CN106534780A - Three-dimensional panoramic video monitoring device and video image processing method thereof - Google Patents
Three-dimensional panoramic video monitoring device and video image processing method thereof Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
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Abstract
The invention provides a three-dimensional panoramic video monitoring device and video image processing method thereof. The device includes a monitoring front end and a monitoring room end, the monitoring room end includes a server and a monitoring display screen, the monitoring front end includes monitoring probes, and each monitoring probe is provided with an embedded processor and a video acquisition module, a video processing module, a GPS module and a first communication module; and the server includes a central processor module and a second communication module, an image processing module, a storage module and a display module. The three-dimensional panoramic video monitoring device is characterized in that image frames acquired by the video acquisition module are successive and at least partially overlap, the image processing module is internally provided with a Graphic Processing Unit (GPU) used for generating a panoramic video of successive monitoring frames after splicing a plurality of paths of video images formed by the plurality of monitoring probes, and the central processor module outputs a three-dimensional panoramic video of a large scene after performing three-dimensional modeling. The device and method provided by the invention allow successive monitoring frames, and have a wide-range three-dimensional panorama monitoring effect, and the monitoring is relatively convenient and visual.
Description
Technical field
The present invention relates to safety monitoring technical field, more particularly to online real-time video monitoring technology, it is specially a kind of
Three-dimensional panoramic video supervising device and its method of video image processing.
Background technology
Video monitoring is the important component part of safety-security area, in recent years, with image processing techniquess and transmission of video skill
The development of art, Video Supervision Technique have also obtained very big development.But, existing video monitoring product is that control point is adopted mostly
Separate unit photographic head, some control points is used to gather the monitor area scene of different visual angles, and by monitored picture by wired or wireless
Mode is transmitted to Control Room, and multiple independent monitor window causes for gossip are now monitored.Due to the monitoring limited viewing angle of separate unit photographic head, for big
Scene monitoring place, monitoring personnel need to monitor multiple windows, the exception in tending not to find in time to monitor, additionally, due to mesh
The monitored picture that front separate unit photographic head is shown in Control Room is separate, lacks relatedness, meanwhile, traditional monitoring device is
Two-dimensional video monitoring mode, monitoring scene picture be not directly perceived, and monitoring efficiency is lower.
The content of the invention
The purpose of the present invention is for the deficiencies in the prior art, it is proposed that a kind of three-dimensional panorama based on video-splicing technology
Video monitoring apparatus and its method of video image processing, it is possible to achieve the three-dimensional panoramic video monitoring on a large scale in the same screen,
And monitored picture is continuous, facilitates monitoring personnel to find the exception of monitor area in time.
The three-dimensional panoramic video supervising device that first aspect present invention is proposed, including front monitoring front-end and Control Room end, it is described
Control Room end includes interconnecting server and monitoring display screen, and the front monitoring front-end includes being distributed in monitor area many places simultaneously
The monitoring probe being connected with the server signal, the plurality of monitoring probe be provided with include flush bonding processor and respectively with
Flush bonding processor connection for the video acquisition module of the video image acquisition of monitor area, the video figure to being gathered
As carrying out the video processing module of Video processing, the GPS module positioned to probe positions, by the video image information and
The first communication module that probe position information is communicated to connect with the Control Room end；The server at the Control Room end include for
The center processor module of installation operation system and be connected with the center processor module respectively for communicating with first
Module connection second communication module, the input equipment for man-machine interactively, for the image to video image splicing at
Reason module, the memory module for store video images and the display module for showing video；It is characterized in that monitor area
The image frame of interior multiple video acquisition module collections is continuously and acquired image at least partially overlaps, described image
It is provided with GPU graphic process unit in processing module, the GPU graphic process unit is for the multi-channel video that formed to multiple monitoring probes
Image generates the panoramic video of continuous monitored picture after being spliced, center processor module is according to panoramic video information and probe
Positional information exports the three-dimensional panoramic video of large scene after carrying out stereoscopic three-dimensional modeling.
In the present invention program, the image frame of multiple video acquisition modules collections is continuous and acquired image at least
Partially overlap, so that GPU graphic process unit will can be spliced into after the intersection fusion of image when to image mosaic
Continuous video image, without duplicating folded scape and interrupted scape, video image effect is continuously clear, it is easy to monitor each
The situation of period；And center processor module carried out according to panoramic video information and probe position information it is defeated after stereoscopic three-dimensional modeling
Go out the three-dimensional panoramic video of large scene, then all monitoring probe collections can just be shown in a display window by display module
Multiple paths of video images, improve the relatedness of each road video, form three-dimensional intuitively monitored picture, it is convenient to monitor, lift prison
Control efficiency.
