CN100576907C - Utilize the method for single camera real-time generating 360 degree seamless full-view video image - Google Patents
Utilize the method for single camera real-time generating 360 degree seamless full-view video image Download PDFInfo
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Abstract
Utilize single camera to realize the method for 360 ° of real-time seamless full-view video images, solve single camera and carry out continuous video acquisition with the rotation of The Cloud Terrace, multi-frame video image with continuous acquisition, machine synthesizes the technical problem of 360 ° of real-time seamless full-view video images as calculated, this method elder generation is with every frame video image preliminary treatment of instantaneous acquiring, pretreated every frame video image is embedded full-view video image, according to interframe correlation distance and panoramic video figure circumference cycle, calculate every frame video image and keep the less embedded location of intermediate vertical band in full-view video image of distortion, the position that its embedding is calculated, to every frame video image of current embedding, with full-view video image in a left side, the adjustment of light consistency is carried out in right frame overlapping region.Advantage of the present invention is, generates full-view video image in real time, and calculating, splicing and image taking speed are fast, and equipment is simple, and cost is low, can be widely used in uses such as big scene such as airport lounge and traffic, safety monitoring.
Description
Affiliated technical field
The present invention relates to the processing method of the video image of camera acquisition, particularly a kind of method of utilizing the single camera real-time generating 360 degree seamless full-view video image.
Background technology
Real-time generating 360 degree seamless full-view video image has very important meaning for the application in safety defense monitoring system, also can be used for other use simultaneously, and in the prior art, the method that generates 360 ° of seamless full-view video images has:
The 3rd interim what publish " Chinese security protection " year in December, 2006, introduced the method that a kind of panorama intelligent sphere is realized 360 ° of panoramas.Introducing its " panoramic video monitoring " in the literary composition only is meant with a camera and also without the image splicing, can catches and contain whole hemisphere (180 ° * 360 °), but not provide concrete implementation method in the literary composition without mechanical displacement means.
Also record a kind of use panoramic ring lens (Panoramic Annular Lens, PAL) camera in the prior art.PAL is the lens of turning back with two reflectings surface and two projection surfaces, is the key element of panorama camera.In addition, the approach of the resolution of this camera raising panorama sketch is to use high-resolution sensor array.
Small-sized microcomputer system, that publishes in December, 1999 is the 20th interim, introduced a kind of digital camera around 360 ° of rotations of vertical axis, obtain one group and have to a certain degree overlapping photo, utilize cylinder perspective projection algorithm and the method for producing panoramic picture based on the relevant matching algorithm of consecutive frame two row pixels.Carry out the adjustment of light consistency with light gradual transition technology.The system that is made up by this method is a kind of non real-time, interactive panoramic picture generation system.
Dalian University of Technology's journal, has been introduced a kind of based on the relevant image split-joint method of profile phase place at the 45th phase that publish in February, 2005.This method at first calculates the two-value profile diagram in two width of cloth doubling of the image zones, utilizes Fourier transformation method calculating phase place to be correlated with then and obtains the initial matching position, utilizes the projective transformation matrix between the iteration optimization algorithms computed image at last.Carry out the adjustment of light consistency with light gradual transition technology.
HeFei University of Technology's journal, has been introduced a kind of based on the relevant splicing technology of panorama drawing of phase place at the 30th phase that publish in January, 2007.The outdoor scene photographic projection that this technology is at first taken camera is to cylinder, and the lap to adjacent image adopts the phase information of paying in the upright leaf crosspower spectrum to carry out registration then, carries out the adjustment of light consistency with light gradual transition technology at last.
In sum, in the prior art, be in blank for the method for utilizing the single camera real-time generating 360 degree seamless full-view video image.
Goal of the invention
The objective of the invention is, utilize the existing common single camera that uses, on the The Cloud Terrace of 360 ° of rotations, carry out continuous video acquisition with the rotation of The Cloud Terrace, with the multi-frame video image of continuous acquisition, machine synthesizes 360 ° of seamless full-view video images in real time as calculated.
The present invention realizes that the technical scheme that goal of the invention adopts is, this method is to adopt the following step to realize:
A is with every frame video image preliminary treatment of instantaneous acquiring, preliminary treatment comprises: video parity field sawtooth is subdued, delete in every frame video image, the bigger left and right border of the video image vertical strip of distortion in the cylindrical surface projecting coordinate keeps the less video image intermediate vertical band of distortion:
B embeds full-view video image with pretreated every frame video image, according to interframe correlation distance (d) and panoramic video figure circumference cycle (D), calculate every frame video image and keep the less embedded location of intermediate vertical band in full-view video image of distortion, the position that its embedding is calculated:
The reprocessing of C full-view video image, to every frame video image of current embedding, with full-view video image in left and right frame overlapping region carry out the adjustment of light consistency.
