WO2017211089A1 - 车辆行进全景系统及其方法 - Google Patents

车辆行进全景系统及其方法 Download PDF

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Publication number
WO2017211089A1
WO2017211089A1 PCT/CN2017/071938 CN2017071938W WO2017211089A1 WO 2017211089 A1 WO2017211089 A1 WO 2017211089A1 CN 2017071938 W CN2017071938 W CN 2017071938W WO 2017211089 A1 WO2017211089 A1 WO 2017211089A1
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image
panoramic
vehicle
wide
angle camera
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PCT/CN2017/071938
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English (en)
French (fr)
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唐旭
陈贤德
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深圳市灵动飞扬科技有限公司
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Publication of WO2017211089A1 publication Critical patent/WO2017211089A1/zh

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    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H04N5/91—Television signal processing therefor
    • H04N5/93—Regeneration of the television signal or of selected parts thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images

Definitions

  • the present disclosure relates to the field of automotive electronics, for example, to a vehicle travel panoramic system and method thereof.
  • the vehicle travel panoramic system or the panoramic reverse aerial view system is to expand the field of view of the car when driving.
  • the vehicle traveling panoramic system in the related art generally adopts a four-way camera, that is, a camera is installed on the front, the back, the left, and the right of the vehicle, and images of the front and rear of the vehicle are photographed by four cameras, and then the four images are taken. The images are assembled into a panoramic view of the location of the vehicle. Since the panoramic view of the vehicle traveling panoramic system in the related art requires four image stitching, the flattening of the four images often causes an unnatural problem of the transition at the joint.
  • the left camera and the right camera of the vehicle traveling panoramic system in the related art are installed on the left and right rear view mirrors of the vehicle, and the punching and mounting on the left and right rear view mirrors is difficult, and the rear view mirror is easily damaged; Different drivers will adjust the angle of the left and right rear view mirrors, so that the angles of the left and right cameras are also changing, which makes it difficult to adjust the right and left cameras to the appropriate shooting position, and ultimately affects the panoramic view of the vehicle traveling panoramic system in the related art.
  • Chinese Patent Publication No. CN204836349U discloses a seamless non-splicing panoramic real-time image forming apparatus, which is realized by providing a mirror on the top of the camera and an image collecting component and an image correcting component composed of a plurality of plano-convex lenses. Single panorama view without stitching. The structure is complicated and the convex curvature and assembly position relationship of a plurality of plano-convex lenses are required to be precise.
  • the present disclosure provides a vehicle traveling panoramic system and a method thereof, which are simple in structure and easy to install
  • the image is seamlessly and smoothly transitioned, and the image clarity is uniform.
  • An embodiment of the present disclosure provides a vehicle travel panoramic system including a wide-angle camera and an image storage processing module electrically connected to the wide-angle camera, the image storage processing module including an image memory and an image processor; wherein the image processor And configured to synthesize the image of the previous position stored in the image memory and the image of the current position captured by the wide-angle camera into a panoramic image, and deliver the synthesized panoramic image to the display;
  • the image memory is configured to store an image captured by the wide-angle camera and a panoramic image synthesized by an image processor.
  • the vehicle travel panoramic system is a reverse panoramic system, and a wide-angle camera of the reverse panoramic system is placed at the tail of the vehicle.
  • the vehicle travel panoramic system is a vehicle forward panoramic system, and a wide-angle camera of the vehicle forward panoramic system is placed at the vehicle head.
  • the vehicle traveling panoramic system has two wide-angle cameras, a front wide-angle camera and a rear wide-angle camera, a front wide-angle camera is placed on the vehicle head, and a rear wide-angle camera is placed at the rear of the vehicle; the image processor The front and rear images of the current position captured by the wide-angle camera and the front and rear images of the previous position stored in the image memory are combined into a panoramic image, and the combined panoramic image is delivered to the display.
  • the embodiment of the present disclosure further provides a method for traveling a panoramic view of a vehicle, including:
  • the wide-angle camera takes an image of the vehicle traveling
  • the image memory stores the ingested image
