CN104270615B - A kind of big visual field monitoring device, control method and image split-joint method for image mosaic - Google Patents
A kind of big visual field monitoring device, control method and image split-joint method for image mosaic Download PDFInfo
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- CN104270615B CN104270615B CN201410548740.9A CN201410548740A CN104270615B CN 104270615 B CN104270615 B CN 104270615B CN 201410548740 A CN201410548740 A CN 201410548740A CN 104270615 B CN104270615 B CN 104270615B
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Abstract
The invention belongs to a kind of protection and monitor field more particularly to big visual field monitoring device, control method and image split-joint methods for image mosaic.Device of the present invention includes camera protective cover, is internally provided at least two video cameras, holder and cradle head control network decoder；Image mosaic server；Vision signal synchronizer；Protective cover is fixedly mounted on holder, to ensure that therein video camera can equidirectional, same to angular turn；Vision signal synchronizing device output synchronizing signal is respectively connected to described video camera；Camera video signal exports and load-carrying cradle head control signal inputs equal incoming image stitching server.The present apparatus can realize that the operations such as camera lens zoom, holder movement, monitoring visual field dynamic are adjustable.
Description
Technical field
The invention belongs to protection and monitor field, more particularly to a kind of big visual field monitoring device for image mosaic, control
Method and image split-joint method.
Background technology
With the development of monitoring technology, there are many ultra high-definition video cameras, multiple camera is provided to solve high
Clearly, the demand of big visual field monitoring, the common disadvantages of these monitoring devices be scene fix, frame per second it is low, intelligence degree is very low,
Especially conventional images splicing equipment is mostly to carry out splicing fusion based on the fixation image between multiple video cameras, and supervised after splicing
Control image, which cannot carry out operations, the monitoring scenes such as camera lens zoom, position movement, can only be relatively fixed, cannot be satisfied in many occasions
The actual combat of control and command needs.
Invention content
In order to solve the above technical problem, the present invention provides a kind of big visual field monitoring device for image mosaic, packets
Camera protective cover is included, at least two video cameras are internally provided with；Holder and cradle head control network decoder；For completing to scheme
As splicing and holder and camera control；Vision signal synchronizer；Protective cover is fixedly mounted on holder, to ensure wherein
Each video camera can equidirectional, same to angular turn；Vision signal synchronizer output synchronizing signal is respectively connected to described each
Video camera；Camera video signal exports and load-carrying cradle head control signal inputs equal incoming image stitching server, image mosaic
Server realizes the network interconnection by interchanger and each video camera.
Whole video camera unitary rotations (including upper and lower, left and right, zoom operation) can be realized in the device, can also realize dress
It sets interior each single camera and rotates (including upper and lower, left and right, zoom operation) respectively, realize and turned by panorama to close up view
It changes, to increase the flexibility of assembly monitor range conversion.
The device has presetting bit setting and calling function, can be preset for scene is paid close attention to, and needing
When monitoring, quick calling completes the rapid translating of image scene.
Preferably, the camera protective cover is internally provided with 4 video cameras, and the holder is medium-sized load-carrying holder.
Preferably, described device has 4 video cameras and the ability of protective cover holder separation control in protective cover, has two
Kind operating mode can individually control the rotation of each video camera in operating mode 1 and focus zoom, can in operating mode 2
Control holder makes the indeclinable situation hypograph unitary rotation of the lens focus of 4 video cameras.
Preferably, it includes that cloud platform rotation position and each camera lens are poly- that described device, which can be called and preset store-memory,
The different conditions scene of burnt zoom position combination.
Preferably, 4 video cameras are placed side by side in camera protective cover, and video camera is spaced from each other by not more than 30 lis
Rice.
The present invention also provides a kind of control method of the big visual field monitoring device for image mosaic, specific method packets
It includes：
Step 1, user changes video camera multiple or load-carrying holder monitors angle；
Step 2, the image scene that video camera sends acquisition change；
Step 3, stitching server is according to collected second or third platform camera review, adjust automatically other three
The holder angle and camera lens multiple of platform video camera, to complete splicing.
Step 4, image mosaic server check image mosaic seam, if seam is intact (by comparing one group of adjacent two figure
As the characteristic point pixel of, adjacent two edges, as pixel characteristic has 90% or more similarity, then it is assumed that image mosaic is intact) turn
Enter step 5, if seam is not intact to enter step six；
Step 5, completes splicing, and big field-of-view image is completely spliced in output；
Step 6, image preprocessing, edge feature analysis, record feature picture；
Step 7 finds edge feature picture in pending picture；
Step 8, intense adjustment camera angle, focal length, return to step 3 and judge whether to have spliced after the completion one by one
It is good, to terminate splicing.
The present invention also provides a kind of image split-joint methods based on above-mentioned monitoring device：Including：
Step 1 starts to splice；
Step 2 establishes best splicing seams；
Step 3 builds laplacian pyramid to two images；
Step 4, to best splicing seams image configuration gaussian pyramid；
Step 5 is weighted average fusion to two images overlapping region；
Step 6, whether checking image merges, if having merged into step 7, step 2 is returned to if not merging；
Step 7 expands blending image competition interpolation；
Step 8 carries out illumination and colour-balance adjustment；
Step 9 completes image mosaic, exports smooth image.
