CN105357433A - High-speed rotating focal length self-adaptive panoramic imaging method - Google Patents
High-speed rotating focal length self-adaptive panoramic imaging method Download PDFInfo
- Publication number
- CN105357433A CN105357433A CN201510676595.7A CN201510676595A CN105357433A CN 105357433 A CN105357433 A CN 105357433A CN 201510676595 A CN201510676595 A CN 201510676595A CN 105357433 A CN105357433 A CN 105357433A
- Authority
- CN
- China
- Prior art keywords
- image
- camera
- width
- focal length
- images
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Image Processing (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a high-speed rotating focal length self-adaptive panoramic imaging method. The method comprises a first step of acquiring images of a current rotating period captured by a camera, wherein a round of rotation of the camera represents a rotating period; a second step of deblurring the images; a third step of splicing and fusing the images; and a fourth step of changing the angle of view of the camera, rotating again, repeating steps from one to four, and acquiring a panoramic image. Through adoption of the method, the technical problem of low definition of refraction and reflection panoramic images is solved, and impact of deformation of conventional refraction and reflection panoramic visual images is eliminated.
Description
Technical field
The invention belongs to field of machine vision, particularly relating to for obtaining high definition panoramic picture, a kind of High Rotation Speed focal length self adaptation method for panoramic imaging.
Background technology
Panoramic vision can perception obtaining up to the powerful advantages of 360 ° of visual informations, makes panoramic vision be widely used in various fields.
Civil area: as the important means obtaining environmental information, panoramic vision is widely used in long-distance education, the video monitoring of virtual reality and traffic intersection.In traffic intersection video monitoring, traditional refractive and reflective panorama image cannot obtain the picture rich in detail of traffic conditions, thus has caused the thinking solving panoramic picture definition.The requirement to precision of information and information range that the method for traditional acquisition image cannot meet that development in science and technology brings, and refractive and reflective panorama vision obtain external environmental information cannot self adaptation zoom, hinder the development of panoramic vision.Improve the definition of omni-directional image, realizing self adaptation zoom panoramic picture is a major challenge faced at present.
Summary of the invention
The object of this invention is to provide and effectively can eliminate traditional refractive and reflective panorama visual pattern distortion effects, a kind of High Rotation Speed focal length self adaptation method for panoramic imaging.
A kind of High Rotation Speed focal length self adaptation method for panoramic imaging, comprises the following steps,
Step one: video camera often revolves and turns around as one-period, obtains the image of the camera shooting of current swing circle;
Step 2: deblurring process is carried out to image;
Step 3: splicing is carried out to image and merges;
Step 4: change camera visual angle, carry out next cycle, repeats step one to step 4, obtains panoramic picture.
A kind of High Rotation Speed focal length of the present invention self adaptation method for panoramic imaging, can also comprise:
1, to the method that image carries out deblurring process be:
(1) motion blur degradation model is set up:
g(x,y)＝H[f(x,y)]+n(x,y)
The image that f (x, y) is pure, H degeneracy operator, n (x, y) additive noise, the image after g (x, y) degenerates, the degraded image in image space domain:
g(x,y)＝h(x,y)*f(x,y)+n(x,y)
The space representation of h (x, y) degenrate function;
(2) according to the Fourier transform of blurred picture ambiguous estimation direction θ and fuzzy distance L point spread function be:
Wherein T is the time for exposure, a=Lcos θ, b=Lsin θ;
(3) by Wiener filtering, the image of Fuzzy Processing is obtained.
2, carrying out splicing and amalgamation method to image is:
(1) the overlapping region d of adjacent two width images is calculated
d＝(θ-θ')*width
D is coincidence scope, and θ is camera lens diagonal angle of view, and θ ' is rotation angle of camera, and width is the width of every width image;
(2) in the overlapping region of adjacent two width images, Feature Points Matching is carried out by Surf algorithm;
(3) calculate the perspective transformation matrix between two width images by the characteristic point of mating, and then the visual angle of two width images is converted into identical visual angle, realize the splicing of two width images;
(4) remaining image, as benchmark visual angle, is transformed into this benchmark visual angle, carries out the fusion of image according to weights, obtain spliced image by the intermediate image choosing one week scene gained image.