Further, the three-dimensional panoramic video supervising device also includes communicating to connect and obtaining with the second communication module
The mobile monitoring terminal of three-dimensional panoramic video is taken, the mobile monitoring terminal at least includes an intelligent monitoring mobile terminal.Can
To realize remote multi-party monitoring simultaneously.
Further, the intelligent monitoring mobile terminal is in notebook computer or panel computer or smart mobile phone
Kind.As these mobile terminals are embedded device, monitoring system application software is mounted therein with, by second communication module
Wirelessly it is connected with center processor module, you can to transfer the passing monitor video in memory module, it is also possible to viewing can be transferred
Real-time three-dimensional overall view monitoring video, can show integral monitoring picture by these mobile terminals, can also show certain little picture of monitoring
Face, and amplify the little picture of the monitoring.
Further, the input equipment at least includes the one kind in keyboard, mouse and touch screen.For to server
Man machine interface is interacted, and the display of certain little picture of monitoring can be chosen by input equipment, and is zoomed in and out with different angles.
Further, the video acquisition module includes webcam driver circuit and photographic head group, and photographic head group is separate unit
Or the combination of multiple stage photographic head.
Another aspect of the present invention also provides the method for video image processing of three-dimensional panoramic video supervising device, including following step
Suddenly：
S1 ：Video frame images pretreatment
Pretreatment is carried out to video image, noise is eliminated, the correction of the image to producing geometric distortion, meanwhile, incorporate rectangular histogram
Equalization algorithm for image enhancement, the image relatively low to definition realize image enhaucament；
S2:Video frame images registration
Using two field picture registration Algorithm, image characteristic point detection, feature description and characteristic matching are completed, makes to overlap each other between image
Part is aligned, and image to be spliced is transformed into the coordinate system of reference picture, constitutes complete image；
S3：Video frame images merge
Merged to splicing overlapping region using two field picture blending algorithm, make color gradually transition, it is ensured that split edge smoothing
Transition, eliminates splicing line, generates the full-view video image of smooth and seamless.
The video image seriality spliced by this law side is good, high definition, facilitates monitoring personnel to find monitored space in time
The exception in domain, improves monitoring efficiency.
Further, the two field picture blending algorithm is using weighting smoothing techniques.Weighting smoothing techniques enter to splicing overlapping region
Row fusion, makes color gradually transition, it is ensured that split edge smoothing transition, eliminates splicing line, generates the panoramic video of smooth and seamless
Image.
Compared with prior art, the three-dimensional panoramic video supervising device based on video-splicing technology of the invention and its video
Image processing method have the advantage that for：Monitored picture is continuous, on a large scale three-dimensional panorama monitoring effect, monitors convenient, straight
See；Monitoring personnel portability intelligent monitoring mobile terminal carries out the monitoring to control point in addition, need not wait for indoor in monitoring, more
Plus facilitate the action of monitoring personnel, when such as running into burst accident, monitoring personnel can side monitoring scene of the accident picture, while to accident ground
Point action.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
It is substantially and easy to understand, wherein：
Fig. 1 is the overall structure block diagram of three-dimensional panoramic video supervising device of the present invention；
Fig. 2 is the photographic head group block diagram of monitoring probe in Fig. 1；
Fig. 3 is Control Room end server architecture block diagram in Fig. 1；
Fig. 4 is the camera combination structure schematic diagram of three-dimensional panoramic video supervising device of the present invention；
Fig. 5 is the method for video image processing flow chart of the three-dimensional panoramic video supervising device of the present invention.
Specific embodiment
It is in order to be more clearly understood that the above objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and concrete real
Apply mode to be further described in detail the present invention.It should be noted that in the case where not conflicting, the enforcement of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description in order to fully understand the present invention, but, the present invention may be used also
Implemented with being different from mode described here using other, therefore, protection scope of the present invention does not receive following public tool
The restriction of body embodiment.
It is further described referring to Fig. 1 to the 5 pair of embodiment of the present invention.
As shown in figure 1, a kind of panoramic video monitoring device includes front monitoring front-end and Control Room end, Control Room end includes mutually
Connection server and monitoring display screen, front monitoring front-end include being distributed in many places in monitor area the prison being connected with server signal
Control probe, such as monitoring probe 1, monitoring probe 2, monitoring probe 3 ..., monitoring probe n, monitoring probe can be according to monitor area
The needing of scope is adjusted quantity and position, and this n monitoring probe is connected by wired or wireless communication with server, will
The image information that monitoring probe is collected is transferred to server；As shown in Fig. 2 monitoring probe is provided with includes flush bonding processor
And be connected with flush bonding processor respectively the video acquisition module for the video image acquisition to monitor area, to being gathered
Video image carry out the video processing module of Video processing, the GPS module positioned to probe positions, video image believed
The first communication module that breath and probe position information are communicated to connect with Control Room end；As shown in figure 4, the server bag at Control Room end
Include for installation operation system center processor module and be connected with center processor module respectively for logical with first
Letter module connection second communication module, the input equipment for man-machine interactively, for the image to video image splicing
Processing module, the memory module for store video images and the display module for showing video；Wherein, in monitor area
The image frame of multiple video acquisition module collections is continuously and acquired image at least partially overlaps, in image processing module
It is provided with GPU graphic process unit, GPU graphic process unit is for splicing to the multiple paths of video images that multiple monitoring probes are formed
The panoramic video of continuous monitored picture is generated afterwards, and center processor module is carried out according to panoramic video information and probe position information
The three-dimensional panoramic video of stereoscopic three-dimensional modeling output large scene.
