WO2011050593A1 - Procédé et système de poursuite à convergence automatique pour prise de vues stéréoscopiques - Google Patents

Procédé et système de poursuite à convergence automatique pour prise de vues stéréoscopiques Download PDF

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Publication number
WO2011050593A1
WO2011050593A1 PCT/CN2010/070053 CN2010070053W WO2011050593A1 WO 2011050593 A1 WO2011050593 A1 WO 2011050593A1 CN 2010070053 W CN2010070053 W CN 2010070053W WO 2011050593 A1 WO2011050593 A1 WO 2011050593A1
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WIPO (PCT)
Prior art keywords
lens
image
pan
tilt
comparison result
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PCT/CN2010/070053
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English (en)
Chinese (zh)
Inventor
夏登海
李炜
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深圳市掌网立体时代视讯技术有限公司
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Publication of WO2011050593A1 publication Critical patent/WO2011050593A1/fr

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof

Definitions

  • the present invention relates to the field of image processing technologies, and in particular, to a stereoscopic image automatic convergence tracking method and system.
  • the first one shooting in a plurality of different positions with a single machine, and then synthesizing with a computer.
  • the second type parallel shooting with multiple independent cameras or cameras, the back end uses a computer to correct the picture and synthesize the stereo.
  • the first shooting method only static objects can be photographed, and the position of the camera device needs to be adjusted to ensure that the center horizontal position of the image is almost the same.
  • the second shooting method you can shoot a dynamic video.
  • due to the difference between the independent imaging devices even if the same imaging device controller is used for synchronous control, it is difficult to make the imaging device zoom in and out and adjust the focal length to be consistent.
  • the technical problem to be solved by the present invention is to provide a stereo convergence automatic convergence tracking method and system for the existing processing complexity, high cost, and no defect of convergence angle.
  • a stereoscopic automatic convergence tracking system includes a central lens disposed on a fixed seat, left side pans respectively disposed on two sides of the fixed seat, and left and right side lenses on the right pan/tilt;
  • a main controller configured to receive a convergence target image respectively acquired by the central lens, the left lens, and the right lens, compare the central lens with an image acquired by the left lens, or compare the central lens In contrast to the image acquired by the right lens, the left pan and/or left lens are respectively driven according to the comparison result, or the right pan and/or right lens are driven.
  • the main controller includes: a left image comparator and a right image comparator, a left pan/tilt driver and a right pan/tilt driver, and a left lens driver and a right lens driver, the left lens and the center lens Accessing the left image comparator, the right lens and the central lens are connected to the right image comparator, and the left lens driver is connected to the left image comparator and the left lens
  • the right lens driver is connected between the right image comparator and the right lens;
  • the central lens is configured to search for a convergence target, acquire a first image of the convergence target, and send the image of the convergence target to a left image comparator and a right image comparator, respectively;
  • the left lens is configured to search the convergence target, acquire a second image of the convergence target, and send the second image to the left image comparator;
  • the right lens searches for a convergence target, acquires a third image of the convergence target, and sends the third image to the right image comparator;
  • the left image comparator is configured to compare the first image and the second image to obtain a first comparison result, and control the left pan/tilt driver to drive the first comparison result according to the first comparison result
  • the left pan/tilt performs position adjustment on the left lens, and controls the left lens driver to drive the right lens to perform focusing, zooming, white balance, and brightness adjustment according to the first comparison result;
  • the right image comparator is configured to compare the first image and the third image to obtain a second comparison result, and control the left pan/tilt driver to drive the first comparison result according to the first comparison result
  • the left pan/tilt performs position adjustment on the right lens, and controls the left lens driver to drive the right lens to perform focusing, zooming, white balance, and brightness adjustment according to the first comparison result.
  • the left image comparator is further configured to compare and analyze the first image information of the input central lens with the second image information of the left lens, and determine the center image and the second image of the first image by image analysis and comparison.
  • the center screen of the left lens gradually approaches the center of the center lens;