Beneficial effect:
Compared to prior art, the invention solves the technical barrier of refractive and reflective panorama image definition deficiency, effectively eliminate the impact of traditional refractive and reflective panorama visual pattern distortion.In order to avoid the Feature Points Matching to all images zone void, the present invention adopts the method for carrying out Feature Points Matching in overlapping region, shortens the time of Feature Points Matching in a large number.
Accompanying drawing explanation
Fig. 1 is this device schematic diagram.
Fig. 2 is that camera of the present invention rotates schematic diagram.
Fig. 3 is High Rotation Speed focal length self adaptation panorama programming system procedural block diagram of the present invention.
Fig. 4 is graphics processing unit operating process block diagram of the present invention.
Fig. 5 is motion blur degradation model of the present invention.
Fig. 6 is self adaptation rotating speed control block diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is illustrated.
Application image splicing of the present invention, the technology of image co-registration, achieves a kind of High Rotation Speed self adaptation omnidirectional imaging system.
Apparatus of the present invention provide a kind of omnidirectional camera device with rotation.Mainly comprise Scientific Grade CMOS camera [1], The Cloud Terrace [2], firm banking [3], autofocus lens [5], high rate burst communication computer [6].
Implementation method of the present invention is as shown in drawings: the n obtaining a scene opens image, opens image carry out preliminary treatment to n, according to the anglec of rotation of camera design parameter and camera shooting single image, calculates the roughly overlapping region of adjacent two width images respectively.Determine that n opens the main perspective image i of image, and in overlapping region, apply surf algorithm, extract the characteristic point of two width adjacent images, calculate perspective transformation matrix by characteristic of correspondence point, the image except main perspective image is converted to the image under main perspective.Merge according to weights 0.5 pair of multiple image, finally obtain complete panoramic picture.When the visual angle of camera changes, by controller, negative feedback is carried out to speed, guarantee to obtain complete scene image, repeat above step and obtain panoramic picture.
A kind of High Rotation Speed focal length self adaptation omnidirectional imaging system, to find a view module and image processing module composition primarily of High Rotation Speed panoramic vision.Comprise electric rotating machine, communication slip ring, supporting construction and computer to complete.As shown in Figure 1.Device 4 above stepping motor 5 is the planetary reduction gear coaxial with stepping motor, and device 4 and device 5 constitute dynamo-electric machine system.Dynamo-electric machine system provides rotating speed for varifocal digital camera 1.Device above dynamo-electric machine system is supporting construction 3.Supporting construction 3 is the disk and the support that connect dynamo-electric machine system and slip ring 2.Side is communication slip ring 2 on the support structure.The effect of communication slip ring connects electric rotating machine and varifocal digital camera, and communication cable can not be wound around mutually because of electric machine rotation in slip ring.Communication slip ring is furnished with supply rings, video loop, IO ring and communication link.Imaging device above communication slip ring is varifocal digital camera 1, focal range 3.3 ~ 99mm, resolution 976*582 pixel.Power supply, the Video processing of the transmission of motor control signal and reception as shown in Figure 2, camera and showing is completed by computer.Image processing module is high rate burst communication computer, obtains panoramic picture at image processing module by image mosaic technology.
Described panoramic imagery concrete steps comprise electric rotating machine 4,5, communication slip ring 2, supporting construction 3, video and processes and displays system 6.Send by computer control the corner that number of pulses controls electric rotating machine, forward predetermined angle to, computer sends order control camera and takes.The mutual winding of communication cable in electric machine rotation process is avoided by slip ring transposition.