The image frame of multiple video acquisition module collections is continuously and acquired image at least partially overlaps, from
And enable GPU graphic process unit to be spliced into continuous video figure after the intersection fusion of image when to image mosaic
Picture, without duplicating folded scape and interrupted scape, video image effect is continuously clear, it is easy to monitor the situation of each period；
Center processor module carries out the three of large scene is exported after stereoscopic three-dimensional modeling according to panoramic video information and probe position information
Dimension panoramic video, then the multi-channel video of all monitoring probe collections can be just shown by display module in display screen windows
Image, improves the relatedness of each road video, forms three-dimensional intuitively monitored picture, convenient to monitor, and lifts monitoring efficiency.
In one specific embodiment, as shown in figure 1, three-dimensional panoramic video supervising device also includes multiple mobile monitor ends
End, such as mobile monitoring terminal 1, mobile monitoring terminal 2, mobile monitoring terminal 3 ... such as mobile monitoring terminal n, these movement prisons
Control terminal is communicated to connect so as to obtain three-dimensional panoramic video from server with second communication module, and mobile monitoring terminal is at least wrapped
An intelligent monitoring mobile terminal is included, can thus be realized remote multi-party while monitoring, facilitates distant place personnel to grasp in time
The first-hand field data of monitor area.
Used as the concrete option of embodiment, intelligent monitoring mobile terminal is notebook computer or panel computer or smart mobile phone
In one kind.As these mobile terminals are embedded device, monitoring system application software is mounted therein with, it is logical by second
Letter module is wirelessly connected with center processor module, you can to transfer the passing monitor video in memory module, it is also possible to adjustable
Viewing real-time three-dimensional overall view monitoring video is taken, integral monitoring picture can be shown by these mobile terminals, can also show certain prison
Little picture is controlled, and amplifies the little picture of the monitoring.
Used as the concrete option of embodiment, the input equipment at least includes the one kind in keyboard, mouse and touch screen.With
Interact in the man machine interface to server, the display of certain little picture of monitoring can be chosen by input equipment, and with different angles
Zoom in and out.
The improvement project of one specific embodiment, video acquisition module include webcam driver circuit and photographic head group, take the photograph
As the combination that head group is separate unit or multiple stage photographic head, as shown in figure 4, the f of a represents that photographic head group is taken the photograph by 1 respectively respectively in figure
As head, 2 photographic head, 3 photographic head, 4 photographic head, 5 photographic head, 6 photographic head compositions, the wherein direction of arrow is shooting
Head mirror head centerline direction, multiple stage photographic head obtain the video image in different monitoring region from different directions, and photographic head number can
Determined according to actually required monitoring visual angle, monitor area photographic head gathers multi-path monitoring video simultaneously.
As shown in figure 5, the method for video image processing of above-mentioned three-dimensional panoramic video supervising device, comprises the following steps：
S1：Video frame images pretreatment
Pretreatment is carried out to video image, noise is eliminated, the correction of the image to producing geometric distortion, meanwhile, incorporate rectangular histogram
Equalization algorithm for image enhancement, the image relatively low to definition realize image enhaucament;
S2:Video frame images registration
Using two field picture registration Algorithm, image characteristic point detection, feature description and characteristic matching are completed, makes to overlap each other between image
Part is aligned, and image to be spliced is transformed into the coordinate system of reference picture, constitutes complete image；Wherein image processing field can
Using method for registering have based on the image registration algorithm of Harris Corner Detections, based on ORB algorithms etc., can be according to the class of image
Type such as pixel, feature are selecting method for registering;
S3：Video frame images merge
Merged to splicing overlapping region using two field picture blending algorithm, blending algorithm there are weighting smoothing techniques, is fade-in the gradually side of going out
Method etc., the present embodiment are merged to splicing overlapping region using weighting smoothing techniques, make color gradually transition, it is ensured that split border
Seamlessly transit, eliminate splicing line, generate the full-view video image of smooth and seamless.
