WO2014166449A1

WO2014166449A1 - Panoramic video-based vehicle onboard navigation method and system, and storage medium

Info

Publication number: WO2014166449A1
Application number: PCT/CN2014/077401
Authority: WO
Inventors: 杨金坤
Original assignee: 中兴通讯股份有限公司
Priority date: 2013-07-01
Filing date: 2014-05-13
Publication date: 2014-10-16
Also published as: CN104280034A

Abstract

Provided is a panoramic video-based vehicle onboard navigation method and system, said onboard navigation method comprising: obtaining multiple video images from around the vehicle body and also a vehicle body navigation image (101); splicing and integrating the multiple video images to form a panoramic video image, and, at the position of the vehicle body on said navigation screen, displaying the panoramic video image and a simulated image of the vehicle body (102). Utilization of said onboard navigation method and system can allow a driver to engage in vehicle onboard navigation using a realistic panoramic image, thus improving the user experience.

Description

Vehicle navigation method and system based on panoramic video, storage medium

The present invention relates to a video processing technology and a car navigation technology, and in particular, to a car navigation method and system based on panoramic video, and a storage medium. Background technique

Global Positioning System (GPS) is widely used in mobile devices such as smart terminals and automobiles. When GPS is loaded on a car, GPS provides navigational functions that provide the driver with accurate location information and navigation information.

At the same time, in-vehicle video surveillance, integrated video compression chips and optical imaging make real-time driving video recording possible, for example, video surveillance devices on buses record video in real time.

However, the current car navigation system and the car video system are not combined or simply combined. For the driver, the real panoramic navigation environment allows the user to focus on driving and reduce unnecessary traffic accidents caused by distraction. Therefore, integrating the video system into the navigation system for real panoramic navigation is urgently needed. The problem. Summary of the invention

In order to solve the above technical problem, an embodiment of the present invention provides a vehicle-mounted navigation method and system based on panoramic video, and a storage medium, which enables a driver to perform vehicle navigation under a real panoramic picture to enhance the user experience.

In order to achieve the above object, the technical solution of the present invention is achieved as follows:

An in-vehicle navigation method based on panoramic video is applied to a car navigation system, where the car navigation system includes a processor; the method includes: The processor acquires a multi-channel video picture around the vehicle body and a navigation picture of the vehicle body; the processor splices the multi-channel video picture into a one-way panoramic video picture, and the car body on the navigation screen The panoramic video screen and the simulated image of the vehicle body are displayed at the location.

Preferably, the acquiring a plurality of video images around the vehicle body comprises:

The processor acquires at least four video images around the vehicle body through at least four camera devices disposed around the vehicle body; wherein the at least four camera devices are respectively located at the front, the rear, the left portion, and the right of the vehicle body unit.

Preferably, the navigation screen of the vehicle body is: a two-dimensional navigation screen, or a three-dimensional navigation screen, or a satellite navigation screen.

Preferably, the merging and merging the multi-channel video pictures into one-way panoramic video picture comprises: the processor determining an overlapping area of the multi-channel video picture, and acquiring the transformation of the multi-channel video picture according to the overlapping area Relationship

The processor uses the transformation relationship to register the multi-channel video image, splicing and merging the registered multi-channel video images, and generating a panoramic video image.

Preferably, the car navigation system further includes a memory; after the acquiring the multi-channel video frame around the vehicle body, the method further includes:

The memory stores the multi-channel video screen; and/or,

After the processor splicing and merging the multi-channel video picture into a one-way panoramic video picture, the method further includes: the memory storing the panoramic video picture.

Preferably, the car navigation system further includes a display; the displaying the panoramic video frame and the vehicle body on the navigation screen includes:

And the processor performs a screen scale reduction on the navigation screen according to the panoramic video screen, and increases transparency of the navigation screen;

The display car on the navigation screen after the screen is scaled and the transparency is increased The panoramic video screen and the simulated image of the vehicle body are displayed at the position of the body.