The concrete steps realizing panoramic imagery are:
The first step, obtains the image of rotating camera shooting:
According to the demand of real-time scene, the rotating speed of adaptive control motor and corner, adaptive control video camera parameters is taken, and video camera often revolves and turns around as one-period, and the photographic images that this cycle obtains is transferred to computer to carry out subsequent treatment.
Second step, carries out deblurring process to the image that the first step obtains.
Set up motion blur degradation model.To motion blur image point spread function parameter Estimation.Wiener filtering to image restoration to complete deblurring process.
3rd step, carries out splicing to image and merges.
The scene picture of deblurring is obtained according to second step, first the roughly overlapping region in every width image is determined, in overlapping region, find images match characteristic point, then obtain perspective image transformation matrix according to characteristic point, finally image to be spliced and fusion obtains panoramic picture.
4th step, repeats above-mentioned steps and carries out next cycle, adaptive shooting, and process.
One, the image of rotating camera shooting is obtained,
(1) motor speed controls: the rotating speed of the adaptive control motor of application feedback regulation.
(2) motor controlling angle: along with the rotation of motor, sends the corner of the adaptive control electric rotating machine of number of pulses by computer, send order control digital camera take when turning over the shooting corner of needs.Corner calculated example as: motor turns around, and (360 °) need k pulse, the speed reducing ratio of decelerator is t:1, then need k*t/ (360/40) individual pulse to turn 40 °, often turn over 40 ° of transmissions control signal control digital camera and take a photo.
(3) adaptive control shooting: when thinking observation distant objects, digital camera focal length becomes large, and image aspects diminishes, the now adaptive reduction of rotating speed, with reduce image because of excessive velocities formed fuzzy; When taking near objects, digital camera focal length diminishes, and visual angle becomes large, and now rotating speed self adaptation is accelerated, to reach the video output request of high frame per second.Reach the requirement of adaptive control.
Two, deblurring process is carried out to image, specifically comprise following steps.
(1) motion blur degradation model is set up.
(2) to motion blur image point spread function parameter Estimation.
(3) Wiener filtering is to image restoration.
Three, carry out splicing according to image characteristic point to image to merge, specifically comprise following steps.
(1) camera is in high-speed rotation, can think that camera focal length within a certain period of time significant change does not occur, then ensure that camera lens diagonal angle of view is constant, in conjunction with the shooting two width image pickup head anglec of rotation, can determine that the coincidence roughly coincidence scope of adjacent two width images is as follows:
Coincidence scope d=(θ-θ ') * width
D is coincidence scope; θ is camera lens diagonal angle of view; θ ' is rotation angle of camera, for ensureing image mosaic effect, makes θ ' >=25 °; Width is the width of every width image.
(2) according to roughly picture registration region obtained in the previous step, in this region of adjacent two width images, Feature Points Matching is carried out by Surf algorithm.
(3) calculate the perspective transformation matrix between two width images by the characteristic point of mating, and then the visual angle of two width images is converted into identical visual angle, thus realize the splicing of two width images.
(4) remaining image, as benchmark visual angle, is transformed into this benchmark visual angle by the intermediate image choosing one week scene gained image, is 0.5 fusion carrying out image, obtains panoramic picture according to weights size.
Accompanying drawing 2 is camera rotation schematic diagram of the present invention, wherein θ is camera visual angle, remain unchanged when focal length is constant, θ ' takes two width image rotation angle for camera, n is camera rotary speed, when rotary speed of cam is enough fast time, just can obtain the picture of scene around at short notice, thus obtain panoramic picture.
The first step, obtains the image of rotating camera shooting
As shown in Figure 1, the stepping motor of what this motor adopted is Trinamic company coordinates the planetary reduction gear coaxial with it to device of the present invention.
(1) motor speed controls: arrange motor speed by computer application feedback regulation, and stepping electric rotating machine starts to rotate immediately, drives the slip ring coaxial with it to rotate together with digital camera.