  • the right image comparator is further configured to compare and analyze the first image information of the input central lens with the second image information of the right lens, and determine the center image and the second image of the third image by image analysis and comparison.
  • the center screen of the right lens gradually approaches the center of the center lens.
  • the left side lens, the right side lens, and the center lens form a horizontal array.
  • the left lens and the right lens respectively comprise a plurality of lenses, and the number of left lenses is equal to the number of right lenses, and each left lens or each right lens corresponds to a set of lens drivers, and image comparison , PTZ and PTZ drives.
  • the present invention also provides a stereoscopic automatic convergence tracking method.
  • the left lens and the right lens are respectively disposed on two sides of the central lens, and the left lens is disposed on the left pan and the right lens is disposed.
  • the method includes the steps of:
  • the convergence target image acquired by the central lens, the left lens and the right lens is respectively received;
  • Controlling the central lens search convergence target acquiring a first image of the convergence target, and transmitting the image of the convergence target to a left image comparator and a right image comparator, respectively;
  • the position adjustment of the side lens includes:
  • the technical solution of the present invention has the following beneficial effects: in stereoscopic shooting, by comparing the images of the left and right side lenses with the image of the central lens, adjusting the positions of the left and right side lenses according to the comparison result and adjusting the focus of the left and right side lenses or Zooming in, so that the lens automatically corrects its focus point and magnification while converging, so that the left and right lenses converge on the optical axis like the human eye.
  • the left and right images are combined, the displayed image is realistic and natural, and can be
  • the shooting operation is the same as that of a normal digital video camera, and the use is very simple and convenient. Due to the instant processing, complicated processing in the background is not required, and the manufacturing cost is low.
  • the left and right side images obtained by the system and the method respectively enter the image processing channel, and are processed and synthesized in the post-processing to obtain a perfect stereoscopic video or image.
  • the system and method are simple in operation, the stereoscopic imaging effect is more natural, and the post-correction processing is omitted.
  • FIG. 1 is a schematic structural diagram of a stereoscopic automatic convergence tracking system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for automatically collecting and focusing stereo shooting according to an embodiment of the present invention.
  • the invention provides a stereoscopic shooting automatic convergence tracking method and system.
  • the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
  • An embodiment of the present invention provides a stereoscopic automatic convergence tracking system.
  • the system includes a central lens 101 disposed on a fixed base 104, and a left pan/tilt head 105 and a right side respectively disposed on two sides of the fixed base 104.
  • the main controller 115 is further configured to receive the image of the convergence target 114 acquired by the central lens 101, the left lens 102, and the right lens 103, respectively, and perform the image obtained by the central lens 101 and the left lens 102. Comparing or comparing the central lens 101 with the image acquired by the right lens 103, respectively driving the left pan/tilt head 105 and/or the left side lens 102 according to the comparison result, or driving the right pan/tilt head 106 and/or right lens 103. That is, one of the left pan/tilt, the left lens, the right pan/tilt or the right lens can be driven according to the comparison result, or several of the devices can be driven at the same time.
  • the left and right side heads 105 and 106 are adjusted to adjust the positions of the left and right side lenses 102 and 103, and the focus, white balance, enlargement and reduction, and the like of the left and right side lenses 102 and 103 are directly adjusted. Specifically, the images of the left and right side lenses 102 and 103 are compared with the images of the central lens 101 video, respectively. If they are not similar, the main controller 115 moves the left and right side lenses 102 by driving the left and right side heads 105 and 106. The position, angle, and the like of 103, until the images are similar, and the focus, enlargement, reduction, white balance, and the like of the left and right side lenses 102, 103 can also be adjusted.
  • the main controller 115 includes a left image comparator 107 and a right image comparator 108, a right pan/tilt driver 109 and a right pan/tilt driver 110, and a left lens driver 113 and a right
  • the side lens driver 112 the left lens 102 and the center lens 101 are connected to the left image comparator 107, and the right lens 103 and the center lens 101 are connected to the right image comparator 108, the left A side lens driver 113 is connected between the left side image comparator 107 and the left side lens 102, and the right side lens driver 112 is connected between the right side image comparator 108 and the right side lens 103 ;
