CN105844225A - Method and device for processing image based on vehicle - Google Patents
Method and device for processing image based on vehicle Download PDFInfo
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- CN105844225A CN105844225A CN201610159227.XA CN201610159227A CN105844225A CN 105844225 A CN105844225 A CN 105844225A CN 201610159227 A CN201610159227 A CN 201610159227A CN 105844225 A CN105844225 A CN 105844225A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000004888 barrier function Effects 0.000 claims description 120
- 238000001514 detection method Methods 0.000 claims description 12
- 238000003672 processing method Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 abstract description 14
- 230000008569 process Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 8
- 230000000903 blocking effect Effects 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000012372 quality testing Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a method and a device for processing an image based on a vehicle in order to prevent the fact that the splicing can be affected by parallax of an obstacle. The method comprises steps of detecting each splicing public area through a radar adjusting a corresponding preset splicing line of the splicing public area when detecting the obstacle on the preset splicing line of the splicing public area; and adopting an adjusted splicing line to execute image splicing to generate a panorama splicing image. Through the invention, the splicing effect is improved and accurate information surrounding the vehicle is provided through adjusting the splicing line and eliminating the effect of the obstacle on the splicing.
Description
Technical field
The present invention relates to technical field of vehicle, particularly relate to a kind of image processing method based on vehicle and
Device.
Background technology
360 panorama auxiliary parking systems obtain in real time by being arranged on automobile four photographic head all around
The image of motor vehicle environment, then gets up to constitute a width non-blind area four width image mosaic by in-vehicle processor
360 degree of panoramic pictures.Driver, by observing panoramic picture, grasps the situation of car outside in real time,
The generation of minimizing accident.
Wherein, the four width images that four photographic head collect respectively need to merge through splicing to constitute panorama sketch
Picture.Common joining method is to be spliced by two adjacent width images, and the splicing line of adjacent image is four
The diagonal of individual public territory, i.e. this diagonal are that image is spliced and merges by splicing line.
But, when using above-mentioned this mode to carry out splicing and merging, if there is barrier near splicing line,
So parallax effect of barrier can cause poor splicing effect.
Summary of the invention
The present invention provides a kind of image processing method based on vehicle and device, to prevent due to barrier
Parallax and affect splicing.
In order to solve the problems referred to above, the invention discloses a kind of image processing method based on vehicle, including:
By radar, each splicing public territory is detected respectively；When predetermined spelling splicing public territory being detected
When there is barrier in wiring, the predetermined splicing line of correspondence of described splicing public territory is adjusted；Adopt
Perform image mosaic with the splicing line adjusted, generate panoramic mosaic image.
The invention also discloses a kind of image processing apparatus based on vehicle, including: Radar Detection module,
For each splicing public territory being detected respectively by radar；Splicing line adjusting module, for when inspection
Measure on the predetermined splicing line of splicing public territory when there is barrier, right to described splicing public territory
Should be adjusted by predetermined splicing line；Concatenation module, for using the splicing line of adjustment to perform image mosaic,
Generate panoramic mosaic image.
Compared with prior art, the present invention includes but not limited to advantages below:
The image processing method based on vehicle of embodiment of the present invention offer and device, by radar to each spelling
Connect public territory to detect respectively, determine and there is barrier on the predetermined splicing line of splicing public territory
Time, for preventing the parallax effects of barrier from splicing, can be corresponding to the splicing public territory that there is barrier
Predetermined splicing line is adjusted, and with the remove obstacles impact on splicing, uses the splicing line adjusted to perform
Image mosaic, generates panoramic mosaic image, improves splicing effect, it is provided that peripheral situation of vehicle letter accurately
Breath.
Accompanying drawing explanation
In order to be illustrated more clearly that the present invention or technical scheme of the prior art, below will to embodiment or
In description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart of steps of another kind image processing method based on the vehicle embodiment of the present invention；
Fig. 2 is to splice the first schematic diagram of Obstacle Position in public territory in the embodiment of the present invention；
Fig. 3 is the flow chart of steps of another kind image processing method based on the vehicle embodiment of the present invention；
Fig. 4 is to splice the second schematic diagram of Obstacle Position in public territory in the embodiment of the present invention；
Fig. 5 is the structured flowchart of a kind of image processing apparatus embodiment based on vehicle of the present invention；
Fig. 6 is the structured flowchart of the another kind of image processing apparatus embodiment based on vehicle of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, implement below in conjunction with the present invention
Accompanying drawing in example, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the present invention
In embodiment, the institute that those of ordinary skill in the art are obtained under not making creative work premise
There are other embodiments, broadly fall into the scope of protection of the invention.
One of core idea of the embodiment of the present invention is, proposes a kind of image processing method based on vehicle
And device, to prevent from affecting splicing due to the parallax of barrier, the present embodiment passes through radar to each splicing
Public territory is detected respectively, determines on the predetermined splicing line of splicing public territory when there is barrier,
For preventing the parallax effects of barrier from splicing, the splicing public territory correspondence that there is barrier can be made a reservation for
Splicing line is adjusted, and with the remove obstacles impact on splicing, uses the splicing line adjusted to perform image
Splicing, generates panoramic mosaic image, improves splicing effect, it is provided that peripheral situation of vehicle information accurately.
Embodiment one
With reference to Fig. 1, it is shown that the step of a kind of based on vehicle the image processing method embodiment of the present invention
Flow chart, specifically may include steps of:
Step 102, is detected each splicing public territory respectively by radar.
360 panorama auxiliary parking systems can be configured with photographic head and radar, as used laser radar sensing
Device, jointly obtains 360 degree of panoramic pictures of non-blind area, for the driving of driver by photographic head and radar
Reference frame is provided.Wherein, this system is respectively mounted with a photographic head at automobile, the most altogether
Four photographic head are installed, as shown in Figure 2.The image that photographic head shoots can be spelled two-by-two according to direction
Connect, ultimately generate panoramic mosaic image, during two image mosaic, there is public territory, i.e. two photographic head
The region all shot, is referred to as splicing public territory by this region, as in Fig. 2, checkerboard type grid area is
Splicing public territory.360 panorama auxiliary parking systems can also install one or more at automobile top
Laser radar sensor detects position and the distance of peripheral obstacle in real time.Photographic head and laser radar are same
Time detection motor vehicle environment real time status, multi-signal is after fusion treatment, and the form with acousto-optic-electric is anti-
Feed driver, improves the safety of traveling.
For preventing the barrier of this splicing public territory from splicing is produced impact, radar can be used each spelling
Connect public territory and carry out detection scanning, by radar data, each splicing public territory is detected respectively,
Determine and whether there is barrier on the predetermined splicing line of splicing public territory.Such as, in Fig. 2, L1 is right
The predetermined splicing line of splicing public territory, front, carries out obstacle quality testing by radar to by public territory
Survey, it may be determined that the predetermined splicing line L1 of splicing public territory, right front is blocked by barrier, then obstacle
The parallax of thing can affect forward image and the splicing effect of image right splicing, and the driving to driver judges
Impact.
Step 104, when there is barrier on predetermined splicing line splicing public territory being detected, to institute
The predetermined splicing line of correspondence stating splicing public territory is adjusted.
When detect splicing public territory exist block in the range of there is barrier time, remove obstacles
The parallax impact on splicing, the splicing line that there is barrier and splice public territory can be adjusted
Whole.In the present embodiment, each splicing regions is prefixed splicing line, there is not barrier, or barrier
Hinder thing not splicing public territory exist block in the range of, can directly use predetermined splicing line to spell
Connect, and splice that public territory exists block in the range of when there is barrier, splicing line can be reset, i.e.
Redefine alternative splicing line and replace predetermined splicing line.
As in Fig. 2, barrier has blocked this predetermined splicing line L1, then can use alternative splicing line such as L2,
L3 replaces predetermined splicing line L1 for any one.
Step 106, uses the splicing line adjusted to perform image mosaic, generates panoramic mosaic image.
For there is the splicing public territory of barrier in the range of blocking, use the alternative splicing line after adjusting
Perform image mosaic, and for there is not the splicing public territory of barrier in the range of blocking, use predetermined
Splicing line splices, thus each stitching image is generated panoramic mosaic image.Such as in Fig. 2, for
Splicing public territory, right front can use L2 (or L3) to splice, and other three splicings are public
The most there is not barrier on the predetermined splicing line in region, predetermined splicing line can be used to splice, then
Generate panoramic mosaic image.
To sum up, by radar, each splicing public territory is detected respectively, determine splicing public territory
When there is barrier on predetermined splicing line, for preventing the parallax effects of barrier from splicing, can be to there is barrier
The corresponding predetermined splicing line in splicing public territory hindering thing is adjusted, with the remove obstacles shadow to splicing
Ring, use the splicing line adjusted to perform image mosaic, generate panoramic mosaic image, improve splicing effect,
Peripheral situation of vehicle information accurately is provided.
Embodiment two
With reference to Fig. 3, it is shown that the step of another kind image processing method based on the vehicle embodiment of the present invention
Rapid flow chart, specifically may include steps of:
Step 302, uses radar to be scanned each splicing public territory.
Step 304, is analyzed the radar data of passback, detects whether each splicing public territory exists
Barrier.
For the trailer-mounted radar of configuration on vehicle, trailer-mounted radar can carry out detection scanning to vehicle periphery,
When carrying out the splicing of vehicle periphery image, can use trailer-mounted radar that each splicing public territory is swept
Retouching, radar receives the radar data of passback, is then analyzed radar data, as passed through radar data
Middle radar return determines the distance of reflectance target, direction etc., detects whether each splicing public territory exists barrier
Hinder thing.
If so, i.e. there is barrier in any one splicing public territory, performs step 306；If it is not, i.e.
The most there is not barrier in each public territory, performs step 314.
Step 306, detects whether described barrier blocks the predetermined splicing line in described splicing public territory
On.
If there is barrier, for there is the splicing public area of barrier in any one splicing public territory
Territory, detects whether described barrier blocks on the predetermined splicing line of described splicing public territory, wherein,
Predetermined splicing line is predetermined splicing line in each splicing public territory, will splice public area the most in advance
The diagonal configuration in territory is predetermined splicing line,.
The information such as the position that be may further determine that barrier by radar data, thus detect barrier and be
No block on the predetermined splicing line of described splicing public territory.If so, it is that barrier blocks in described spelling
Connect on the predetermined splicing line of public territory, perform step 308；If it is not, i.e. barrier is not in described splicing
In the range of the blocking of public territory, perform step 314.
Step 308, obtains the positional information of described barrier from described trailer-mounted radar.
Step 310, according to the described positional information splicing public area to there is barrier on predetermined splicing line
The predetermined splicing line of correspondence in territory is adjusted.
When barrier blocks on the predetermined splicing line of splicing public territory, i.e. splicing public territory is predetermined
There is barrier on splicing line, the positional information of described barrier, this position can be obtained from trailer-mounted radar
Information can be the direct calculated position of radar, it is also possible to is to enter one based on radar range positional information
Step calculates the position determining barrier.Then according to positional information, predetermined splicing line is adjusted, i.e. depends on
According to the physical location of barrier determined by positional information, then redefine a splicing line, by this spelling
Wiring alternately splicing line, replaces predetermined splicing line, thus to this splicing public territory correspondence splicing line
It is adjusted.
Wherein, the determination for alternative splicing line has various ways, such as can be in advance to each splice region
Territory all configures at least one alternative splicing choosing, therefrom chooses the adjustment carrying out splicing line, and for example can foundation
The position of barrier determines alternative splicing choosing etc. by calculating, and this is not construed as limiting by the embodiment of the present invention.
In one alternative embodiment of the present invention, described this splicing public territory correspondence splicing line is adjusted
Whole, including: choose alternative splicing line based on described barrier so that described barrier does not block described standby
Select splicing line；Described alternative splicing line is used to replace the predetermined splicing line of described splicing public territory.
To there is the splicing public territory of barrier on predetermined splicing line, can be from alternative splicing line set
Choose an alternative splicing line, as randomly selected, or choose according to the order of choosing of configuration, choose
Alternative splicing line do not blocked by barrier, then use this alternative splicing line replace described splicing public affairs
The predetermined splicing line in region altogether.Wherein, in alternative splicing line set, the configuration of alternative splicing line can foundation
Requirements set, as empirically configured, according to and predetermined splicing line between the alternative spelling of angle angle configurations
Wiring etc..
Wherein, when optional more than an alternative splicing line time, according to deviate the angle of predetermined splicing line from
Little choose alternative splicing line to big order.In alternative splicing line set, each alternative splicing line is all with predetermined
Splicing line is departing from a certain angle, carries out the choosing of alternative splicing line according to deviation angle order from small to large
Take, the most first choose the alternative splicing line that deviation angle is minimum, if the minimum alternative splicing line of deviation angle
Also it is blocked, then selects the alternative splicing line of next angle, when same angle has two alternative splicings
During line, such as, in predetermined splicing line lateral symmetry, there is splicing line, then can be with configuration preference level, such as left side
Priority is higher than right side, and the most same angle priority height selects, and different angles select according to angular dimension.
As shown in Figure 4, L1 is predetermined splicing line, and L2, L3 are alternative splicing line, it is assumed that L2, L3
Being all 15 degree to L1 angle, the priority of L2 is higher than L3, therefore can first choose L2, but L2
Also blocked by barrier, now can choose L3 and replace L1.
In another alternative embodiment of the present invention, described this splicing public territory correspondence splicing line is adjusted
Whole, including: the size of described barrier is calculated according to the profile information of described barrier；According to described barrier
The size hindering thing determines alternative splicing line, uses described alternative splicing line to replace described splicing public territory
Predetermined splicing line.
Barrier can also can be directly based upon based on radar by the calculating of barrier is determined alternative splicing line
The profile information hindering thing calculates the size of described barrier, it is also possible to be according to barrier by the processor of system
The profile information hindering thing calculates the size of described barrier, and the size and the position that are then based on barrier determine
Alternative splicing line, then uses described alternative splicing line to replace the predetermined splicing of described splicing public territory
Line.
Step 312, for there is the splicing public territory of barrier on described predetermined splicing line, uses standby
Select splicing line to perform image mosaic, obtain subregion stitching image；
Step 314, for there is not the splicing public territory of barrier on predetermined splicing line, uses predetermined
Splicing line performs image mosaic, obtains subregion stitching image；
Step 316, synthesizes panoramic mosaic image by each subregion stitching image.
Determining the splicing public territory that there is barrier on predetermined splicing line, and/or, predetermined splicing line
On there is not the splicing public territory of barrier after, image mosaic can be performed.Wherein, for predetermined spelling
There is the splicing public territory of barrier in wiring, use the alternative splicing line adjusted to perform image mosaic,
I.e. use adjustment alternative splicing line perform adjacent two width images splicing, as in Fig. 4 for front part of vehicle
The forward image of photographic head shooting, and the image right of right side photographic head shooting, can use L3 to hold
Row forward image and the splicing of image right, determine subregion stitching image, such as the named right side-front spliced map
Picture.
For there is not the splicing public territory of barrier on predetermined splicing line, predetermined splicing line is used to perform
Image mosaic, in Fig. 4, for the forward image of front part of vehicle photographic head shooting, vehicle rear images
The rear images of head shooting, the left-side images of left side photographic head shooting, and the right side of right side photographic head shooting
Side image, can use predetermined splicing line to splice forward image and left-side images, obtains a left side-front
Stitching image, uses predetermined splicing line to splice rear images and left-side images, obtains a left side-spell afterwards
Map interlinking picture, and use predetermined splicing line that rear images and image right are spliced, obtain the right side-after
Stitching image.4 subregion stitching image synthesis panoramic mosaic images again, thus obtain the complete of vehicle's surroundings
Scape image, the driving for driver provides reference frame.
If the most there is not barrier, or barrier not making a reservation in each splicing public territory in each public territory
On splicing line, then all use predetermined splicing line to splice each public territory, obtain panoramic mosaic image.
The embodiment of the present invention detects the real time status of motor vehicle environment by photographic head and laser radar simultaneously, many
Kind signal, after fusion treatment, feeds back to driver with the form of acousto-optic-electric, improves the safety of traveling
Property.
It should be noted that for embodiment of the method, in order to be briefly described, therefore it is all expressed as one it be
The combination of actions of row, but those skilled in the art should know, and the embodiment of the present invention is not by described
The restriction of sequence of movement because according to the embodiment of the present invention, some step can use other orders or
Person is carried out simultaneously.Secondly, those skilled in the art also should know, embodiment described in this description
Belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Embodiment three
On the basis of above-described embodiment, the present embodiment additionally provides a kind of image procossing based on vehicle dress
Put.
With reference to Fig. 5, it is shown that the structural frames of a kind of image processing apparatus embodiment based on vehicle of the present invention
Figure, specifically can include such as lower module:
Radar Detection module 502, for detecting respectively each splicing public territory by radar.
Splicing line adjusting module 504, for when existing on predetermined splicing line splicing public territory being detected
During barrier, the predetermined splicing line of correspondence of described splicing public territory is adjusted.
Concatenation module 506, for using the splicing line of adjustment to perform image mosaic, generates panoramic mosaic figure
Picture.
For preventing the barrier of this splicing public territory from splicing is produced impact, radar can be used each spelling
Connect public territory and carry out detection scanning, by radar data, each splicing public territory is detected respectively,
Determine and whether there is barrier on the predetermined splicing line of splicing public territory.Such as, in Fig. 2, L1 is right
The predetermined splicing line of splicing public territory, front, carries out obstacle quality testing by radar to by public territory
Survey, it may be determined that the predetermined splicing line L1 of splicing public territory, right front is blocked by barrier, then obstacle
The parallax of thing can affect forward image and the splicing effect of image right splicing, and the driving to driver judges
Impact.When detect splicing public territory exist block in the range of there is barrier time, eliminate
The impact on splicing of the parallax of barrier, can enter the splicing line that there is barrier and splice public territory
Row sum-equal matrix.In the present embodiment, each splicing regions is prefixed splicing line, there is not barrier, or
Person's barrier not splicing public territory exist block in the range of, can directly use predetermined splicing line to enter
Row splicing, and splice that public territory exists block in the range of when there is barrier, splicing line can be reset,
I.e. redefine alternative splicing line and replace predetermined splicing line.For there is the splicing of barrier in the range of blocking
Public territory, uses the alternative splicing line after adjusting to perform image mosaic, and for not depositing in the range of blocking
In the splicing public territory of barrier, predetermined splicing line is used to splice, thus each stitching image is raw
Become panorama stitching image.
To sum up, by radar data, each splicing public territory is detected respectively, determine splicing public area
When there is barrier in the range of the blocking of territory, for preventing the parallax effects of barrier from splicing, can be to existence
The splicing public territory correspondence splicing line of barrier is adjusted, with the remove obstacles impact on splicing,
Use the splicing line adjusted to perform image mosaic, generate panoramic mosaic image, improve splicing effect, it is provided that
Peripheral situation of vehicle information accurately.
With reference to Fig. 6, it is shown that the structure of the another kind of image processing apparatus embodiment based on vehicle of the present invention
Block diagram, specifically can include such as lower module:
Radar Detection module 502, for detecting respectively each splicing public territory by radar.
Splicing line adjusting module 504, for when existing on predetermined splicing line splicing public territory being detected
During barrier, the predetermined splicing line of correspondence of described splicing public territory is adjusted.
Concatenation module 506, for using the splicing line of adjustment to perform image mosaic, generates panoramic mosaic figure
Picture.
Acquisition module 508, for obtaining the positional information of described barrier from described radar.
Wherein, described Radar Detection module 502, including:
Scanning submodule 5022, is used for using radar to be scanned each splicing public territory.
Detection of obstacles submodule 5024, for being analyzed the radar data of passback, detects each splicing
Whether public territory exists barrier；If any one public territory exists barrier, then detect described barrier
Hinder thing whether on the predetermined splicing line of described splicing public territory.
Described splicing line adjusting module 504, including:
First adjusts submodule 5042, for choosing alternative splicing line based on described barrier so that described
Barrier does not block described alternative splicing line；Described alternative splicing line is used to replace described splicing public territory
Predetermined splicing line.
Described first adjusts submodule 5042, is used for when may select more than an alternative splicing line, according to
Deviate the angle of predetermined splicing line order from small to large and choose alternative splicing line.
Second adjusts submodule 5044, calculates described barrier for the profile information according to described barrier
Size；Determine alternative splicing line according to the size of described barrier, use described alternative splicing line to replace
The predetermined splicing line of described splicing public territory.
Described concatenation module 506, for the splicing public territory for there is barrier on predetermined splicing line,
Use alternative splicing line to perform image mosaic, obtain subregion stitching image；For not depositing on predetermined splicing line
In the splicing public territory of barrier, use predetermined splicing line to perform image mosaic, obtain subregion spliced map
Picture；Each subregion stitching image is synthesized panoramic mosaic image.
Detected the real time status of motor vehicle environment by photographic head and laser radar, multi-signal is through melting simultaneously
After conjunction processes, feed back to driver with the form of acousto-optic-electric, improve the safety of traveling.
For device embodiment, due to itself and embodiment of the method basic simlarity, so the comparison described
Simply, relevant part sees the part of embodiment of the method and illustrates.
Each embodiment in this specification all uses the mode gone forward one by one to describe, and each embodiment stresses
Be all the difference with other embodiments, between each embodiment, identical similar part sees mutually
?.
Those skilled in the art are it should be appreciated that the embodiment of the embodiment of the present invention can be provided as method, dress
Put or computer program.Therefore, the embodiment of the present invention can use complete hardware embodiment, completely
Software implementation or the form of the embodiment in terms of combining software and hardware.And, the embodiment of the present invention
Can use and can be situated between with storage at one or more computers wherein including computer usable program code
The upper computer journey implemented of matter (including but not limited to disk memory, CD-ROM, optical memory etc.)
The form of sequence product.
The embodiment of the present invention is with reference to method according to embodiments of the present invention, terminal unit (system) and meter
The flow chart of calculation machine program product and/or block diagram describe.It should be understood that can be by computer program instructions
Each flow process in flowchart and/or block diagram and/or square frame and flow chart and/or square frame
Flow process in figure and/or the combination of square frame.Can provide these computer program instructions to general purpose computer,
The processor of special-purpose computer, Embedded Processor or other programmable data processing terminal equipment is to produce
One machine so that performed by the processor of computer or other programmable data processing terminal equipment
Instruction produce for realizing at one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The device of the function specified in multiple square frames.
These computer program instructions may be alternatively stored in and computer or other programmable datas can be guided to process
In the computer-readable memory that terminal unit works in a specific way so that be stored in this computer-readable
Instruction in memorizer produces the manufacture including command device, and this command device realizes flow chart one
The function specified in flow process or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions also can be loaded into computer or other programmable data processing terminals set
Standby upper so that on computer or other programmable terminal equipment, to perform sequence of operations step in terms of producing
The process that calculation machine realizes, thus the instruction performed on computer or other programmable terminal equipment provides and uses
In realizing in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame
The step of the function specified.
Although having been described for the preferred embodiment of the embodiment of the present invention, but those skilled in the art being once
Know basic creative concept, then these embodiments can be made other change and amendment.So,
Claims are intended to be construed to include preferred embodiment and fall into the institute of range of embodiment of the invention
There are change and amendment.
Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like
It is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires
Or imply relation or the order that there is any this reality between these entities or operation.And, art
Language " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that
Process, method, article or terminal unit including a series of key elements not only include those key elements, and
Also include other key elements being not expressly set out, or also include for this process, method, article or
The key element that person's terminal unit is intrinsic.In the case of there is no more restriction, statement " include one
It is individual ... " key element that limits, it is not excluded that including the process of described key element, method, article or end
End equipment there is also other identical element.
Above to a kind of image processing method based on vehicle provided by the present invention and a kind of based on vehicle
Image processing apparatus, be described in detail, the specific case principle to the present invention used herein
And embodiment is set forth, the method that the explanation of above example is only intended to help to understand the present invention
And core concept；Simultaneously for one of ordinary skill in the art, according to the thought of the present invention,
All will change in detailed description of the invention and range of application, in sum, this specification content should not
It is interpreted as limitation of the present invention.
Claims (14)
1. an image processing method based on vehicle, it is characterised in that including:
By radar, each splicing public territory is detected respectively；
When there is barrier on predetermined splicing line splicing public territory being detected, public to described splicing
The predetermined splicing line of correspondence in region is adjusted；
Use the splicing line adjusted to perform image mosaic, generate panoramic mosaic image.
Method the most according to claim 1, it is characterised in that described by radar to each splicing
Public territory is detected respectively, including:
Use radar that each splicing public territory is scanned；
The radar data of passback is analyzed, detects whether each splicing public territory exists barrier；
If any one public territory exists barrier, then detect whether described barrier blocks in described spelling
Connect on the predetermined splicing line of public territory.
Method the most according to claim 2, it is characterised in that when splicing public territory being detected
Predetermined splicing line on there is barrier after, also include:
The positional information of described barrier is obtained from described radar.
Method the most according to claim 1, it is characterised in that described to described splicing public area
The predetermined splicing line of correspondence in territory is adjusted, including:
Alternative splicing line is chosen so that described barrier does not block described alternative splicing based on described barrier
Line；
Described alternative splicing line is used to replace the predetermined splicing line of described splicing public territory.
Method the most according to claim 4, it is characterised in that described in choose alternative splicing line,
Including:
When may select more than an alternative splicing line, according to deviateing the angle of predetermined splicing line from small to large
Order choose alternative splicing line.
Method the most according to claim 2, it is characterised in that described to described splicing public area
The predetermined splicing line of correspondence in territory is adjusted, including:
Profile information according to described barrier calculates the size of described barrier；
Determine alternative splicing line according to the size of described barrier, use described alternative splicing line to replace described
The predetermined splicing line of splicing public territory.
Method the most according to claim 1, it is characterised in that the splicing line that described employing adjusts
Perform image mosaic, generate panoramic mosaic image, including:
For there is the splicing public territory of barrier on predetermined splicing line, use alternative splicing line execution figure
As splicing, obtain subregion stitching image；
For there is not the splicing public territory of barrier on predetermined splicing line, predetermined splicing line is used to perform
Image mosaic, obtains subregion stitching image；
Each subregion stitching image is synthesized panoramic mosaic image.
8. an image processing apparatus based on vehicle, it is characterised in that including:
Radar Detection module, for detecting respectively each splicing public territory by radar；
Splicing line adjusting module, for when there is obstacle on predetermined splicing line splicing public territory being detected
During thing, the predetermined splicing line of correspondence of described splicing public territory is adjusted；
Concatenation module, for using the splicing line of adjustment to perform image mosaic, generates panoramic mosaic image.
Device the most according to claim 8, it is characterised in that described Radar Detection module, bag
Include:
Scanning submodule, is used for using radar to be scanned each splicing public territory；
Detection of obstacles submodule, for being analyzed the radar data of passback, detects each splicing public
Whether region exists barrier；If any one public territory exists barrier, then detect described barrier
Whether block on the predetermined splicing line of described splicing public territory.
Device the most according to claim 9, it is characterised in that also include:
Acquisition module, for obtaining the positional information of described barrier from described radar.
11. devices according to claim 8, it is characterised in that described splicing line adjusting module,
Including:
First adjusts submodule, for choosing alternative splicing line based on described barrier so that described obstacle
Thing does not block described alternative splicing line；Described alternative splicing line is used to replace the pre-of described splicing public territory
Determine splicing line.
12. devices according to claim 11, it is characterised in that
Described first adjusts submodule, for when may select more than an alternative splicing line, according to deviation
The angle of predetermined splicing line order from small to large chooses alternative splicing line.
13. devices according to claim 9, it is characterised in that described splicing line adjusting module,
Including:
Second adjusts submodule, for calculating the chi of described barrier according to the profile information of described barrier
Very little；Determine alternative splicing line according to the size of described barrier, use described alternative splicing line to replace described
The predetermined splicing line of splicing public territory.
14. devices according to claim 8, it is characterised in that
Described concatenation module, for the splicing public territory for there is barrier on predetermined splicing line, adopts
Perform image mosaic with alternative splicing line, obtain subregion stitching image；For not existing on predetermined splicing line
The splicing public territory of barrier, uses predetermined splicing line to perform image mosaic, obtains subregion stitching image；
Each subregion stitching image is synthesized panoramic mosaic image.
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