WO2014166449A1 - Procédé et système de navigation embarquée sur un véhicule à base de vidéo panoramique et support de stockage - Google Patents

Procédé et système de navigation embarquée sur un véhicule à base de vidéo panoramique et support de stockage Download PDF

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Publication number
WO2014166449A1
WO2014166449A1 PCT/CN2014/077401 CN2014077401W WO2014166449A1 WO 2014166449 A1 WO2014166449 A1 WO 2014166449A1 CN 2014077401 W CN2014077401 W CN 2014077401W WO 2014166449 A1 WO2014166449 A1 WO 2014166449A1
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WO
WIPO (PCT)
Prior art keywords
video
vehicle body
navigation
screen
panoramic video
Prior art date
Application number
PCT/CN2014/077401
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English (en)
Chinese (zh)
Inventor
杨金坤
Original Assignee
中兴通讯股份有限公司
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Publication of WO2014166449A1 publication Critical patent/WO2014166449A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3647—Guidance involving output of stored or live camera images or video streams
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image
    • G06T3/40—Scaling the whole image or part thereof
    • G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/207—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using multi-purpose displays, e.g. camera image and navigation or video on same display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective

Definitions

  • 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
  • GPS Global Positioning System
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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,
  • the method further includes: the memory storing the panoramic video picture.
  • the car navigation system further includes a display; the displaying the panoramic video frame and the vehicle body on the navigation screen includes:
  • 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 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 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.
  • 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.
  • FIG. 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
  • FIG. 3 is a schematic structural diagram of a video device according to an embodiment of the present invention.
  • FIG. 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 Composition diagram. detailed description
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • a simulated image of the vehicle body is displayed at a central position of the panoramic video screen.
  • the method further includes: storing, by the memory, the multi-channel video picture; and/or,
  • the method further includes: storing, by the memory, the panoramic video image.
  • the stored multi-channel video images and/or one-way panoramic video images can be browsed.
  • the stored multi-channel video images and/or one-way panoramic video images can also be analyzed to obtain more accurate anecdotes. the reason.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the at least four video units 211 are respectively located at the front, the rear, and the left of the vehicle body.
  • the video unit 211 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 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.
  • the system further comprises: a storage device 25 configured to store the multi-channel video screen; and/or to store the panoramic video picture.
  • 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.
  • 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.
  • 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.
  • 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.
  • the determining unit determines an overlapping area of the multiple video pictures
  • 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.
  • 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.
  • 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 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.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un procédé et un système de navigation embarquée sur un véhicule à base de vidéo panoramique, ledit procédé de navigation embarquée comprenant les étapes consistant : à obtenir plusieurs images vidéo à partir des alentours de la carrosserie du véhicule et également une image de navigation de carrosserie de véhicule (101) ; à diviser et intégrer les multiples images vidéo pour former une image vidéo panoramique et, au niveau de la position de la carrosserie de véhicule sur ledit écran de navigation, à afficher l'image vidéo panoramique et une image simulée de la carrosserie du véhicule (102). L'utilisation dudit procédé et dudit système de navigation embarquée permet qu'un conducteur s'engage dans une navigation embarquée dans un véhicule à l'aide d'une image panoramique réaliste, ce qui améliore l'expérience utilisateur.
PCT/CN2014/077401 2013-07-01 2014-05-13 Procédé et système de navigation embarquée sur un véhicule à base de vidéo panoramique et support de stockage WO2014166449A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310272535.XA CN104280034A (zh) 2013-07-01 2013-07-01 一种基于全景视频的车载导航方法及系统
CN201310272535.X 2013-07-01

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WO2014166449A1 true WO2014166449A1 (fr) 2014-10-16

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CN (1) CN104280034A (fr)
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CN107966158A (zh) * 2016-10-20 2018-04-27 奥迪股份公司 用于室内停车场的导航系统和方法
CN111757057A (zh) * 2020-06-17 2020-10-09 广州市泰睿科技有限公司 一种全景环视显示方法、装置、设备及存储介质
CN111757057B (zh) * 2020-06-17 2022-06-17 广州市泰睿科技有限公司 一种全景环视显示方法、装置、设备及存储介质
CN113301271A (zh) * 2021-05-25 2021-08-24 英博超算(南京)科技有限公司 一种域控制器显示方法
CN113301271B (zh) * 2021-05-25 2022-09-06 英博超算(南京)科技有限公司 一种域控制器显示方法

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