  • the central lens 101 is configured to search for the convergence target 114, acquire the first image of the convergence target 114, and send the image of the convergence target 114 to the left image comparator 107 and the right image comparator 108, respectively;
  • the left lens 102 is used to search the convergence target 114, acquire the second image of the convergence target 114, and send the second image to the left image comparator 107;
  • the right lens 103 searches for the convergence target 114, acquires the third image of the convergence target 114, and sends the third image to the right image comparator 108;
  • the left image comparator 107 is configured to compare the first image and the second image to obtain a first comparison result, and control the right pan/tilt driver 109 to be driven according to the first comparison result.
  • the left pan head 105 performs position adjustment on the left lens 102, and controls the left lens driver 113 to drive the right lens 103 to perform focusing, zooming, white balance, and brightness according to the first comparison result. Adjustment; until the picture of the left lens 102 and the image of the center lens 101 are infinitely close.
  • the left image comparator 107 is further configured to compare and analyze the input first image information of the central lens 101 and the second image information of the left lens 102, and determine the first image by image analysis and comparison. And a difference in the X, Y axis, and the rotation angle of the center screen of the second image, and then driving the right pan/tilt driver 109 to drive the left pan/tilt head 105 to adjust the left side lens according to the difference.
  • the X, Y axis and elevation angle of 102 are adjusted to gradually approach the center screen of the center lens 101 by adjusting the center screen of the left lens 102.
  • the right image comparator 108 is configured to compare the first image and the third image to obtain a second comparison result, and control the right pan/tilt driver 109 to be driven according to the first comparison result.
  • the left pan head 105 performs position adjustment on the right lens 103, and controls the left lens driver 113 to drive the right lens 103 to perform focusing, zooming, white balance, and brightness according to the first comparison result. Such adjustments. Until the picture of the right lens 103 and the image of the center lens 101 are infinitely close.
  • the right image comparator 108 is configured to compare and analyze the first image information of the input central lens (101) with the third image information of the right lens (103), and compare and analyze by image analysis. Determining a difference between a center image of the third image and a center image of the first image on the X, Y axis, and a rotation angle, and then controlling the right pan/tilt driver 110 to drive the right pan/tilt head 106 to adjust the center according to the difference
  • the X, Y axis and elevation angle of the right lens 103 are adjusted to gradually approach the center screen of the center lens 101 by adjusting the center screen of the right lens 103.
  • the left side lens 102, the right side lens 103, and the center lens 101 constitute a horizontal array. If it is an even number of lenses, such as two-lens shooting, the central lens 101 is inserted in the center of the even number of lenses. If an odd number of lenses are taken, the central lens 101 is directly used as the central lens 101 in the system, and the multiple lenses are used. Form a horizontal lens array.
  • the central lens 101 is responsible for finding the convergence target 114, and the target targeted by the center of the central lens 101 is the convergence target 114.
  • the central lens 101 is fixed and is also a window for directly observing the target object, and the rotating pan/tilt mounted on the left and right lenses 102 and the right side lens 103 on the left and right sides of the central lens 101 can control the left and right side lenses 103. Rotate left and right and up and down elevation.
  • the image of the left lens 102 video acquired by the left lens 102 is sent to the left image comparator 107, and the image of the right lens 103 video acquired by the right lens 103 is sent to the right image comparator 108, and the center lens 101 acquires the center.
  • the images of the lens 101 video are respectively sent to the left image comparator 107 and the right image comparator 108, and the image of the left lens 102 video is compared with the image of the central lens 101 video, and the comparison result is sent to the right.
  • the pan/tilt drive 109 drives the left pan/tilt head 105 to move by the right pan/tilt head drive 109, thereby controlling the left and right rotation of the left side lens 102 and the up and down elevation angle until the images are similar.
  • the image of the right lens 103 video is compared with the image of the central lens 101 video, and the comparison result is sent to the right pan/tilt driver 110. If it is not similar, it is driven by the right pan/tilt driver 110.
  • the right pan head 106 is moved to control the left and right rotation of the right lens 103 and the up and down elevation angle until the images are similar.
