WO2012096168A1 - Dispositif de génération d'image, procédé de génération d'image, et programme d'ordinateur - Google Patents

Dispositif de génération d'image, procédé de génération d'image, et programme d'ordinateur Download PDF

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Publication number
WO2012096168A1
WO2012096168A1 PCT/JP2012/000120 JP2012000120W WO2012096168A1 WO 2012096168 A1 WO2012096168 A1 WO 2012096168A1 JP 2012000120 W JP2012000120 W JP 2012000120W WO 2012096168 A1 WO2012096168 A1 WO 2012096168A1
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WO
WIPO (PCT)
Prior art keywords
image
plane
area
unit
virtual camera
Prior art date
Application number
PCT/JP2012/000120
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English (en)
Japanese (ja)
Inventor
藤井　博文
横光　澄男
藤松　健
偉志 渡邊
裕一 松本
克則 藁谷
隆行 松川
三輪　道雄
杉浦　雅貴
森岡　幹夫
Original Assignee
パナソニック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パナソニック株式会社 filed Critical パナソニック株式会社
Publication of WO2012096168A1 publication Critical patent/WO2012096168A1/fr

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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
    • G06T3/12—Panospheric to cylindrical image transformations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/60—Noise processing, e.g. detecting, correcting, reducing or removing noise

Definitions

  • the omnidirectional camera is also referred to as a 360-degree camera, and uses a fisheye lens or a mirror to shoot an omnidirectional image with a horizontal angle of view of 360 degrees and a vertical angle of view of 180 degrees to obtain a circular or donut-shaped image (hereinafter, referred to as “round-angled camera”) "All-around image”) can be obtained.
  • round-angled camera circular or donut-shaped image
  • FIG. 10A is a diagram illustrating an example of an all-around image
  • FIG. 10B is a diagram illustrating a planar image generated by cutting out a partial range PA from the all-around image in FIG. 10A. is there.
  • the omnidirectional image is captured using a fish-eye lens, for example, by an equidistant projection method in which the distance from the center of the omnidirectional image and the elevation angle are proportional to each other. Yes. Therefore, in order to cut out a partial range PA from the entire surrounding image and obtain the planar image shown in FIG. 10B, it is necessary to perform distortion correction (see, for example, Patent Document 1).
  • An image generation apparatus is an image generation apparatus that generates a planar image for a cutout range cut out from a distorted omnidirectional image, and specifies an omnidirectional image acquisition unit that acquires the omnidirectional image, and a cutout range.
  • FIG. 4 (a) is a diagram showing a motion area in an omnidirectional image in the embodiment of the present invention.
  • FIG. 4 (b) is a diagram showing a reuse area and a new area.
  • FIG. 5 is a diagram for explaining the reuse limit due to the center angle difference of the cutout range in the embodiment of the present invention.
  • FIG. 6 is a diagram for explaining the reuse limit due to the overlap rate of the virtual camera plane in the embodiment of the present invention.
  • FIG. 7A is a diagram showing a state in which the reuse limit in the embodiment of the present invention has been reached.
  • FIG. 7B is a diagram of a virtual newly obtained after reaching the reuse limit in the embodiment of the present invention.
  • FIG. 8 is a flowchart of an image generation method executed by the image generation apparatus according to the embodiment of the present invention.
  • FIG. 9 (a) is a diagram showing the relationship between the cutout range at time t0 and its virtual camera plane and the cutout range at time t1 and its virtual camera plane in a modification of the embodiment of the present invention.
  • FIG. 9C shows the relationship between the virtual camera plane at time t0 and the virtual camera plane at time t1 in the modification of the embodiment of the present invention.
  • FIG. 9C shows the virtual at the time t0 in the modification of the embodiment of the present invention.
  • the past plane image when a past plane image has already been generated in the cutout range, the past plane image can be reused for the area, and the amount of computation and memory access can be reduced.
  • An image generation method is an image generation method for generating a planar image with respect to a cutout range cut out from an omnidirectional image having distortion, an omnidirectional image acquisition step for acquiring an omnidirectional image, and a cutout A cutout range designating step for designating a range, a reuse area for reusing a past flat image from the cutout range, a reusable area calculating step for finding a new area for which a past flat image cannot be reused, Including a distortion correction step for performing distortion correction on a new region, a plane image generation step for generating a plane image, and a plane image storage step for storing the plane image generated in the plane image generation step.
  • the image of the reuse area in the past flat image accumulated in the flat image accumulation step and the distortion correction in the distortion correction step are performed. By combining the image of the new area, to produce a planar image.
  • the distortion correction unit only needs to correct the distortion only for the new region. Access can be reduced.
  • the computer program according to the embodiment of the present invention is a computer program for causing a computer to execute the above-described image generation method.
  • the virtual camera plane when the cutout range moves, the virtual camera plane is set so that it is within the moved cutout range and partially overlaps the virtual camera plane of the reference image. Therefore, a partial area of the reference image can be reused when generating a planar image of the cutout range after movement, and the amount of computation and memory access can be reduced. Note that the image of the portion that does not overlap the virtual camera plane of the previous frame is generated by projecting the entire surrounding image onto the virtual camera plane.
  • the entire periphery image is used as a new area in the image portion generated when the plane image is generated using only the entire periphery image and each frame up to the previous frame thereafter.
  • Each generated image portion is included. That is, an image to be reused has an old part and a relatively new part. Therefore, by using a criterion regarding time, the old part (which may be a pixel unit or a block unit) may be gradually used as a new area so that it is not reused.
  • FIG. 7 is a diagram for explaining a method of obtaining a virtual camera plane based on prediction when the reuse limit is reached.
  • FIG. 7A is a diagram illustrating a state in which the reuse limit is reached
  • FIG. 7B is a diagram illustrating a virtual camera plane that is newly obtained after reaching the reuse limit.
  • the distortion correction unit 18 is notified of the reuse region and the new region from the reuse region calculation unit 17 and recycles a part of the plane image of the previous frame.
  • An omnidirectional image is acquired from the acquisition unit 11 and projected onto the virtual camera plane generated by the virtual camera plane unit 15 to generate a new area portion of the plane image, which is output to the synthesis unit 19. .
  • step S22 When the generated planar image is output in step S22, the process returns to step S11 to capture the entire surrounding image again, and the above processing is repeated.
  • the image generation device 1 is formed by providing a part of the configuration to the imaging device (camera), the other part of the configuration to the image processing device, and connecting the imaging device and the image processing device.
  • the imaging apparatus includes the omnidirectional image acquisition unit 11 and the transmission / reception unit
  • the image processing apparatus includes the other components and the transmission / reception unit described above.
  • the present invention can reduce the amount of computation and memory access, cuts out a partial range of a captured image having distortion, corrects the distortion, and generates a planar image of the partial range. This is useful as a generation method.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Controls And Circuits For Display Device (AREA)