Compared with prior art, the three-dimensional panoramic video supervising device based on video-splicing technology of the invention and its video
Image processing method have the advantage that for：Monitored picture is continuous, on a large scale three-dimensional panorama monitoring effect, monitors convenient, straight
See；Monitoring personnel portability intelligent monitoring mobile terminal carries out the monitoring to control point in addition, need not wait for indoor in monitoring, more
Plus facilitate the action of monitoring personnel, when such as running into burst accident, monitoring personnel can side monitoring scene of the accident picture, while to accident ground
Point action.
Compared with prior art, the present embodiment using the three-dimensional panoramic video supervising device based on video-splicing technology and its
Method of video image processing have the advantage that for：Monitored picture is continuous, on a large scale three-dimensional panorama monitoring effect, monitors more square
Just, intuitively；Monitoring personnel portability intelligent monitoring mobile terminal carries out the monitoring to control point in addition, need not wait in Control Room
It is interior, the action of convenient monitoring personnel, when such as running into burst accident, monitoring personnel can side monitoring scene of the accident picture, Bian Xiang
Accident spot is taken action.
The preferred embodiments of the present invention are these are only, the present invention is not limited to, for those skilled in the art
For member, the present invention can have various modifications and variations.It is all the present invention creativeness spirit and principle within, that what is made is any
Modification, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of three-dimensional panoramic video supervising device based on video-splicing technology, including front monitoring front-end and Control Room end, it is described
Control Room end includes interconnecting server and monitoring display screen, and the front monitoring front-end includes being distributed in monitor area many places simultaneously
The monitoring probe being connected with the server signal, the plurality of monitoring probe be provided with include flush bonding processor and respectively with
Flush bonding processor connection for the video acquisition module of the video image acquisition of monitor area, the video figure to being gathered
As carrying out the video processing module of Video processing, the GPS module positioned to probe positions, by the video image information and
The first communication module that probe position information is communicated to connect with the Control Room end；The server at the Control Room end include for
The center processor module of installation operation system and be connected with the center processor module respectively for communicating with first
Module connection second communication module, the input equipment for man-machine interactively, for the image to video image splicing at
Reason module, the memory module for store video images and the display module for showing video；It is characterized in that monitor area
The image frame of interior multiple video acquisition module collections is continuously and acquired image at least partially overlaps, described image
It is provided with GPU graphic process unit in processing module, the GPU graphic process unit is for the multi-channel video that formed to multiple monitoring probes
Image generates the panoramic video of continuous monitored picture after being spliced, center processor module is according to panoramic video information and probe
Positional information exports the three-dimensional panoramic video of large scene after carrying out stereoscopic three-dimensional modeling.
2. three-dimensional panoramic video supervising device as claimed in claim 1, it is characterised in that also include the mould that communicates with described second
Block communicates to connect and obtains the mobile monitoring terminal of three-dimensional panoramic video, and the mobile monitoring terminal is at least supervised including an intelligence
Control mobile terminal.
3. three-dimensional panoramic video supervising device as claimed in claim 2, it is characterised in that the intelligent monitoring mobile terminal is
Notebook computer or panel computer or the one kind in smart mobile phone.
4. three-dimensional panoramic video supervising device as claimed in claim 1, it is characterised in that the input equipment at least includes key
One kind in disk, mouse and touch screen.
5. three-dimensional panoramic video supervising device as claimed in claim 1, it is characterised in that the video acquisition module includes taking the photograph
As head drive circuit and photographic head group, photographic head group is the combination of separate unit or multiple stage photographic head.
6. the method for video image processing of three-dimensional panoramic video supervising device, it is characterised in that comprise the following steps：
S1 ：Video frame images pretreatment
Pretreatment is carried out to video image, noise is eliminated, the correction of the image to producing geometric distortion, meanwhile, incorporate rectangular histogram
Equalization algorithm for image enhancement, the image relatively low to definition realize image enhaucament；
S2:Video frame images registration
Using two field picture registration Algorithm, image characteristic point detection, feature description and characteristic matching are completed, makes to overlap each other between image
Part is aligned, and image to be spliced is transformed into the coordinate system of reference picture, constitutes complete image；
S3：Video frame images merge
Merged to splicing overlapping region using two field picture blending algorithm, make color gradually transition, it is ensured that split edge smoothing
Transition, eliminates splicing line, generates the full-view video image of smooth and seamless.
7. the method for video image processing of three-dimensional panoramic video supervising device as claimed in claim 6, it is characterised in that described
Two field picture blending algorithm is using weighting smoothing techniques.
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| CN108337490A (en) * | 2018-04-26 | 2018-07-27 | 中铁十局集团第二工程有限公司 | A kind of building site monitoring system |
| CN109344792A (en) * | 2018-10-18 | 2019-02-15 | 电子科技大学 | A kind of Motion parameters tracking |
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