(2) motor controlling angle.The stepping motor of what this motor adopted is Trinamic company coordinates the planetary reduction gear coaxial with it, planetary reduction gear speed reducing ratio is 20:1, stepping motor 1 pulse turns 1.8 ° (needs 200 pulses of namely turning around), and motor is 64 segmentations (namely a circle needs 200*20*64=256000 pulse).When needs are taken with certain angle by using host computer to send required pulse number after above-mentioned computational methods.Such as turn 40 ° and then need 6400 pulses for example, often turn over 40 ° of transmissions control signal control digital camera and take a photo.
(3) adaptive control shooting: when thinking observation distant objects, digital camera focal length becomes large, and image aspects diminishes, the now adaptive reduction of rotating speed, with reduce image because of excessive velocities formed fuzzy; When taking near objects, digital camera focal length diminishes, and visual angle becomes large, and now rotating speed self adaptation is accelerated, to reach the video output request of high frame per second.Reach the requirement of adaptive control.Jockey slip ring then completes the task of connecting digital camera and electric rotating machine, and avoids the mutual winding of communication cable in electric machine rotation process.
(4) image information that image acquisition units obtains is transferred to data storage cell, waits for that computer processes.
As shown in Figure 4, High Rotation Speed focal length self adaptation panorama programming system procedural block diagram of the present invention as shown in Figure 3 for the flow chart of image procossing.
Second step, carries out deblurring process to the image that the first step obtains.
(1) first to setting up motion blur degradation model, as shown in Figure 5:
g(x,y)＝H[f(x,y)]+n(x,y)
The image that f (x, y) is pure, H degeneracy operator, n (x, y) additive noise, the image after g (x, y) degenerates.
Degraded image method for expressing in image space domain:
g(x,y)＝h(x,y)*f(x,y)+n(x,y)
The space representation of h (x, y) degenrate function, " * " representation space convolution
(2) secondly, according to blurred picture ambiguous estimation direction θ and fuzzy distance L, the Fourier transform of point spread function is expressed as:
Wherein T is the time for exposure, a=Lcos θ, b=Lsin θ
(3) last, by Wiener filtering, to image deblurring process.
3rd step, carries out splicing to image and merges.
(1) by the roughly overlapping region d of the adjacent two width images of following formulae discovery.
d＝(θ-θ')*width
D is coincidence scope; θ is camera lens diagonal angle of view; θ ' is rotation angle of camera, for ensureing image mosaic effect, makes θ ' >=25 °; Width is the width of every width image.
(2) in order to avoid the Feature Points Matching to all images zone void, the present invention adopts the method for carrying out Feature Points Matching in overlapping region, shortens the time of Feature Points Matching in a large number.By surf algorithm, coincidence image is processed, obtain the characteristic point of coupling.Pinpoint accuracy due to surf algorithm brings temporal accumulation, and the present invention finds the time of characteristic point by being shortened by two kinds of modes:
Method one: carry out resolution decreasing process to original image, by carrying out image mosaic to the image after resolution decreasing, finally by Image Reconstruction Technology, obtains high-resolution image, and the method can effectively reduce the time that characteristic point is found.
Method two: because surf algorithm is originally in time finding characteristic point, have relevant Hessian determinant threshold value, passing threshold determines the number that initial characteristics point is chosen, and in the present invention, do not need too many characteristic point, coupling is only needed to be greater than 4 pairs of match points accurately, therefore can carry out by the method finding image resolution ratio and Hessian matrix threshold value the number that self adaptation limits matching double points, thus reduce the time finding characteristic point.
After above-mentioned two kinds of method process, obtain the feature point pairs mated, bring calculating perspective transformation matrix into.
8 parameter perspective models are as follows:
Wherein (x
i, y
i) and (x
i', y
i') be respectively matching characteristic point corresponding in two width images, m
i(0≤i≤7) are saturating transformation matrix parameter, then only need four pairs of match points to try to achieve perspective transformation matrix.
(3) through perspective image conversion, obtain a series of image based on same visual angle, then adopt average weighted method excessively smoothing to stitching image, complete the splicing of panoramic picture.