  • the left pan head 105 when the image of the left lens 102 video is compared with the image of the central lens 101 video, if the image of the left lens 102 video is found in the upper left corner, the left pan head 105 will be driven to make the left lens 102 step to the lower right corner. Closely, the image of the right lens 103 video is compared with the image of the central lens 101 video. If the image of the right lens 103 video is found in the upper right corner, the right pan head 106 will be driven to bring the left lens 102 closer to the lower left corner. Until the image of the left and right side lens 103 video is in the same position as the image of the central lens 101 video, in particular, the image consistency of the video of the central lens 101 is the highest.
  • the left and right side heads 106 are controlled to continue moving forward, and the similarity obtained is obtained. If it is worse, then it will be recalled to the most similar position before, then this angle is the best convergence point.
  • the system also adjusts the focus, magnification, and the like of the left and right side lenses 103 according to the focus state of the target lens and the size of the screen object, so that the left and right side lenses 103 automatically correct their focus while being concentrated.
  • the dots and the magnifications are such that the left and right side lenses 103 are concentrated like the human eye, and the images of the left and right side lens 103 videos are realistic and natural when the stereoscopic images are combined.
  • the left and right side lenses 103 maintain the center screen and the central lens 101 at the same time, and at the same time maintain the zoom-in, focus, white balance, and the like.
  • the central lens 101 selects the correct picture, and the other lenses will follow up and adjust simultaneously.
  • the central lens 101 can adjust the zoom-in, focus, white balance and other parameters at will, and the left and right lenses 103 are operated and controlled almost completely synchronously under the action of the pan/tilt driver and the lens driver.
  • the photographer only needs to operate the central lens 101 to track the target, and adjust the focal length and magnification, so that the left and right side lenses 103 automatically track and achieve the best convergence effect, and realize synchronous focusing and magnification adjustment, just like a normal plane camera. It is easy to use.
  • the left and right images or videos thus obtained can complete high-standard stereo image shooting through stereo synchronization synthesis and compression coding at the back end of the system.
  • the image comparator, the pan/tilt driver and the lens driver may be physical devices, and the functions of the image comparator, the pan/tilt driver and the lens driver described above may also be implemented in a processor by software.
  • the lens of this lens array is not limited to three, and may be any odd number, except that a pair of left and right side lenses 103 are added, and then the image comparator, the pan/tilt driver, and the lens driver of the left and right side lenses 103 are correspondingly added.
  • the left and right side images acquired by the left and right side lenses 103 respectively enter the image processing channel, and are processed and synthesized in the post-processing to obtain a perfect stereoscopic video or image.
  • the system is simple in operation, the stereoscopic imaging effect is more natural, and the post-correction processing is omitted.
  • the embodiment of the present invention further provides a stereoscopic automatic convergence tracking method, which is applied to the system provided in the above embodiment.
  • the left lens 102 and the right lens 103 are respectively disposed at the center.
  • the left lens 102 is disposed on the left pan/tilt head 105
  • the right lens 103 is disposed on the right pan/tilt head 106;
  • the method includes the steps of:
  • the step 201 is to receive the image of the convergence target 114 acquired by the central lens, the left lens 102, and the right lens 103 respectively.
  • Step 202 comparing the central lens 101 with an image acquired by the left lens 102 or comparing the central lens with an image acquired by the left lens 102, and respectively driving according to the comparison result.
  • Adjustments including:
  • Comparing the first image and the third image to obtain a second comparison result, and driving the left pan/tilt head 105 to adjust the position of the right side lens 103 according to the first comparison result Specifically include:
  • the left and right side images acquired by the left and right side lenses 103 respectively enter the image processing channel, and are processed and synthesized in the post-processing to obtain a perfect stereoscopic video or image.
  • the system is simple in operation, the stereoscopic imaging effect is more natural, and the post-correction processing is omitted.
  • the image comparators 107, 108, the pan/tilt drivers 109, 110, and the lens drivers 112, 113 may be physical devices, or the image comparators 107, 108, and the cloud may be implemented in a processor by software.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Studio Devices (AREA)