  • the image processor respectively identifies the image captured by the current location and the plurality of feature points in the image of the previous location;
  • the image of the previous position is transformed into the image taken by the current position, the image composite panoramic image outside the image area taken by the current position is retained, and the synthesized image is stored in the image memory;
  • the image processor respectively identifies the image captured by the current location and the plurality of feature points in the image of the previous location;
  • the image of the previous position is transformed into the image taken by the current position, the image composite panoramic image outside the image area taken by the current position is retained, and the synthesized image is stored in the image memory;
  • the plurality of feature points in the image are extracted by the image recognition algorithm.
  • the plurality of feature points in the image captured by the current position and the plurality of feature points in the image of the previous position are registered, and the transformation relationship between the two images is calculated, and two coefficients are calculated by the iterative coefficient method.
  • the image of the previous position is transformed into the image captured by the current position, the image integrated panoramic image outside the image area captured by the current position is retained, and the synthesized image is stored to In the image memory, the image of the previous position is inversely transformed by the two image transformations and coincides with the image taken by the current position.
  • the method includes: correcting the wide-angle camera External parameters and internal parameters.
  • the vehicle traveling panoramic system of the embodiment of the present disclosure has a simple structure and is easy to install.
  • the image is taken by the wide-angle camera and stored in the image memory, and then the image processor combines the image of the current position with the image of the previous position to form a panoramic image and delivers the image to the display, thereby achieving seamless and smooth transition of the image and uniform definition.
  • embodiments of the present disclosure may form a reverse panoramic system or a vehicle forward panoramic system based on the position of the wide-angle camera.
  • the method for traveling a panoramic view of a vehicle identifies a feature point in an image captured by a current position and a feature point in an image of a previous position, and registers a feature point of the two images, calculates a transformation relationship between the two images, and The image of one position is transformed into the image taken at the current position, and the seamless transition of the image is achieved and the definition is uniform.
  • FIG. 1 is a schematic diagram of a vehicle traveling panoramic system according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a composite image of an image processor
  • FIG. 3 is a schematic diagram of a composite panoramic image of front and rear dual cameras
  • FIG. 4 is a schematic flow chart of a method for traveling a panoramic view of a vehicle according to an embodiment of the present invention.
  • 1 is a wide-angle camera
  • 2 is an image storage processing module
  • 21 is an image memory
  • 22 is an image processor
  • the embodiment provides a vehicle traveling panoramic system, including an image capturing component, that is, a wide-angle camera 1 , an image storage processing module 2 electrically connected to the wide-angle camera 1 , and image storage.
  • the processing module 2 includes an image memory 21 and an image processor 22, and the image processor 22 is configured to synthesize the image of the previous position stored in the image memory 21 and the image of the current position picked up by the wide-angle camera 1 into a panoramic image, and combine the combined panoramic image It is supplied to the display 3, which stores the image taken by the wide-angle camera 1 and the panoramic image synthesized by the image processor 22.
  • the image memory 21 may be a double rate synchronous dynamic random access memory (Double Data Rate (DDR), or other memory; the image processor 22 may be a central processing unit (CPU); the display 3 may be independent The display can also be a car display.
  • DDR Double Rate synchronous dynamic random access memory
  • the image processor 22 may be a central processing unit (CPU); the display 3 may be independent
  • the display can also be a car display.
  • the working manner of the vehicle traveling panoramic system is that the wide-angle camera 1 captures an image of the vehicle traveling and stores the taken image in the image memory 21, and the image processor 22 compares the currently taken image with the previous one.
  • the image taken by the position is processed and calculated to synthesize a panoramic image.
  • the image processor 22 recombines the image of the next position with the currently synthesized image into a pair. Panoramic image.
  • the vehicle travel panoramic system provided by the embodiment is a reverse panoramic system, and the wide-angle camera 1 of the reverse panoramic system is placed at the tail of the vehicle.