4th step, repeats above-mentioned steps and carries out next cycle, adaptive shooting, and process.
Rotary speed of cam adaptive control as shown in Figure 6, detect the real-time change at camera visual angle, structure adaptive controller is used for feedback regulation rotary speed of cam, when thinking observation distant objects, digital camera focal length becomes large, image aspects diminishes, the now adaptive reduction of rotating speed, with reduce image because of excessive velocities formed fuzzy; When taking near objects, digital camera focal length diminishes, and visual angle becomes large, and now rotating speed self adaptation is accelerated, to reach the video output request of high frame per second.Reach the requirement of adaptive control.
The invention discloses a kind of High Rotation Speed focal length self adaptation omnidirectional imaging system, camera rotary speed carries out adaptive change along with the change at camera visual angle, applies High Rotation Speed camera simultaneously and obtains a series of images of full scene and carry out splicing fusion and obtain panoramic picture.Key step: the image first obtaining the shooting of High Rotation Speed camera, then carries out deblurring process to the image obtained, finally carries out splicing fusion to image and obtain panoramic picture; When camera visual angle changes, adaptively changing rotary speed of cam, obtains the picture under different visual angles and adopts above-mentioned steps to obtain panoramic picture.Compared to prior art, the invention solves the technical barrier of refractive and reflective panorama image definition deficiency, effectively eliminate the impact of traditional refractive and reflective panorama visual pattern distortion.
Claims (3)
1. a High Rotation Speed focal length self adaptation method for panoramic imaging, is characterized in that: comprise the following steps,
Step one: video camera often revolves and turns around as one-period, obtains the image of the camera shooting of current swing circle;
Step 2: deblurring process is carried out to image;
Step 3: splicing is carried out to image and merges;
Step 4: change camera visual angle, carry out next cycle, repeats step one to step 4, obtains panoramic picture.
2. a kind of High Rotation Speed focal length self adaptation method for panoramic imaging according to claim 1, is characterized in that: described to the method that image carries out deblurring process be:
(1) motion blur degradation model is set up:
g(x,y)＝H[f(x,y)]+n(x,y)
The image that f (x, y) is pure, H degeneracy operator, n (x, y) additive noise, the image after g (x, y) degenerates,
Degraded image in image space domain:
g(x,y)＝h(x,y)*f(x,y)+n(x,y)
The space representation of h (x, y) degenrate function;
(2) according to blurred picture ambiguous estimation direction θ and fuzzy distance L
The Fourier transform of point spread function is:
Wherein T is the time for exposure, a=Lcos θ, b=Lsin θ;
(3) by Wiener filtering, the image of Fuzzy Processing is obtained.
3. a kind of High Rotation Speed focal length self adaptation method for panoramic imaging according to claim 1, is characterized in that: described carry out splicing and amalgamation method to image and be:
(1) the overlapping region d of adjacent two width images is calculated
d＝(θ-θ')*width
D is coincidence scope, and θ is camera lens diagonal angle of view, and θ ' is rotation angle of camera, and width is the width of every width image;
(2) in the overlapping region of adjacent two width images, Feature Points Matching is carried out by Surf algorithm;
(3) calculate the perspective transformation matrix between two width images by the characteristic point of mating, and then the visual angle of two width images is converted into identical visual angle, realize the splicing of two width images;