Abstract

L'invention porte sur un système de poursuite à convergence automatique pour prise de vues stéréoscopiques. Ce système comprend une lentille centrale (101) montée sur une base de fixation (104), une lentille gauche (102) et une lentille droite (103) qui sont respectivement montées sur une tête panoramique gauche (105) et une tête panoramique droite (106) disposées sur deux côtés de la base de fixation, et une unité de commande principale (115). L'unité de commande principale (115) sert à recevoir des images d'une cible de convergence (114), qui sont respectivement obtenues par la lentille centrale (101), la lentille gauche (102) et la lentille droite (103). L'image obtenue par la lentille centrale (101) est comparée à l'image obtenue par la lentille gauche (102) ou par la lentille droite (103) de manière à déplacer respectivement la tête panoramique gauche (105) et/ou la lentille gauche (102) ou à déplacer la tête panoramique droite (106) et/ou la lentille droite (103) en fonction du résultat de la comparaison. L'invention porte aussi sur un procédé de poursuite à convergence automatique pour la prise de vues stéréoscopiques.
PCT/CN2010/070053 2009-10-30 2010-01-07 Procédé et système de poursuite à convergence automatique pour prise de vues stéréoscopiques WO2011050593A1 (fr)

Applications Claiming Priority (2)

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CN2009101102942A CN101702076B (zh) 2009-10-30 2009-10-30 一种立体拍摄自动会聚跟踪方法及系统
CN200910110294.2 2009-10-30

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CN101872112B (zh) * 2010-06-30 2013-01-30 深圳市掌网立体时代视讯技术有限公司 立体摄像自动汇聚系统
CN102143324A (zh) * 2011-04-07 2011-08-03 天津市亚安科技电子有限公司 一种云台自动平滑跟踪目标的方法
CN102495520A (zh) * 2011-12-14 2012-06-13 天津大学 自会聚式多视点三维数据采集系统及方法
JP5932363B2 (ja) * 2012-01-26 2016-06-08 キヤノン株式会社 撮像装置およびその制御方法
CN103513504B (zh) * 2012-06-29 2016-02-17 中原工学院 双视点立体摄像机光轴会聚点的定位方法
CN104808310B (zh) * 2014-01-26 2017-01-25 昆山富利瑞电子科技有限公司 双镜头对焦自动调整设备
CN105093800A (zh) * 2014-05-05 2015-11-25 徐平 一种具有自动汇聚功能的多视点立体摄影仪
CN105654502B (zh) * 2016-03-30 2019-06-28 广州市盛光微电子有限公司 一种基于多镜头多传感器的全景相机标定装置和方法
US11147647B2 (en) 2016-03-30 2021-10-19 Sony Olympus Mrdical Solutions Inc. Medical stereoscopic observation device, medical stereoscopic observation method, and program
CN108509961A (zh) * 2017-02-27 2018-09-07 北京旷视科技有限公司 图像处理方法和装置
CN107623821A (zh) * 2017-09-19 2018-01-23 深圳市兴鼎业科技有限公司 一种直播装置
CN109963082B (zh) * 2019-03-26 2021-01-08 Oppo广东移动通信有限公司 图像拍摄方法、装置、电子设备、计算机可读存储介质

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