  • the wide-angle camera 1 of the reverse panoramic system is placed at the tail of the vehicle.
  • it may be a license plate frame at the tail of the vehicle or a trunk handle.
  • the vehicle travel panoramic system provided by this embodiment may also be a vehicle forward panoramic system.
  • the wide-angle camera of the vehicle forward panoramic system is placed on the vehicle head.
  • it may be a license plate frame at the front end of the vehicle.
  • the vehicle traveling panoramic system of the present embodiment stores the image in the image memory 21 after being taken by the wide-angle camera 1 , and then the image processor 22 combines the image of the current position with the image of the previous position to form a panoramic image and delivers the image to the display 3 to realize the image. Seamless smooth transition and uniform clarity. At the same time, the structure is simple and easy to install. Moreover, the present embodiment can form a reverse panoramic system or a vehicle forward panoramic system according to the position of the wide-angle camera.
  • the vehicle traveling panoramic system has two wide-angle cameras, namely a front wide-angle camera and a rear wide-angle camera, a front wide-angle camera is placed on the vehicle head, and a rear wide-angle camera is placed at the tail of the vehicle;
  • the image processor 22 synthesizes the front and rear images of the current position taken by the wide-angle camera 1 and the front and rear images of the previous position stored in the image memory 21 into a panoramic image, and delivers the synthesized panoramic image to the display. 3.
  • the image processor 22 synthesizes the front and rear images of the current position taken by the wide-angle camera 1 and the rear image of the previous position stored in the image memory 21 into a panoramic image, so that the definition is uniform and uniform.
  • the smooth transitional panoramic image is sewn; or when the car is moving forward, the image processor 22 synthesizes the front and rear images of the current position taken by the wide-angle camera 1 and the front image of the previous position stored in the image memory 21 into a panoramic image.
  • the vehicle travel panoramic system of the front and rear dual cameras can reduce the image delay when the vehicle speed is low. Because the vehicle speed is very low, there will be image delay problems.
  • the processor 22 combines the current position of the front and rear dual cameras with the image taken by the previous position, so that the image delay is controlled within 4 seconds.
  • This embodiment also provides a method for traveling a panoramic view of a vehicle. Referring to FIG. 4, the method includes:
  • the wide-angle camera takes an image of the vehicle traveling
  • the image memory stores the taken image
  • the image processor respectively identifies an image captured by the current location and a plurality of feature points in the image of the previous location;
  • S140 a plurality of feature points in the image captured by the current location and a plurality of feature points in the image of the previous location are registered, and a transformation relationship between the two images is calculated;
  • S160 S130 to S150 are repeatedly executed to establish a panoramic image.
  • the transformation relationship between the two images is the speed and steering data of the vehicle.
  • the method for traveling a panoramic view of the vehicle provided by the embodiment in S130 is to extract a plurality of feature points in the image by using an image recognition algorithm.
  • the method for traveling a panoramic view of the vehicle provided by the embodiment in S140 calculates a two-dimensional image transformation matrix of two images by an iterative coefficient method, including translation and rotation transformation of the image, that is, speed and steering of the vehicle.
  • the data that is to say the matrix, can be understood as expressing the distance traveled by the vehicle on the first image and the angle of the turn during the time interval between the two images.
  • the image of the previous position is inversely transformed by the two images, and the image captured by the current position is overlapped. At this time, some areas in the image of the previous position complement the image of the current position. The corresponding area outside the field of view. In this way, during the movement of the vehicle, the process is repeated, and after a very short period of time, a 360-degree panoramic image can be created by the camera.
  • the method for traveling a panoramic view of the vehicle provided in this embodiment is preceded by S100: correcting an external parameter and an internal parameter of the wide-angle camera, and the distance that the wide-angle camera can cover after being corrected from the front or the rear of the vehicle is greater than 3 meters.
  • the present disclosure provides a vehicle traveling panoramic system and a method thereof, which are simple in structure and simple in installation, and realize a panoramic image with uniform definition and seamless and smooth transition.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Image Processing (AREA)
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  • Closed-Circuit Television Systems (AREA)