A car navigation system based on panoramic video, the system comprising: a video device, a navigation device, a splicing fusion device, and a display device;

The video device is configured to acquire a multi-channel video picture around the vehicle body;

The navigation device is configured to acquire a navigation screen of the vehicle body;

The splicing and merging device is configured to splicing the multiplexed video images into one panoramic video frame;

The display device is configured to display the panoramic video screen and the simulated image of the vehicle body at a position of the vehicle body on the navigation screen.

The video device includes at least four video units, wherein the at least four video units are respectively located at a front portion, a rear portion, a left portion, and a right portion of the vehicle body;

The video unit is configured to acquire a video picture around the vehicle body.

The navigation screen of the vehicle body is: a two-dimensional navigation screen, or a three-dimensional navigation screen, or a satellite navigation screen.

The splicing and merging device includes: a determining unit, an obtaining unit, a registering unit, and a splicing and merging unit;

The determining unit is configured to determine an overlapping area of the multi-channel video picture, and the acquiring unit is configured to acquire a transformation relationship of the multi-channel video picture according to the overlapping area;

The registration unit is configured to register the multiple video frames by using the transformation relationship;

The splicing and merging unit is configured to splicing and merging the multi-channel video images after registration, and generating a panoramic video picture.

The system also includes: a storage device configured to store the plurality of video frames; and/or to store the panoramic video frame. The display device includes: a scaling unit, a transparent unit, and a display unit;

The scaling unit is configured to perform screen scaling on the navigation screen according to the panoramic video screen;

The transparent unit is configured to increase transparency of a navigation screen;

The display unit is configured to display the panoramic video screen and the simulated image of the vehicle body at a position of the vehicle body on the navigation screen after the screen scales and increases the transparency.

A storage medium storing a computer program, the computer program being configured to perform the aforementioned panoramic video based car navigation method.

The panoramic video-based vehicle navigation method and system provided by the embodiment of the present invention acquires a multi-channel video picture around the vehicle body and a navigation picture of the vehicle body; and splicing the multi-channel video picture into a panoramic video picture, and The panoramic video screen and the simulated image of the vehicle body are displayed at the position of the vehicle body on the navigation screen; thus, the driver can perform car navigation under the real panoramic screen, thereby improving the user experience. Preferably, after the multi-channel video picture around the vehicle body is acquired, the multi-channel video picture is stored; and/or the panoramic video picture is stored; thus, in the event of a traffic accident, authentic and reliable video data can be provided. DRAWINGS

1 is a schematic flowchart of an implementation of a car navigation system based on panoramic video according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a car navigation system based on panoramic video according to an embodiment of the present invention;

3 is a schematic structural diagram of a video device according to an embodiment of the present invention;

4 is a schematic structural diagram of a splicing and fusion device according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a display device according to an embodiment of the present invention; FIG.

6 is a schematic flow chart of a car navigation method based on panoramic video according to an embodiment of the present invention; FIG. 7 is a structural diagram of a car of a car navigation system equipped with panoramic video according to an embodiment of the present invention; Composition diagram. detailed description

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

An embodiment of the present invention provides a car navigation method based on panoramic video, which is applied to a car navigation system, where the car navigation system includes a processor, a display, and a memory. As shown in FIG. 1, the method includes the following steps:

Step 101: The processor acquires a multi-channel video picture around the vehicle body and a navigation screen of the vehicle body.

Preferably, the acquiring the multi-channel video frame around the vehicle body comprises: the processor acquiring at least four video images around the vehicle body by using at least four camera devices disposed around the vehicle body; wherein the at least four camera devices are respectively located The front, rear, left, and right portions of the vehicle body.

Here, at least four video images around the vehicle body are acquired by at least four imaging devices provided around the vehicle body because it is necessary to acquire video images in the front, rear, left, and right directions of the vehicle body, so that the video images can be acquired. All the video images around the car body can be spliced into a series of panoramic video images through all the video images. In a specific implementation, the number and position of the imaging device may be arranged according to the angle of view taken by the camera device, and the shooting angle of all the imaging devices of the layout needs to satisfy the 360 degree range of the body, for example, when the angle of view taken by the camera device is 50 degrees. Eight camera devices can be laid out, and the positions of the eight camera devices need to satisfy all the angles of the eight camera devices to cover the 360-degree range of the vehicle body.