(4) remaining image, as benchmark visual angle, is transformed into this benchmark visual angle, carries out the fusion of image according to weights, obtain spliced image by the intermediate image choosing one week scene gained image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510676595.7A CN105357433B (en) | 2015-10-13 | 2015-10-13 | A kind of adaptive method for panoramic imaging of high speed rotation focal length |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510676595.7A CN105357433B (en) | 2015-10-13 | 2015-10-13 | A kind of adaptive method for panoramic imaging of high speed rotation focal length |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105357433A true CN105357433A (en) | 2016-02-24 |
| CN105357433B CN105357433B (en) | 2018-12-07 |
Family
ID=55333286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510676595.7A Active CN105357433B (en) | 2015-10-13 | 2015-10-13 | A kind of adaptive method for panoramic imaging of high speed rotation focal length |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105357433B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106416224A (en) * | 2016-08-25 | 2017-02-15 | 北京小米移动软件有限公司 | Panoramic shooting method, terminal, rotation assembly and panoramic shooting device |
| CN106534681A (en) * | 2016-11-09 | 2017-03-22 | 中科融通物联科技无锡股份有限公司 | Method for adaptively controlling cruising speed of photoelectric platform |
| CN107995408A (en) * | 2016-10-26 | 2018-05-04 | 贵州火星探索科技有限公司 | A kind of 360 ° of panoramic shooting systems and method |
| CN110825333A (en) * | 2018-08-14 | 2020-02-21 | 广东虚拟现实科技有限公司 | Display method, display device, terminal equipment and storage medium |
| CN111915607A (en) * | 2020-08-31 | 2020-11-10 | 佛山市南海区广工大数控装备协同创新研究院 | Metal film resistor surface strip defect detection method based on machine vision |
| CN112991759A (en) * | 2021-05-10 | 2021-06-18 | 浙江宇视科技有限公司 | Intelligent processing method and device for multi-azimuth image, electronic equipment and storage medium |
| CN113489908A (en) * | 2021-07-22 | 2021-10-08 | 北京卫星环境工程研究所 | Spacecraft AIT process panoramic image shooting device and method |
| CN115150545A (en) * | 2021-03-30 | 2022-10-04 | 赫克斯冈技术中心 | Measurement system with panoramic image acquisition function |
| CN116188275A (en) * | 2023-04-28 | 2023-05-30 | 杭州未名信科科技有限公司 | Single-tower crane panoramic image stitching method and system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1968295A2 (en) * | 2007-03-05 | 2008-09-10 | Brother Kogyo Kabushiki Kaisha | Communication device |
| CN102984453A (en) * | 2012-11-01 | 2013-03-20 | 深圳大学 | Method and system of real-time generating hemisphere panoramic video images through single camera |
| CN103440624A (en) * | 2013-08-07 | 2013-12-11 | 华中科技大学 | Image deblurring method and device based on motion detection |
| 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 |
| CN104881841A (en) * | 2015-05-20 | 2015-09-02 | 南方电网科学研究院有限责任公司 | Aerial high-voltage power tower image splicing method based on edge features and point features |
-
2015
- 2015-10-13 CN CN201510676595.7A patent/CN105357433B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1968295A2 (en) * | 2007-03-05 | 2008-09-10 | Brother Kogyo Kabushiki Kaisha | Communication device |
| EP1968295A3 (en) * | 2007-03-05 | 2008-10-29 | Brother Kogyo Kabushiki Kaisha | Communication device |
| CN102984453A (en) * | 2012-11-01 | 2013-03-20 | 深圳大学 | Method and system of real-time generating hemisphere panoramic video images through single camera |
| CN103440624A (en) * | 2013-08-07 | 2013-12-11 | 华中科技大学 | Image deblurring method and device based on motion detection |
| 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 |
| CN104881841A (en) * | 2015-05-20 | 2015-09-02 | 南方电网科学研究院有限责任公司 | Aerial high-voltage power tower image splicing method based on edge features and point features |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018035811A1 (en) * | 2016-08-25 | 2018-03-01 | 北京小米移动软件有限公司 | Panoramic photographing method, terminal, rotating assembly and panoramic photographing device |
| CN106416224A (en) * | 2016-08-25 | 2017-02-15 | 北京小米移动软件有限公司 | Panoramic shooting method, terminal, rotation assembly and panoramic shooting device |