Abstract

一种车辆行进全景系统，包括广角摄像头（1）、与广角摄像头（1）电性连接的图像存储处理模块（2），图像存储处理模块（2）包括图像存储器（21）和图像处理器（22），其中，图像处理器（22）设置为将图像存储器（21）存储的前一位置的图像和广角摄像头（1）摄取的当前位置的图像合成全景图像、并把合成的全景图像输送给显示器（3），以及图像存储器（21）设置为存储所述广角摄像头（1）摄取的图像和图像处理器（22）合成的全景图像。一种车辆行进全景的方法。通过识别当前位置摄取的图像及前一位置的图像中的特征点、对两幅图的特征点配准、计算出两幅图像的变换关系、将前一位置的图像变换到当前位置摄取的图像，实现了图像无缝平滑过渡且清晰度均匀。

Description

车辆行进全景系统及其方法 技术领域
本公开涉及汽车电子领域，例如涉及一种车辆行进全景系统及其方法。
背景技术
汽车作为现代社会的主要交通工具，在满足基本使用功能的基础上，人们希望扩大驾驶时的视野范围，进而更有效地提供安全驾驶。车辆行进全景系统或者全景倒车鸟瞰系统就是扩大汽车驾驶时的视野范围。而相关技术中的车辆行进全景系统通常采用四路摄像头，即在车辆的前、后、左、右安装一个摄像头，通过四个摄像头分别拍摄车辆在一位置前后左右的图像，然后将拍摄的四个图像拼凑成车辆该位置的全景视图。由于相关技术中的车辆行进全景系统的全景视图需要四个图像拼合，而四个图像的拼合经常会出现拼合处过渡不自然问题。其次，相关技术中的车辆行进全景系统的左摄像头和右摄像头安装在车辆的左右后视镜上，而在左右后视镜上打孔安装的难度较大，且极容易损伤后视镜；加之不同的驾驶者会调整左右后视镜的角度，使得左右摄像头拍摄的角度也在变化，进而导致左右摄像头难以调整到合适的拍摄位置，并最终影响相关技术中的车辆行进全景系统的全景视图。
另外，中国专利文献号为CN204836349U公开了一种无缝非拼接式全景实时图像成像设备，该专利文献通过在摄像头的顶部设置反射镜、以及多个平凸透镜组成的图像收集组件及图像矫正组件实现无拼接的单一全景视图。结构复杂且对多个平凸透镜的凸面曲率及组装位置关系要求精准。
发明内容
本公开提供一种车辆行进全景系统及其方法，该系统结构简单、安装简便 且图像无缝平滑过渡显示、图像清晰度均匀。
本公开实施例提供一种车辆行进全景系统，包括广角摄像头、与广角摄像头电性连接的图像存储处理模块，所述图像存储处理模块包括图像存储器和图像处理器；其中，所述图像处理器器设置为将图像存储器存储的前一位置的图像和广角摄像头摄取的当前位置的图像合成全景图像、并把合成的全景图像输送给显示器；以及
所述图像存储器设置为存储所述广角摄像头摄取的图像和图像处理器合成的全景图像。
可选的，所述车辆行进全景系统为倒车全景系统，倒车全景系统的广角摄像头置于所述车辆尾部。
可选的，所述车辆行进全景系统为车辆前进全景系统，车辆前进全景系统的广角摄像头置于车辆头部。
可选的，所述车辆行进全景系统具有两个广角摄像头，分别为前置广角摄像头和后置广角摄像头，前置广角摄像头置于车辆头部，后置广角摄像头置于车辆尾部；图像处理器将广角摄像头摄取的当前位置的前、后图像和图像存储器存储的前一位置的前、后图像合成全景图像，并把合成的全景图像输送给显示器。
本公开实施例还提供一种车辆行进全景的方法，包括：
广角摄像头摄取车辆行进的图像；
图像存储器存储摄取的图像；
图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点；
将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点 配准，计算出两幅图像的变换关系；
根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器；
重复执行：
图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点；
将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系；
根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器；
重复执行上述过程，建立全景图像。
可选的，在图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点中，通过图像识别算法提取图像中的多个特征点。
可选的，在将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系中，通过迭代求系数法计算出两幅图像的二维图像变换矩阵。
可选的，在根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器中，将前一位置的图像做两幅图像变换关系相反的变换与当前位置摄取的图像重合。
可选的，在广角摄像头摄取车辆行进的图像之前包括：校正广角摄像头的 外部参数和内部参数。
相对于相关技术，本公开实施例的车辆行进全景系统结构简单、安装简便。同时通过广角摄像头摄取图像后存储在图像存储器，然后图像处理器将当前位置的图像和前一位置的图像合成后形成全景图像并输送给显示器，实现了图像无缝平滑过渡且清晰度均匀。而且本公开实施例根据广角摄像头的位置可形成倒车全景系统或车辆前进全景系统。本公开实施例提供的车辆行进全景的方法通过识别当前位置摄取的图像及前一位置的图像中的特征点、对两幅图的特征点配准、计算出两幅图像的变换关系、将前一位置的图像变换到当前位置摄取的图像，实现了图像无缝平滑过渡且清晰度均匀。
附图说明
图1为本实施例提供的车辆行进全景系统示意图；
图2为图像处理器合成全景图像示意图；