Here, the video picture is acquired in the form of a video data stream, so that a smooth video picture can be obtained by quickly receiving the video data stream transmitted by the camera device in real time.

Preferably, the navigation screen of the vehicle body is: a two-dimensional navigation screen, or a three-dimensional navigation screen, or a satellite navigation screen; here, a two-dimensional navigation screen, or a three-dimensional navigation screen, or a satellite The navigation screen is prior art and will not be described here.

Here, the navigation screen is acquired in the form of a navigation data stream, and thus, a smooth navigation screen can be acquired by quickly receiving a navigation data stream transmitted by the GPS device in real time.

Step 102: The processor splices the multi-channel video picture into a one-way panoramic video picture, and displays the panoramic video picture and the simulated image of the vehicle body at a position of the vehicle body on the navigation screen by using a display.

Preferably, the merging and merging the multi-channel video picture into the one-way panoramic video picture comprises: the processor determining an overlapping area of the multi-channel video picture, and acquiring a transformation relationship of the multi-channel video picture according to the overlapping area;

Since the shooting angle of the camera device is limited, in order to obtain a video image with a 360-degree viewing angle, it is necessary to seamlessly splicing and blending video images of different angles. For this reason, video images of different angles need to have overlapping areas, and the video pictures with overlapping areas in each other are registered in real time, and are fused together into a complete panoramic video picture with a 360-degree view.

Here, a simulated image of the vehicle body is displayed at a central position of the panoramic video screen.

Preferably, after the acquiring the multi-channel video picture around the vehicle body, the method further includes: storing, by the memory, the multi-channel video picture; and/or,

After the multiplexing and merging the multiple video frames into one panoramic video frame, the method further includes: storing, by the memory, the panoramic video image.

In this way, the stored multi-channel video images and/or one-way panoramic video images can be browsed. When a traffic accident occurs, the stored multi-channel video images and/or one-way panoramic video images can also be analyzed to obtain more accurate anecdotes. the reason.

Preferably, the displaying the panoramic video screen and the vehicle body on the navigation screen comprises: the processor scaling the navigation screen according to the panoramic video screen, and Increase the transparency of the navigation screen;

The display displays the panoramic video frame and the simulated image of the vehicle body at a position of the vehicle body on the navigation screen after the screen scaled and the transparency is increased.

Here, since it is necessary to additionally display the panoramic video picture on the position of the vehicle body on the navigation screen, the navigation picture of the embodiment of the present invention needs to increase the transparency to display the panoramic video picture with respect to the prior art. Moreover, the ratio of the navigation screen needs to be coordinated with the ratio of the panoramic video screen, so that the corresponding proportion of the panoramic video screen is displayed while the navigation screen is displayed.

Preferably, the panoramic video-based vehicle navigation method provided by the embodiment of the present invention, all video images, navigation images, and panoramic video images are real-time, and the navigation screen and the panoramic video image are in real time according to the vehicle. The location is updated.

The embodiment of the present invention further provides a car navigation system based on panoramic video. As shown in FIG. 2, the system includes: a video device 21, a navigation device 22, a splicing fusion device 23, and Display device 24; wherein

The video device 21 is configured to acquire a multi-channel video picture around the vehicle body;

The navigation device 22 is configured to acquire a navigation screen of the vehicle body;

The splicing and merging device 23 is configured to splicing and merging the multi-channel video images into one omni-directional video image;

The display device 24 is configured to display the panoramic video screen and the simulated image of the vehicle body at a position of the vehicle body on the navigation screen.

It will be understood by those skilled in the art that the implementation functions of the devices in the panoramic video based car navigation system shown in Fig. 2 can be understood by referring to the related description of the above-described panoramic video based car navigation method. The implementation functions of the devices in the panoramic video-based car navigation system shown in Fig. 2 can be realized by a program running on the processor, or can be realized by a specific logic circuit.

Preferably, as shown in FIG. 3, the video device 21 includes at least four video units 211; wherein the at least four video units 211 are respectively located at the front, the rear, and the left of the vehicle body. Right side

The video unit 211 is configured to acquire a video picture around the vehicle body.