Abstract

L'invention concerne un dispositif de génération d'image qui permet de réduire la charge de calcul et l'accès mémoire lors de la génération d'une image plate, du découpage d'une image d'une plage de coupe à partir d'une image de plein champ avec déplacement simultané de la plage de coupe. Un dispositif de génération d'image (1), qui génère une image plate d'une plage de coupe découpée d'une image de plein champ présentant une distorsion, comprend: une unité d'acquisition d'image de plein champ (11) qui acquiert une image de plein champ; une unité de désignation de plage de coupe (14) qui désigne une plage de coupe à l'intérieur d'une image de plein champ; une unité de calcul de zone de réutilisation (17) qui calcule une zone de réutilisation dans laquelle des images plates antérieures provenant de la plage de coupe peuvent être réutilisées, et une nouvelle zone dans laquelle des images antérieures ne peuvent pas être réutilisées; une unité d'accumulation d'images plates (20) qui accumule les images plates antérieures; une unité de correction de distorsion (18) qui corrige une distorsion pour la nouvelle zone de l'image de plein champ; et une unité de composition (19) qui génère l'image plate en composant l'image de la zone de réutilisation présente dans les images plates accumulées dans l'unité d'accumulation d'images plates (20) et l'image de la nouvelle zone dont la distorsion est corrigée par l'unité de correction de distorsion, et délivre l'image plate générée à l'unité d'accumulation d'images plates (20).
PCT/JP2012/000120 2011-01-13 2012-01-11 Dispositif de génération d'image, procédé de génération d'image, et programme d'ordinateur WO2012096168A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011004894A JP2012147310A (ja) 2011-01-13 2011-01-13 画像生成装置、画像生成方法、及びコンピュータプログラム
JP2011-004894 2011-01-13

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WO2012096168A1 true WO2012096168A1 (fr) 2012-07-19

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JP (1) JP2012147310A (fr)
WO (1) WO2012096168A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11261868A (ja) * 1998-03-13 1999-09-24 Fujitsu Ltd 魚眼レンズカメラ装置及びその画像歪み補正方法及び画像抽出方法
JP2001333422A (ja) * 2000-05-19 2001-11-30 Matsushita Electric Ind Co Ltd 監視装置
JP2010219872A (ja) * 2009-03-17 2010-09-30 Panasonic Corp カメラ装置、表示装置、画像処理システムおよび画像処理方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11261868A (ja) * 1998-03-13 1999-09-24 Fujitsu Ltd 魚眼レンズカメラ装置及びその画像歪み補正方法及び画像抽出方法
JP2001333422A (ja) * 2000-05-19 2001-11-30 Matsushita Electric Ind Co Ltd 監視装置
JP2010219872A (ja) * 2009-03-17 2010-09-30 Panasonic Corp カメラ装置、表示装置、画像処理システムおよび画像処理方法

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