图3为前后双摄像头合成全景图像示意图；
图4为本实施例提供的车辆行进全景的方法流程示意图。
图中，1为广角摄像头；        2为图像存储处理模块；
      21为图像存储器；       22为图像处理器；
      3为显示器。
具体实施方式
现结合附图说明本公开车辆行进全景系统的可选实施方式。在不冲突的情况下，实施例和实施例中的特征可以相互任意组合。
请参阅图1所示，本实施例提供一种车辆行进全景系统，包括图像摄取部件即广角摄像头1、与广角摄像头1电性连接的图像存储处理模块2，图像存储 处理模块2包括图像存储器21和图像处理器22，图像处理器22设置为将图像存储器21存储的前一位置的图像和广角摄像头1摄取的当前位置的图像合成全景图像、并把合成的全景图像输送给显示器3，图像存储器21存储广角摄像头1摄取的图像和图像处理器22合成的全景图像。
其中，图像存储器21可以是双倍速率同步动态随机存储器(Double Data Rate，DDR)，也可以是其他存储器；图像处理器22可以是中央处理器(Central Processing Unit，CPU)；显示器3可以是独立的显示器，也可以是车载显示器。
本实施例提供的一种车辆行进全景系统的工作方式是：广角摄像头1摄取车辆行进中的图像，并将摄取的图像存储在图像存储器21中，图像处理器22将当前摄取的图像与前一位置摄取的图像经过处理计算后合成一副全景图像，如图2所示，当车辆行进到下一个位置时，图像处理器22再将下一个位置的图像与当前合成的图像再次合成为一副全景图像。
可选的，本实施例提供的车辆行进全景系统为倒车全景系统，倒车全景系统的广角摄像头1置于所述车辆尾部，可选的，可以是车辆尾部的车牌框处或者后备箱拉手处。
可选的，本实施例提供的车辆行进全景系统也可以为车辆前进全景系统，车辆前进全景系统的广角摄像头置于车辆头部，可选的，可以是车辆前端的车牌框处。
本实施例车辆行进全景系统通过广角摄像头1摄取图像后存储在图像存储器21，然后图像处理器22将当前位置的图像和前一位置的图像合成后形成全景图像并输送给显示器3，实现了图像无缝平滑过渡且清晰度均匀。同时结构简单、安装简便。而且本实施例根据广角摄像头的位置可形成倒车全景系统或车辆前进全景系统。
可选的，本实施例提供的车辆行进全景系统具有两个广角摄像头，分别为前置广角摄像头和后置广角摄像头，前置广角摄像头置于车辆头部，后置广角摄像头置于车辆尾部；如图3所示，图像处理器22将广角摄像头1摄取的当前位置的前、后图像和图像存储器21存储的前一位置的前、后图像合成全景图像，并把合成的全景图像输送给显示器3。另一种方式，倒车时，图像处理器22将广角摄像头1摄取的当前位置的前、后图像和图像存储器21存储的前一位置的后图像合成全景图像可以更好地实现清晰度均匀且无缝平滑过渡的全景图像；或者汽车前进时，图像处理器22将广角摄像头1摄取的当前位置的前、后图像和图像存储器21存储的前一位置的前图像合成全景图像。而且前后双置摄像头的车辆行进全景系统可以降低车速较低时图像延时的问题。因为车速很低会出现图像延时问题，例如车速为5km/h时，每秒移动的距离为5000/3600＝1.39米，如果每秒钟处理数据为30帧，则帧与帧之间的车辆移动为0.046，假设车辆的长度为5米，显示的范围为车身两米范围，则最大的延时为5秒，而车辆关键安全区域(例如车身周围)的延时则需要小于4秒，图像处理器22将前后双置摄像头的当前位置和前一位置摄取的图像经过处理合成，使得图像延时控制在4秒内。
本实施例还提供一种车辆行进全景的方法，请参见图4，包括：
在S110中，广角摄像头摄取车辆行进的图像；
在S120中，图像存储器存储摄取的图像；
在S130中，图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点；
在S140中，将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系；
在S150中，根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器；
在S160中，重复执行S130至S150，建立全景图像。
其中，对于S140，当车辆以120km/h速度行驶时，每秒移动的距离为120000/3600＝33.33米，如果每秒钟处理的帧数是30帧，则帧与帧之间的车辆的移动为1.1米，两帧之间相交区域可以达到1.9米，满足图像配准的需求。而关于两幅图像的变换关系，即是车辆的速度和转向数据。
可选的，本实施例提供的车辆行进全景的方法在S130中，通过图像识别算法提取图像中的多个特征点。
可选的，本实施例提供的车辆行进全景的方法在S140中，通过迭代求系数法计算出两幅图像的二维图像变换矩阵，包含了图像的平移和旋转变换，即车辆的速度和转向数据，即是说该矩阵可以理解为，表达了车辆在两幅图像的时间间隔内，在第一幅图上所移动的距离和转弯的角度。
可选的，本实施例在S150中，将前一位置的图像做两幅图像变换关系相反的变换与当前位置摄取的图像重合，此时前一位置的图像中的一些区域补足当前位置的图像的视野范围外的相应区域。如此一来，在车辆行进的移动过程中，重复这一过程，经过极短一段时间，即可以通过摄像头建立一个360度全景图像。
可选的，本实施例提供的车辆行进全景的方法在S110之前设有S100：校正广角摄像头的外部参数和内部参数，广角摄像头矫正后可以覆盖的地面离车头或车尾的距离大于3米。
以上所述实施例仅表达了本公开的几种实施方式，描述较为详细，但并不 能因此而理解为对本专利范围的限制。本专利的保护范围应以所附权利要求为准。
工业实用性
本公开提供一种车辆行进全景系统及其方法，结构简单且安装简便，实现了清晰度均匀且无缝平滑过渡的全景图像。