| CN107995408A (en) * | 2016-10-26 | 2018-05-04 | 贵州火星探索科技有限公司 | A kind of 360 ° of panoramic shooting systems and method |
| CN106534681A (en) * | 2016-11-09 | 2017-03-22 | 中科融通物联科技无锡股份有限公司 | Method for adaptively controlling cruising speed of photoelectric platform |
| CN110825333A (en) * | 2018-08-14 | 2020-02-21 | 广东虚拟现实科技有限公司 | Display method, display device, terminal equipment and storage medium |
| CN111915607A (en) * | 2020-08-31 | 2020-11-10 | 佛山市南海区广工大数控装备协同创新研究院 | Metal film resistor surface strip defect detection method based on machine vision |
| CN115150545A (en) * | 2021-03-30 | 2022-10-04 | 赫克斯冈技术中心 | Measurement system with panoramic image acquisition function |
| CN115150545B (en) * | 2021-03-30 | 2023-10-24 | 赫克斯冈技术中心 | Measurement system for acquiring three-dimensional measurement points |
| CN112991759A (en) * | 2021-05-10 | 2021-06-18 | 浙江宇视科技有限公司 | Intelligent processing method and device for multi-azimuth image, electronic equipment and storage medium |
| CN113489908B (en) * | 2021-07-22 | 2023-01-10 | 北京卫星环境工程研究所 | Spacecraft AIT process panoramic image shooting device and method |
| CN113489908A (en) * | 2021-07-22 | 2021-10-08 | 北京卫星环境工程研究所 | Spacecraft AIT process panoramic image shooting device and method |
| CN116188275A (en) * | 2023-04-28 | 2023-05-30 | 杭州未名信科科技有限公司 | Single-tower crane panoramic image stitching method and system |
| CN116188275B (en) * | 2023-04-28 | 2023-10-20 | 杭州未名信科科技有限公司 | Single-tower crane panoramic image stitching method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105357433B (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105357433A (en) | High-speed rotating focal length self-adaptive panoramic imaging method | |
| US10375381B2 (en) | Omnistereo capture and render of panoramic virtual reality content | |
| US10038887B2 (en) | Capture and render of panoramic virtual reality content | |
| EP3410388A2 (en) | Capture and render of panoramic virtual reality content | |
| CN103971375B (en) | A kind of panorama based on image mosaic stares camera space scaling method | |
| CN100576907C (en) | Utilize the method for single camera real-time generating 360 degree seamless full-view video image | |
| CN102984453B (en) | Single camera is utilized to generate the method and system of hemisphere full-view video image in real time | |
| CN101272511B (en) | Method and device for acquiring image depth information and image pixel information | |
| WO2012086120A1 (en) | Image processing apparatus, image pickup apparatus, image processing method, and program | |
| CN201523430U (en) | Panoramic video monitoring system | |
| CN104835117A (en) | Spherical panorama generating method based on overlapping way | |
| CN104159026A (en) | System for realizing 360-degree panoramic video | |
| CN110493525A (en) | Zoom image determines method and device, storage medium, terminal | |
| CN103247020A (en) | Fisheye image spread method based on radial characteristics | |
| CN108053373A (en) | One kind is based on deep learning model fisheye image correcting method | |
| CN103247024A (en) | 180-degree fisheye image spread method based on concentric algorithm and device | |
| WO2012068724A1 (en) | Three-dimensional image acquisition system and method | |
| CN106851252A (en) | Adaptive strain baseline binocular solid camera system | |
| CN209279885U (en) | Image capture device, 3D information comparison and mating object generating means | |
| CN109788270A (en) | 3D-360 degree panorama image generation method and device | |
| CN105959562A (en) | Method and device for obtaining panoramic photographing data and portable panoramic photographing equipment | |
| CN105516600B (en) | Atomatic focusing method | |
| CN109272445B (en) | Panoramic video stitching method based on spherical model | |
| US9807302B1 (en) | Offset rolling shutter camera model, and applications thereof | |
| CN105208373B (en) | Universal integrated imaging recording device based on light field compression sampling |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |