. 2;

5 is a schematic structural view of a single camera assembly in the image capture device shown in FIG. 4; FIG. 6 is a top view of the camera after hiding the camera; Figure 7 is another schematic structural view of a single camera assembly in the image capture device shown in Figure 4; Figure 8 is a side view of Figure 7;

9 is a side view of a single camera assembly in an image capture device according to another embodiment of the present invention; FIG. 10 is an exploded perspective view of a cardan shaft in the single camera assembly shown in FIG. 9; FIG. 11 is a view of the image capture device shown in FIG. FIG. 12 is a schematic structural diagram of an image capturing device installed in a terminal according to an embodiment of the present invention; FIG. 13 is another schematic structural diagram of an image capturing device according to an embodiment of the present invention;

14 is a schematic diagram of a system composition of a host in the image collection device shown in FIG. 13;

Figure 15 is a schematic diagram of the system composition of the acquisition unit shown in Figure 14;

FIG. 16 is a schematic diagram of the system composition of the image acquisition device shown in FIG. 14; FIG. 17 is a schematic diagram showing the detailed system composition of the image acquisition device according to the embodiment of the present invention.

Mode for carrying out the invention

The embodiments of the present invention are directed to an image capture device capable of adjusting a camera installation position therein for facilitating subsequent processing of an image collected by the image capture device.

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1 , an image acquisition device according to an embodiment of the present invention includes three cameras 1 and a camera fixing device 2 . The camera fixing device 2 fixes three cameras 1 at a certain angle and can be used in three cameras 1 . The position of at least one of the cameras is adjusted such that the images captured by the three cameras 1 have non-overlapping regions.

Since the camera fixing device 2 fixes the three cameras 1 at a certain angle and can adjust the position of at least one of the three cameras 1, it is possible to adjust the mounting position of the camera to change the relative position between the cameras. The relationship can further adjust the relative position between the cameras to a good state, so that the images captured by the three cameras have non-overlapping regions, so as to facilitate subsequent processing of the images collected by the image capturing device. Wherein, when the camera fixing device 2 adjusts at least one of the three cameras 1 described above, the angle between the optical axes of each of the three cameras 1 should be 30. ~ 36. One of the values in the range.

Specifically, the above adjustments include level adjustment and pitch adjustment. To this end, as shown in FIG. 2 and FIG. 3, the camera fixing device 2 includes a camera holder 21 having a camera support portion 211 and a first pivot pivotable in a horizontal plane on the camera support portion 211. The shaft 212 is pivotally disposed on the first pivot 212 with a second pivot 213 rotatable in a vertical plane, and the camera 1 is disposed on the second pivot 213. Thus, the camera 1 can be rotated horizontally about the first pivot 212 to achieve horizontal adjustment, and can be rotated about the second pivot 213 in the vertical plane to achieve pitch adjustment.

It should be noted that the embodiment of the present invention is not limited thereto, and the above adjustment may also include only the horizontal adjustment, or only the pitch adjustment. When the above adjustment includes only the horizontal adjustment, the camera fixing device 2 includes only the first pivot 212 pivoted on the camera support portion 211 and rotatable in the horizontal plane, and the camera 1 is disposed on the first pivot 212. When the above adjustment includes only the pitch adjustment, the camera fixing device 2 includes only the second pivot 213 pivotally mounted on the camera support portion 211 and rotatable in the vertical plane, and the camera 1 is disposed on the second pivot 213.

Further, as shown in FIG. 4, in order to improve the adjustment precision when the camera 1 rotates around the first pivot 212, a rotating base 221 and a fixed base 222 are spaced apart from the camera supporting portion 211, as shown in FIG. The 221 is tightly disposed on the first pivot 212. The fixed base 222 is fixed on the camera support portion 211 by a fixing screw 223, and the first side of the fixed base 222 is provided with two first screws 224, and the two first screws 224. Abut against both ends of the rotating base 221, respectively.

Thus, as shown in FIG. 6, adjusting the depth of the two first screws 224 through the fixed base 222 can push the rotating base 221 to rotate about the first pivot 212, and because the rotating base 221 is tightly engaged with the first pivot 212, When the rotating base 221 rotates, the first pivot 212 rotates, thereby driving the camera 1 to rotate about the first pivot 212. This allows fine adjustment of the above level adjustment. Moreover, when the first screw 224 is screwed into the quarter circumference, the angle at which the camera 1 is rotated is about At 0.2 degrees, the adjustable precision is high, so that the camera 1 can be brought to a desired angle by fine-tuning the screw-in depth of the first screw 224.

For the same reason, as shown in FIG. 7 , in order to improve the adjustment precision when the camera 1 rotates around the second pivot 213 , two second screws 231 are inserted into the camera support portion 211 , and the second screws 231 are respectively associated with the camera 1 . The ends are against each other.

Thus, as shown in Fig. 8, in order to prevent the rotating base 221 from being obstructed, a through hole is provided in the rotating base 221, and the second screw 231 passes through the through hole. Adjusting the depth of the two second screws 231 through the camera support portion 211 can push the camera 1 to rotate about the first pivot 212. This makes it possible to adjust the positional relationship between the respective cameras 1 in the direction perpendicular to the camera support portion 211. Moreover, the second screw 231 is highly adjustable, and the camera 1 can be brought to a desired angle by fine-tuning the screw-in depth of the second screw 231.

As can also be seen from Figures 7 and 8, a projection 232 is provided at both ends of the camera 1, and the boss 232 abuts against the second screw 231. This can prevent the second screw 231 from directly colliding with the camera 1, causing damage to the exterior of the camera 1.

Regarding the camera fixing device, the embodiment of the present invention is not limited thereto. As shown in FIG. 9, in another embodiment of the present invention, the camera fixing device includes a camera bracket 21, and the camera bracket 21 has a camera supporting portion 211. The camera support portion 211 is provided with a cardan shaft 5, and the cardan shaft 5 is provided with a camera 1.

As shown in FIG. 10, the cardan shaft 5 includes a base 51. The base 51 is provided with a ball 52. The ball 52 is provided with a rotating shaft 53, and the cooperation of the base 51 and the ball 52 and the cooperation of the rotating shaft 53 and the ball 52 are tightly matched. . The universal adjustment of the camera is possible through the cardan shaft, including horizontal and tilt adjustment.

As shown in FIG. 11 , specifically, the camera bracket 21 is a stepped bracket, and the lower step portion of the stepped bracket is a camera supporting portion 211 , and the camera supporting portion 211 is configured to support the camera. The upper step portion of the stepped bracket is The connecting portion 215 is connected to the terminal to fix the camera holder 21 to the terminal. As shown in FIG. 12, in the telepresence system, the camera stand 21 is fixed on the top of a terminal device such as a television, and the height of the top is generally high for a worker sitting in front of a terminal such as a television. At the height of the human eye, if the camera is mounted on the top of a terminal such as a television, the worker needs to look up to align the camera, and the stepped camera holder 21 can reduce the height of the camera and facilitate eye contact. The display effect of the eye.

As can be seen from Fig. 11, three positioning holes 216 are provided in the connecting portion 215 because the object for fixing the connecting portion 215 may be inclined due to machining errors, gravity, or the like, which may cause the camera supporting portion 211. Tilting, so that the image captured by the camera is tilted, according to the principle of determining one plane by three points in the space, by providing three positioning holes 216 on the connecting portion 215, the camera supporting portion 211 can be kept horizontal. In other embodiments of the invention, four or more locating holes may also be provided.

As shown in FIG. 13, the image capturing device further includes a host 3 for receiving an image and a host bracket 31 for fixing the host 3 to the terminal. The host bracket 31 is provided with a receiving portion 311, and the receiving portion 311 is The connecting portions 215 are mated.

Specifically, the camera 1 and the main unit 3 are connected by an FPC cable 4 (flexible flat cable), but are not limited to the FPC cable.

As shown in FIG. 13, a flange 312 is disposed on both sides of the mainframe bracket 31. The flange 312 is provided with a sliding slot 313 extending laterally along the mainframe bracket 31. By adjusting the position of the mainframe bracket in the first sliding slot 313, The position of the camera 1 can be adjusted so that a suitable shooting position of the camera 1 in the direction in which the first chute 313 extends can be obtained.

It can be seen from FIG. 13 that the main body bracket 31 has an upright portion 314, and the upright portion 314 is provided with a second sliding slot 315 extending along the height direction of the mainframe bracket 31. By adjusting the position of the mainframe bracket 31 in the second sliding slot 315, The position of the camera 1 is adjusted so that a suitable photographing position of the camera 1 in the direction in which the second chute 315 extends can be obtained.

The image capturing device of the present embodiment, as shown in FIG. 14 , the host 3 includes: an acquiring unit 32, configured to acquire a coordinate system mapping relationship between cameras in the imaging unit; The image splicing unit 33 is configured to splicing a group of synchronous frame images collected by the cameras in the camera unit into one image according to the coordinate system mapping relationship.

Specifically, first, a target coordinate system is selected, and the target coordinate system may be a cylindrical coordinate system or a spherical coordinate system, and the first image in the set of synchronous frame images is mapped into the target coordinate system, and then according to each The coordinate system mapping relationship between the cameras maps the second image to the target coordinate system, and sequentially maps the third image, the fourth image, and the like into the target coordinate system, thereby completing the stitching of the image.

In order to obtain the coordinate system mapping relationship between the cameras, as shown in FIG. 15, the obtaining unit 32 includes:

The feature point extraction module 321, is configured to extract feature points of the plurality of images collected by the cameras in the camera unit according to the preset feature rules;

The feature point matching module 322 is configured to match the feature points to obtain common feature points of images collected by the cameras in the camera unit;

In the specific implementation process, the SUSAN (Smallest Univalue Segment Assimilating Nucleus) algorithm, the Harris algorithm and the SIFT (Scale Invariant Feature Transform) algorithm can be used to extract the image feature points. These image processing algorithms are all prior art, and embodiments of the present invention are not described again.

The calculation sub-module 323 calculates a coordinate system mapping relationship between the cameras in the imaging unit based on the common feature points.

Wherein the predetermined feature rule refers to whether the pixel point is located at a corner of the image or whether the pixel point is located at a position where the color change is abrupt in the image.

In addition, the obtaining unit 32 further includes a determining module 324, and the determining module 324 is configured to determine whether the common feature point meets the predetermined requirement. The established requirements mainly include: whether the number of public feature points is sufficient, and whether the distribution of common feature points is sufficiently wide.

As shown in FIG. 16, in order to better perform image stitching, reducing or even eliminating the ghosting problem caused by parallax, the host 3 further includes an image color blending unit 34, which is used by the image color blending unit 34. Calculating a weighted average chromaticity value of a corresponding pixel in a set of synchronization frame images collected by each camera in the camera, and using the weighted average chromaticity value as a color of a corresponding pixel in the spliced image Degree value.

The host 3 further includes an image output unit 35 for outputting a plurality of images. As shown in FIG. 17, specifically, the image output unit 35 includes:

The first output module 351 is configured to output an image that is collected by the first camera; the second output module 352 is configured to output an image that is collected by the second camera; and the third output module 353 is configured to output one. The image collected by the third camera is routed; the fourth output module 354 is configured to output an image obtained by splicing the images collected by the three cameras.

It should be noted that, for each camera of the image capturing device, an output module corresponding to the camera is provided to output an image collected by the camera. And the fourth output module is configured to output an image obtained by routing images collected by at least two cameras.

In summary, the image acquisition device provided by the embodiment of the present invention, the camera fixing device fixes the plurality of cameras at a certain angle, and can adjust the position of at least one of the plurality of cameras. Therefore, the installation position of the camera can be adjusted to change the relative positional relationship between the cameras, and the relative position between the cameras can be adjusted to a good state, so that the images captured by the plurality of cameras have non-overlapping regions, so that Performing subsequent processing on the image collected by the image acquisition device.

The above is only the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the claims.

Claims

Rights request

An image capture device, comprising: a plurality of cameras, and a camera fixing device, wherein the camera fixing device fixes the plurality of cameras at a certain angle and can be in the plurality of cameras The position of the at least one camera is adjusted such that the images captured by the plurality of cameras have non-overlapping regions.

2. The image capture device according to claim 1, wherein an angle between optical axes of the two cameras of the plurality of cameras is 30[deg.] to 36[deg.].

3. The image capture device of claim 1, wherein the adjusting comprises: horizontal adjustment and/or pitch adjustment.

The image capture device according to claim 3, wherein the camera fixing device includes a camera holder, and the camera holder has a camera support portion, wherein

a first pivot shaft rotatable in a horizontal plane is disposed on the camera support portion, and the camera head is disposed on the first pivot shaft; or

a second pivot shaft rotatable in a vertical plane is pivotally mounted on the camera support portion, the camera head being disposed on the second pivot shaft; or

a first pivot shaft that is rotatable in a horizontal plane is pivotally disposed on the camera support portion, and a second pivot shaft that is rotatable in a vertical plane is pivotally disposed on the first pivot shaft, and the camera is disposed at On the second pivot.

The image capturing device according to claim 4, wherein a rotating base and a fixed base are spaced apart from the camera supporting portion, and the rotating base is closely disposed on the first pivot. The first side of the fixed base is provided with two first screws, and the two first screws respectively abut against both ends of the rotating base.

The image capture device according to claim 4 or 5, wherein two second screws are disposed in the camera support portion, and the two second screws are respectively connected to the two ends of the camera Affordable.

7. The image capture device according to claim 6, wherein: the camera Both ends are provided with bosses, and the bosses abut against the second screws.

The image capture device according to claim 3, wherein the camera fixing device comprises a camera holder, the camera holder has a camera support portion, and the camera support portion is provided with a cardan shaft, the 10,000 A camera is provided on the shaft.

The image capture device according to claim 4 or 8, wherein the camera holder is a stepped bracket, the lower step portion of the stepped bracket is a camera support portion, and the upper step portion is a connecting portion.

10. The image capture device according to claim 9, wherein at least three positioning holes are provided in the connecting portion.

The image capture device of claim 10, wherein the image capture device further comprises a host for receiving an image and a host bracket for fixing the host to the terminal, wherein the host bracket is provided The receiving portion, the receiving portion is matched with the connecting portion.

12. The image capture device according to claim 11, wherein a flange is disposed on both sides of the mainframe bracket, and the flange is provided with a first sliding slot extending laterally along the mainframe bracket.

The image pickup device according to claim 12, wherein the main frame has an upright portion, and the upright portion is provided with a second chute extending in a height direction of the main body bracket.

14. The image capture device according to claim 1, wherein the host outputs an image obtained by stitching at least two cameras according to images captured by the plurality of cameras.

15. The image capture device of claim 14, wherein the host is further capable of outputting a plurality of images acquired by the plurality of cameras.