Claims (9)

  1. 一种车辆行进全景系统，包括广角摄像头、与广角摄像头电性连接的图像存储处理模块，所述图像存储处理模块包括图像存储器和图像处理器；其中，所述图像处理器设置为将图像存储器的前一位置的图像和广角摄像头摄取的当前位置的图像合成全景图像、并把合成的全景图像输送给显示器；以及
    所述图像存储器设置为存储所述广角摄像头摄取的图像和图像处理器合成的全景图像。
  2. 根据权利要求1所述的车辆行进全景系统，其中，所述车辆行进全景系统为倒车全景系统，倒车全景系统的广角摄像头置于所述车辆尾部。
  3. 根据权利要求1所述的车辆行进全景系统，其中，所述车辆行进全景系统为车辆前进全景系统，车辆前进全景系统的广角摄像头置于车辆头部。
  4. 根据权利要求1所述的车辆行进全景系统，其中，所述车辆行进全景系统具有两个广角摄像头，分别为前置广角摄像头和后置广角摄像头，前置广角摄像头置于车辆头部，后置广角摄像头置于车辆尾部；图像处理器将广角摄像头摄取的当前位置的前、后图像和图像存储器存储的前一位置的前、后图像合成全景图像，并把合成的全景图像输送给显示器。
  5. 一种车辆行进全景的方法，包括：
    广角摄像头摄取车辆行进的图像；
    图像存储器存储摄取的图像；
    图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点；
    将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系；
    根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器；
    重复执行：
    图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征 点；
    将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系；
    根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器；
    重复执行上述过程，建立全景图像。
  6. 根据权利要求5所述的车辆行进全景的方法，其中，在图像处理器分别识别当前位置摄取的图像及前一位置的图像中的多个特征点中，通过图像识别算法提取图像中的多个特征点。
  7. 根据权利要求5所述的车辆行进全景的方法，其中，在将当前位置摄取的图像中的多个特征点及前一位置的图像中的多个特征点配准，计算出两幅图像的变换关系中，通过迭代求系数法计算出两幅图像的二维图像变换矩阵。
  8. 根据权利要求5所述的车辆行进全景的方法，其中，在根据两幅图像的变换关系，将前一位置的图像变换到当前位置摄取的图像中，保留当前位置摄取的图像区域之外的图像合成全景图像，并把合成的图像存储到图像存储器中，将前一位置的图像做两幅图像变换关系相反的变换与当前位置摄取的图像重合。
  9. 根据权利要求5所述的车辆行进全景的方法，在广角摄像头摄取车辆行进的图像之前包括：校正广角摄像头的外部参数和内部参数。
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