The invention has the beneficial effects as follows, real-time generating 360 degree seamless full-view video image, calculating, splicing and image taking speed are fast, and equipment is simple, cost is low, can be widely used in uses such as big scene scene video monitoring such as airport lounge, station hall and traffic monitoring, panorama safety monitoring.
Describe the present invention below in conjunction with accompanying drawing.
The composition frame chart of accompanying drawing 1 hardware unit of the present invention.
The 360 ° of real-time generation technique scheme of panorama sketch block diagrams among accompanying drawing 2 the present invention.
The computational methods scheme block diagram of correlation distance d between consecutive frame among accompanying drawing 3 the present invention.
The computational methods scheme block diagram of 360 ° of panorama sketch circumference circle D among accompanying drawing 4 the present invention.
Embodiment
With reference to the accompanying drawings 1, accompanying drawing 2, utilize single camera to realize the method for 360 ° of real-time seamless full-view video images, this method be by single camera on can the The Cloud Terrace of 360 ° of uniform rotation, continuous video acquisition is carried out in rotation with The Cloud Terrace, with the multi-frame video image of continuous acquisition, machine synthesizes 360 ° of real-time seamless full-view video images as calculated, and this method is to adopt the following step to realize:
A, with every frame video image preliminary treatment of instantaneous acquiring, preliminary treatment comprises: video parity field sawtooth is subdued, delete in every frame video image, the bigger left and right border of the video image vertical strip of distortion in the cylindrical surface projecting coordinate keeps the less video image intermediate vertical band of distortion.
Concrete scheme and purpose that video parity field sawtooth is subdued are: can omit this step for the video camera of lining by line scan; For interleaved video camera, only get the odd field of each frame video image, to each row of odd field, calculate the mean value of each odd column pixel and follow-up neighbouring even-numbered row pixel, then the even column pixel is abandoned.The purpose of this step is in order to eliminate some video camera because the image parity field sawtooth skew that motion brings.
The standard that keeps the less video image intermediate vertical band of distortion is that general video camera can have the secret note band of some non-imagings at boundary, and bigger in boundary distortion all around.According to the difference of video camera quality, cut off the vertical strip of each 10 to 30 pixel wide about the every frame of video image, keep intermediate vertical histogram picture.General acquiescence is sheared the vertical strip of each 20 pixel wide about video image.
B, pretreated every frame video image is embedded full-view video image, according to interframe correlation distance (d) and panoramic video figure circumference cycle (D), calculate every frame video image and keep the less embedded location of intermediate vertical band in full-view video image of distortion, the position that its embedding is calculated.
C, full-view video image reprocessing, to every frame video image of current embedding, with full-view video image in left and right frame overlapping region carry out the adjustment of light consistency.
Key problem in technology of the present invention is, it is seamless spliced to utilize interframe correlation distance (d) and panoramic video figure circumference cycle (D) that the multi-frame video image with continuous acquisition is carried out 360 ° of real-time seamless full-view video images, adopt technique scheme, accelerated the calculating when seamless spliced greatly, greatly improve image taking speed, reduced the manufacturing cost of equipment.
Referring to accompanying drawing 3, in the technology contents of the present invention, utilize single camera to realize the method for 360 ° of real-time seamless full-view video images, among this method step B, interframe correlation distance (d) is to adopt the following step to obtain:
A, obtain the current video image frame, calculate this two field picture gradient, obtain parallel gradient map along the camera motion direction.
Calculating is the characteristics of image in this two field picture to be represented with Mathematical Modeling the correlation of being convenient between the two field picture is judged along the purpose of this two field picture gradient of camera motion direction.Parallel gradient map in the invention is: to image usage level gradient operator (as Sobe1 operator [1,0 ,-1; 2,0 ,-2; 1,0 ,-1] etc.) carries out the figure that convolution algorithm obtains.
B, to the parallel gradient map of steps A, carry out the gradient projection of vertical direction, gradient upright projection histogram.Gradient upright projection histogram in the invention is: the value to each pixel place in the gradient map adds up along column direction, an one-dimensional signal sequence that follows direction of formation.
C, in the consecutive frame overlapping region, get one section relevant projection histogram.
D, to the one section relevant projection histogram of getting among the step C, contrast the relevant position in the projection histogram of adjacent previous frame video image, the correlation distance (d) of two adjacent two field pictures before and after calculating.
Referring to accompanying drawing 4, the present invention utilizes single camera to realize the method for 360 ° of real-time seamless full-view video images, and among this method step B, panoramic video figure circumference cycle (D) adopts the following step to obtain:
A, obtain the sequence of video images of gathering during The Cloud Terrace uniform rotation three to four cycles.
B, according to interframe correlation distance (d), the sequence of video images of steps A collection is carried out the panorama splicing.
C, to the splicing multicycle panoramic picture that step B obtains, calculate the gradient projection histogram p (t) of its gray-scale map.
D, to the gradient projection histogram that step C obtains, carry out the one dimension low-pass filtering, the local maximum position (t0) of calculation of filtered signal.
The purpose and the technical scheme of one dimension low-pass filtering are: can obtain maximum value position more accurately in the signal after low-pass filtering, this position is generally the strongest position of vertical boundary in the image.A kind of technic relization scheme is, at first histogrammic each value of gradient upright projection taken absolute value, and obtains a non-negative one-dimensional sequence signal, (is 7 low pass filter [1 as length with this signal and one dimension low pass filter, 1,1,1,1,1,1]) makes signal behind the convolution algorithm.
E, be the center, get suitable length Nogata signal graph with local maximum position (to), with this as local signal L (t) to be correlated with.
F, in gradient projection histogram p (t), find out with relevant local signal L (t) coefficient correlation greater than 3 some positions of 0.9,3 points are respectively t1 point, t2 point and t3 point.
Distance relation between G, checking computations t1 point, t2 point and the t3 point consecutive points, the distance between t1 point and the t2 point equals the distance between t2 point and the t3 point, and the distance between t1 point and t2 point or t2 point and the t3 point is panoramic video figure circumference cycle (D).
Claims (1)
1, utilize single camera to realize the method for 360 ° of real-time seamless full-view video images, this method be by single camera on can the The Cloud Terrace of 360 ° of uniform rotation, continuous video acquisition is carried out in rotation with The Cloud Terrace, multi-frame video image with continuous acquisition, machine synthesizes 360 ° of real-time seamless full-view video images as calculated, it is characterized in that this method is to adopt the following step to realize:
A, with every frame video image preliminary treatment of instantaneous acquiring, preliminary treatment comprises: video parity field sawtooth is subdued, and deletes in every frame video image the bigger left and right border of the video image vertical strip of distortion in the cylindrical surface projecting coordinate, keep the less video image intermediate vertical band of distortion
B, pretreated every frame video image is embedded full-view video image, according to interframe correlation distance (d) and panoramic video figure circumference cycle (D), calculate every frame video image and keep the less embedded location of intermediate vertical band in full-view video image of distortion, the position that its embedding is calculated
C, full-view video image reprocessing, to every frame video image of current embedding, with full-view video image in left and right frame overlapping region carry out the adjustment of light consistency,
Among the above step B, interframe correlation distance (d) is to adopt the following step to obtain:
A), obtain the current video image frame, calculate this two field picture gradient along the camera motion direction, obtain parallel gradient map,
B), to the parallel gradient map of steps A, carry out the gradient projection of vertical direction, gradient upright projection histogram,
C), in the consecutive frame overlapping region, get one section relevant projection histogram,
D), the projection histogram to being got among the step C, contrast the relevant position in the projection histogram of adjacent previous frame video image, the correlation distance (d) of two adjacent two field pictures before and after calculating;
Among the above step B, panoramic video figure circumference cycle (D) adopts the following step to obtain:
A), obtain the sequence of video images of gathering during The Cloud Terrace uniform rotation three to four cycles,
B), according to interframe correlation distance (d), the sequence of video images of steps A collection is carried out the panorama splicing,
C), to the splicing multicycle panoramic picture that step B obtains, calculate the gradient projection histogram p (t) of its gray-scale map,
D), to the gradient projection histogram that step C obtains, carry out the one dimension low-pass filtering, the local maximum position (t0) of calculation of filtered signal,
E), be the center with local maximum position (t0), get suitable length Nogata signal graph, with this as local signal L (t) to be correlated with,
F), in gradient projection histogram p (t), find out with relevant local signal L (t) coefficient correlation greater than 3 some positions of 0.9,3 points are respectively t1 point, t2 point and t3 point,
G), distance relation between checking computations t1 point, t2 point and the t3 point consecutive points, the distance between t1 point and the t2 point should equal the distance between t2 point and the t3 point, then the distance between t1 point and t2 point or t2 point and the t3 point is panoramic video figure circumference cycle (D).
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