Preferably, the method for best splicing seams being established in above-mentioned steps two is：Extract several specific positions in benchmark image；
Feature Points Matching is carried out, Feature Points Matching is determined by scalping, Robust Estimation, dusting cover, removal error matching points；According to feature
The matched relative position of point, adjusts camera position, completes stitching image；
Preferably, in the image split-joint method of the big visual field monitoring device for image mosaic, benchmark image is extracted
In several specific positions be image 4 vertex and edge characteristic point information.
The present apparatus can carry out video camera vertical and horizontal rotation while carrying out picture control, the operations such as camera lens zoom,
And according to adjustment position adjust automatically, complete splicing effect.
Advantage and good effect at least may be implemented in the present invention, but not limited to this：
(1) manual intervention is not needed, splicing can be automatically finished.
(2) this splicing apparatus can realize that the operations such as camera lens zoom, holder movement, monitoring visual field dynamic are adjustable.
Description of the drawings
Fig. 1 is the big monitoring device hardware configuration logic chart in the visual field of the present invention for image mosaic；
Fig. 2 is the big monitoring device control method flow chart in the visual field of the present invention for image mosaic；
Fig. 3 is the flow chart of the image split-joint method based on the big visual field monitoring device for image mosaic；
Fig. 4 is the pictorial diagram of the image split-joint method based on the big visual field monitoring device for image mosaic.
Specific implementation mode
In order to make present disclosure be easier to understand, in conjunction with attached drawing by the way of specific embodiment, to the present invention
Technical solution carry out clear, complete description, it should be noted that embodiment described herein is only that the part of the present invention is implemented
Example, and whole realization methods of non-present invention, the embodiment are only exemplary, rather than to technical solution of the present invention
Exhaustive limits.Without departing from the inventive concept of the premise, all those of ordinary skill in the art do not make creative labor
It moves with regard to thinkable other embodiment and other simple replacements and various change to technical solution of the present invention, belongs to this
The protection domain of invention.
As shown in FIG. 1, FIG. 1 is the big monitoring device hardware configuration logic charts in the visual field of the present invention for image mosaic；
The big visual field monitoring device for image mosaic, including：Camera protective cover is internally provided with four video cameras；In
Type load-carrying holder and cradle head control network decoder；Image mosaic server, for completing image mosaic, holder and video camera control
System；Vision signal synchronizer；Protective cover is fixedly mounted on medium-sized load-carrying holder, to ensure that each portion's video camera therein can be same
Direction, same to angular turn；Vision signal synchronizer output synchronizing signal is respectively connected to each video camera；Camera video
Signal exports and load-carrying cradle head control signal inputs equal incoming image stitching server, image mosaic server by interchanger with
Each video camera realizes the network interconnection.Described 4 carry out SDI video signal transmissions, splicing clothes between camera and stitching server
Device be engaged in by RS232 RJ45 communication modes, realizes the control to holder decoder, to realize to the medium-sized load-carrying cloud
The control of platform.
Image mosaic server controls holder network decoder to control cloud platform rotation and video camera by controlling signal
Zoom, four video cameras can equidirectional, same to angular turn, video camera is according to the control signal of stitching server, in different angle
With acquire video image under the conditions of different focal length, the vision signal is that SDI video signal transmissions give image mosaic server, after
The image that person arrives according to 4 camera acquisitions carries out splicing analysis, and exports camera control instruction, constantly adjusts each camera shooting
Machine angle, focal position complete big sight field video automatic Mosaic and real time monitoring.
As shown in Fig. 2, Fig. 2 is the big monitoring device control method flow chart in the visual field of the present invention for image mosaic；
A kind of control method of big visual field monitoring device for image mosaic, specific method include：
Step 1, user changes video camera multiple or load-carrying holder monitors angle；
Step 2, the image scene that video camera is sent change；
Step 3, stitching server is according to collected second or third platform camera review, adjust automatically other three
The holder angle and camera lens multiple of platform video camera, to complete splicing；
Step 4, image mosaic server check image mosaic seam, if seam is intact to be transferred to step 5, if seam is endless
Enter step six well；
Step 5, completes splicing, and big field-of-view image is completely spliced in output；
Step 6, image preprocessing, edge feature analysis, record feature picture；
Step 7 finds edge feature picture in pending picture；
Step 8, intense adjustment camera angle, focal length, return to step 3 and judge whether to have spliced after the completion one by one
It is good, to terminate splicing.
As shown in figure 3, Fig. 3 is the stream of the image split-joint method based on the big visual field monitoring device for image mosaic
Cheng Tu.Image split-joint method based on above-mentioned monitoring device：Including：
Step 1 starts to splice；
Step 2 establishes best splicing seams；
Step 3 builds laplacian pyramid to two images；
Step 4, to best splicing seams image configuration gaussian pyramid；
Step 5 is weighted average fusion to two images overlapping region；
Step 6, whether checking image merges, if having merged into step 7, step 2 is returned to if not merging；
Step 7 expands blending image competition interpolation；
Step 8 carries out illumination and colour-balance adjustment；
Step 9 completes image mosaic, exports smooth image.
Preferably, the method for best splicing seams being established in above-mentioned steps two is：Extract several specific positions in benchmark image；
Feature Points Matching is carried out, Feature Points Matching is determined by scalping, Robust Estimation, dusting cover, removal error matching points；According to feature
The matched relative position of point, adjusts camera position, completes stitching image；
Preferably, in the image split-joint method of the big visual field monitoring device for image mosaic, benchmark image is extracted
In several specific positions be image 4 vertex and edge characteristic point information.
Claims (6)
1. a kind of image split-joint method based on the big visual field monitoring device for image mosaic, including：
Step 1 starts to splice；
Step 2 establishes best splicing seams：Extract several specific positions in benchmark image；Carry out Feature Points Matching, by scalping,
Robust Estimation, dusting cover remove error matching points to determine Feature Points Matching；According to the relative position of Feature Points Matching, adjustment is taken the photograph
Camera position；
Step 3 builds laplacian pyramid to two images；
Step 4, to best splicing seams image configuration gaussian pyramid；
Step 5 is weighted average fusion to two images overlapping region；
Step 6, whether checking image merges, if having merged into step 7, step 2 is returned to if not merging；
Step 7 expands blending image into row interpolation；
Step 8 carries out illumination and colour-balance adjustment；
Step 9 completes image mosaic, exports smooth image；
Wherein：For the big visual field monitoring device of image mosaic, including camera protective cover, it is internally provided with four camera shootings
Machine；Holder and cradle head control network decoder；Image mosaic server, for completing image mosaic and holder and video camera control
System；Vision signal synchronizer；Protective cover is fixedly mounted on holder, to ensure that each portion's video camera therein can be equidirectional, same
Angular turn；Vision signal synchronizer output synchronizing signal is respectively connected to each portion's video camera；Camera video signal is defeated
Go out and cradle head control signal inputs equal incoming image stitching server, image mosaic server is real by interchanger and each video camera
The existing network interconnection；
Wherein, the control method of the big visual field monitoring device for image mosaic, specific method include：
Step 1, user changes video camera multiple or holder monitors angle；
Step 2, the image scene that video camera sends acquisition change；
Step 3, image mosaic server is according to collected second or third portion camera review, adjust automatically other three
The holder angle and camera lens multiple of portion's video camera, to complete splicing；
Step 4, image mosaic server check image mosaic seam, if seam is intact to be transferred to step 5, if seam it is not intact into
Enter step 6；
Step 5, completes splicing, and big field-of-view image is completely spliced in output；
Step 6, image preprocessing, edge feature analysis, record feature picture；
Step 7 finds edge feature picture in pending picture；
Step 8, intense adjustment camera angle, focal length, return to step 4 and judge whether seam has spliced after the completion one by one
It is good.
2. being used for the image split-joint method of the big visual field monitoring device of image mosaic according to claim 1, reference map is extracted
Several specific positions are 4 vertex of image and the characteristic point information at edge as in.
3. image split-joint method according to claim 1, described device can call preset cloud platform rotation position and
Each camera lens position.
4. image split-joint method according to claim 3, in the protective cover, each video camera can be realized with holder detaches control
System, both can individually control video camera, and holder also can control to keep each video camera whole with cloud platform rotation.
5. image split-joint method according to claim 4,4 video cameras in described device can be according to specified wherein one
The parameter of portion's video camera, other three parameters of image mosaic server adjust automatically, so that image mosaic reaches optimum efficiency.
6. according to the image split-joint method described in any claim in claim 1,3,4,5,4 video cameras simultaneously discharge
It sets in protective cover, video camera is spaced from each other by not more than 30 centimetres.
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| CN107493460B (en) * | 2017-09-21 | 2020-10-09 | 北京图森智途科技有限公司 | Image acquisition method and system |
| CN110246081B (en) * | 2018-11-07 | 2023-03-17 | 浙江大华技术股份有限公司 | Image splicing method and device and readable storage medium |
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| CN103517041A (en) * | 2013-09-29 | 2014-01-15 | 北京理工大学 | Real-time full-view monitoring method and device based on multi-camera rotating scanning |
| CN103793895A (en) * | 2014-01-10 | 2014-05-14 | 中国农业大学 | Method for stitching fruit tree crown layer organ images |
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| CN101291428A (en) * | 2008-05-30 | 2008-10-22 | 上海天卫通信科技有限公司 | Panoramic video monitoring system and method with perspective automatically configured |
| CN102316252A (en) * | 2010-06-30 | 2012-01-11 | 宁波Gqy视讯股份有限公司 | Stereophonic network shooting terminal for monitoring |
| CN102244735A (en) * | 2011-07-08 | 2011-11-16 | 山东神戎电子股份有限公司 | Variable focus stabilized image imaging system used on board |
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