Preferably, as shown in FIG. 4, the splicing and merging device 23 includes: a determining unit 231, an obtaining unit 232, a registration unit 233, and a splicing and merging unit 234;

The determining unit 231 is configured to determine an overlapping area of the multi-channel video picture; the acquiring unit 232 is configured to acquire a transformation relationship of the multi-channel video picture according to the overlapping area;

The registration unit 233 is configured to register the multiple video frames by using the transformation relationship;

The splicing and merging unit 234 is configured to perform splicing and merging on the multi-channel video images after registration, and generate a panoramic video image.

Preferably, the system further comprises: a storage device 25 configured to store the multi-channel video screen; and/or to store the panoramic video picture.

Preferably, as shown in FIG. 5, the display device 24 includes: a scaling unit 241, a transparent unit 242, and a display unit 243;

The scaling unit 241 is configured to perform screen scaling on the navigation screen according to the panoramic video screen;

The transparent unit 242 is configured to increase transparency of the navigation screen;

The display unit 243 is configured to display the panoramic video screen and the simulated image of the vehicle body at the position of the vehicle body on the navigation screen after the screen scaling and the transparency are increased.

It will be understood by those skilled in the art that the implementation functions of the units of the respective devices in the panoramic video-based vehicle navigation system shown in FIGS. 3 to 5 can be understood by referring to the related description of the aforementioned panoramic video-based vehicle navigation method. Each of the panoramic video-based car navigation systems shown in Figure 2 The implementation of the unit of the device can be implemented by a program running on the processor, or by a specific logic circuit.

In combination with the above-described panoramic video-based vehicle navigation method and the panoramic video-based vehicle navigation system, the embodiment of the present invention further provides a panoramic video-based vehicle navigation method. As shown in FIG. 6, the method includes the following steps:

Step 601: The video device acquires a multi-channel video picture around the vehicle body.

Specifically, at least four video units acquire at least four video frames around the vehicle body.

Step 602: The navigation device acquires a navigation screen of the vehicle body.

Here, step 601 and step 602 are performed simultaneously and in real time.

Step 603: The splicing and merging device splices and merges the multiplexed video images into one panoramic video frame.

Specifically, the determining unit determines an overlapping area of the multiple video pictures;

Obtaining, by the acquiring unit, the transformation relationship of the multi-channel video picture according to the overlapping area; the registration unit uses the transformation relationship to register the multi-channel video picture;

The splicing fusion unit splicing and merging the multi-channel video images after registration, and generating a full-view video picture.

Step 604: The display device displays the panoramic video screen and the simulated image of the vehicle body at the position of the vehicle body on the navigation screen.

Specifically, the scaling unit performs screen scaling on the navigation screen according to the panoramic video frame;

The transparent unit increases the transparency of the navigation screen;

The display unit displays the panoramic video screen and the simulated image of the vehicle body at the position of the vehicle body on the navigation screen after the screen scaled and the transparency is increased.

FIG. 7 is a schematic structural diagram of a vehicle of a car navigation system equipped with a panoramic video according to an embodiment of the present invention. As shown in FIG. 7, a video device is installed around the body 71, and there are four video sheets. Element 72, respectively acquiring four video images of different shooting angles; the navigation device 73, the splicing and merging device 74, and the display device 75 are located at the front of the vehicle body, and the navigation device 73 and the splicing and merging device 74 may be disposed at other positions of the vehicle body as needed. The four video units 72, the navigation device 73, the splicing and merging device 74, and the display device 75 constitute a car navigation system with panoramic video in the embodiment of the present invention, and the real panorama can be obtained by the car navigation system with panoramic video. The video screen is displayed in the navigation screen.

The embodiment of the invention further describes a storage medium in which a computer program is stored, the computer program being configured to perform the panoramic video based on-vehicle navigation method in the foregoing embodiment.

The above is only the preferred embodiment of the present invention and is not intended to limit the scope of the present invention.

Industrial applicability

The invention can acquire a multi-channel video picture around the vehicle body and a navigation picture of the vehicle body; splicing the multi-channel video picture into a one-way panoramic video picture, and displaying the position on the navigation body at the position of the vehicle body The panoramic video picture and the simulated image of the vehicle body; thus, the driver can perform car navigation under the real panoramic picture, thereby improving the user experience.

Claims

claims

1. A vehicle-mounted navigation method based on panoramic video, applied to a vehicle-mounted navigation device, the vehicle-mounted navigation device includes a processor; the method includes:

The processor acquires multi-channel video images around the vehicle body and the navigation image of the vehicle body; the processor splices and fuses the multiple video images into a panoramic video image, and displays the images of the vehicle body on the navigation image. The panoramic video picture and the simulated image of the vehicle body are displayed at the position.

2. The method according to claim 1, wherein the obtaining of multi-channel video images around the vehicle body includes:

The processor acquires at least four video images around the vehicle body through at least four camera devices arranged around the vehicle body; wherein the at least four camera devices are located at the front, rear, left, and right of the vehicle body respectively. department.

3. The method according to claim 2, wherein the navigation screen of the vehicle body is: a two-dimensional navigation screen, a three-dimensional navigation screen, or a satellite navigation screen.

4. The method according to claim 3, wherein the splicing and merging of multiple video frames into a panoramic video frame includes:

The processor determines the overlapping area of the multi-channel video pictures, and obtains the transformation relationship of the multi-channel video pictures according to the overlapping area;

The processor uses the transformation relationship to register the multi-channel video pictures, splice and fuse the registered multi-channel video pictures, and generate a panoramic video picture.

5. The method according to claim 4, wherein the vehicle navigator further includes a memory; after obtaining the multi-channel video images around the vehicle body, the method further includes:

The memory stores the multi-channel video images; and/or,

After the processor splices and fuses the multiple video frames into one panoramic video frame, the method further includes: storing the panoramic video frame in the memory.

6. The method according to any one of claims 1 to 5, wherein the vehicle navigation device further includes a display; and displaying the panoramic video image and the vehicle body on the navigation screen includes:

The processor scales the navigation screen according to the panoramic video screen and increases the transparency of the navigation screen;

The display displays the panoramic video picture and the simulated image of the vehicle body at the position of the vehicle body on the navigation screen after the screen is scaled and the transparency is increased.

7. A vehicle-mounted navigation system based on panoramic video, including: a video device, a navigation device, a splicing and fusion device and a display device; wherein,

The video device is configured to acquire multi-channel video images around the vehicle body;

The navigation device is configured to obtain the navigation screen of the vehicle body;

The splicing and fusion device is configured to splice and fuse the multiple channels of video images into one panoramic video image;

The display device is configured to display the panoramic video image and the simulated image of the vehicle body at the position of the vehicle body on the navigation screen.

8. The system according to claim 7, wherein the video device includes at least four video units; wherein the at least four video units are located at the front, rear, left, and right parts of the vehicle body respectively. ;

The video unit is configured to acquire a video picture surrounding the vehicle body.

9. The system according to claim 8, wherein the navigation screen of the vehicle body is: a two-dimensional navigation screen, a three-dimensional navigation screen, or a satellite navigation screen.

10. The system according to claim 9, wherein the splicing and fusion device includes: a determination unit, an acquisition unit, a registration unit and a splicing and fusion unit; wherein,

The determining unit is configured to determine the overlapping area of the multi-channel video picture; the obtaining unit is configured to obtain the changes of the multi-channel video picture according to the overlapping area. exchange relationships;

The registration unit is configured to register the multi-channel video images using the transformation relationship;

The splicing and fusion unit is configured to splice and fuse the registered multi-channel video images and generate a panoramic video image.

11. The system according to claim 10, wherein the system further includes: a storage device configured to store the multi-channel video images; and/or store the panoramic video images.

12. The system according to any one of claims 7 to 11, wherein the display device includes: a scaling unit, a transparent unit and a display unit; wherein,

The transparent unit is configured to increase the transparency of the navigation screen;

The display unit is configured to display the panoramic video screen and the simulated image of the car body at the position of the car body on the navigation screen after the screen is scaled and the transparency is increased.

13. A storage medium, a computer program stored in the storage medium, the computer program configured to execute the panoramic video-based vehicle navigation method according to any one of claims 1 to 6.