CN107024828A - A kind of camera system for being total to photocentre, panoramic seamless splicing component and method - Google Patents
A kind of camera system for being total to photocentre, panoramic seamless splicing component and method Download PDFInfo
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- CN107024828A CN107024828A CN201710196808.5A CN201710196808A CN107024828A CN 107024828 A CN107024828 A CN 107024828A CN 201710196808 A CN201710196808 A CN 201710196808A CN 107024828 A CN107024828 A CN 107024828A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
- G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
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Abstract
The invention discloses a kind of camera system for being total to photocentre, panoramic seamless splicing component and method, wherein camera system includes video camera, the first level crossing and the second level crossing, the minute surface of first level crossing and the second level crossing is parallel to each other, and is each perpendicular to the primary optical axis of the video camera；First level crossing is located at the pre-determined distance in the front of the video camera, and minute surface is towards the video camera；Second level crossing is located at the lens location of the video camera, and minute surface is provided with hole towards first level crossing on second level crossing, for supplying the video camera shooting image.By the camera system of the present invention photocentre of multiple video cameras can be caused to overlap, so as to shoot parallax free video, and then carry out seamless panoramic mosaic.
Description
Technical field
The present invention relates to virtual reality technology and computer vision field, more particularly to a kind of video camera dress for being total to photocentre
Put, panoramic seamless splicing component and method.
Background technology
In recent years, virtual reality technology upsurge have swepts the globe, and it can be widely used in entertaining, educate, communicates, section
Grind, military affairs, multiple industries such as medical treatment, not only bring large-scale technological revolution, and change people thinking habit and
Life style.Each major company in the whole world marches field of virtual reality one after another, and large quantities of start-up groups have also poured in virtual reality industry, gone out
Miscellaneous virtual reality device is showed.But, the virtual reality content of high-quality still extremely lacks, and this causes virtual reality
It is lack scope for their abilities that technology has the whole body ability in vain.
Panoramic video is one of main contents of virtual reality.Be presently used for panning video multiple video cameras it is big
Photocentre is not all total to, so there is parallax between each video shot, causes the panoramic video that is spliced and non-fully
Seamless.Small parallax can cause the problem of misalignment and ghost image then occurs in image blurring, big parallax.Especially, when having
When moving object passes through the splicing seams of panoramic video, these problems can become more serious, and very bad body is brought to user
Test.
The disclosure of background above technology contents is only used for design and the technical scheme that auxiliary understands the present invention, and it is not necessarily
Belong to the prior art of present patent application, without tangible proof show the above present patent application the applying date
In the case of disclosed, above-mentioned background technology should not be taken to evaluate the novelty and creativeness of the application.
The content of the invention
In order to solve the above technical problems, the present invention proposes a kind of camera system for being total to photocentre, panoramic seamless splicing group
Part and method, can cause the photocentre of multiple video cameras to overlap, so as to shoot parallax free video, and then carry out seamless
Panoramic mosaic.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of camera system for being total to photocentre, including video camera, the first level crossing and the second plane
Mirror, the minute surface of first level crossing and the second level crossing is parallel to each other, and is each perpendicular to the primary optical axis of the video camera；Wherein：
First level crossing is located at the pre-determined distance in the front of the video camera, and minute surface is towards the video camera；Described second is flat
Face mirror is located at the lens location of the video camera, and minute surface is provided with towards first level crossing on second level crossing
Hole, for supplying the video camera shooting image.
Preferably, the visual field of the imaging of the video camera is just completely covered in the minute surface size of first level crossing.
Preferably, that the video camera is completely covered is anti-by first level crossing for the minute surface size of second level crossing
Penetrate the captured visual field.
Preferably, described hole is arranged on the center of second level crossing, and the size of described hole is more than or equal to
The size of the main lens of the video camera.
Preferably, the back side of second level crossing is close at the lens location of the video camera, the size of described hole
Just not block the shooting visual field of the video camera.
It is multiple described the invention also discloses a kind of panoramic seamless splicing component, including multiple above-mentioned camera systems
Camera system forms a ring back to setting, the photocentre of the video camera in each described camera system to the circle
The distance at center is respectively equal to the photocentre of the corresponding video camera to the distance and first plane of first level crossing
Mirror is to second level crossing apart from sum.
Preferably, including 5~10 camera systems.
Preferably, the photocentre of the video camera in each described camera system is located on same circle, and each institute
State video camera equidistant arrangement respectively.
The present invention there is further disclosed herein a kind of panoramic seamless joining method, comprise the following steps：
S1：Video is shot using above-mentioned panoramic seamless splicing component, to each in the panoramic seamless splicing component
First frame of the video that the camera system is shot carries out feature extraction and characteristic matching respectively；
S2：Homography alignment is carried out to the first frame of each video, the ginseng of each camera system is calculated respectively
Number；
S3：According to the parameter of each camera system, the image projection for respectively shooting each camera system is extremely
On using the center of the circle as the sphere of the centre of sphere；
S4：Image after projection is merged, multiple images are fused to single panoramic picture；
Repeat step S3 and step S4, projects and merges successively each two field picture, obtains seamless panoramic image frame, generation
Seamless panoramic video.
Preferably, specifically included in step S1：Using SIFT, SURF or ORB feature extraction algorithm, extract described in each
The characteristic point of first two field picture of the video that camera system is shot, and the characteristic point of the first two field picture of each video is carried out
Matching；Preferably, fusion is carried out to the image after projection in step S4 and uses multi-band fusion method.
Compared with prior art, the beneficial effects of the present invention are：The camera system disclosed by the invention for being total to photocentre
The first level crossing and the second level crossing being parallel to each other by being set respectively at the front of video camera and lens location so that take the photograph
The photocentre of camera is moved to beyond the physical size of video camera by two secondary reflections, so that the photocentre of multiple video cameras is overlapped
It is possibly realized, and then the panoramic seamless splicing group based on the common photocentre of multiple video cameras of the present invention can be formed on this basis
Part, it is not in parallax to allow between the video that each video camera in the panoramic seamless splicing component shoots, and possesses common
Overlapping region, can carry out seamless spliced, and realize and do not obscured or ghost problems at overlapping region after splicing, splicing seams
The problem of place does not have misalignment yet, substantially improves the splicing effect of panoramic video；Further realize and shoot parallax free video,
And then carry out seamless panoramic mosaic.At the same time, many of the panoramic seamless splicing component shooting based on camera system are passed through
There is no parallax between individual image, without carrying out the steps such as seam searching, splicing speed can be improved, and then improve panoramic video
Frame per second, so as to lift the experience of virtual reality.
Brief description of the drawings
Fig. 1 is the structural representation of the camera system for being total to photocentre of the preferred embodiment of the present invention；
Fig. 2 is the imaging optical path schematic diagram in the non-central region of the imaging sensor of video camera in Fig. 1；
Fig. 3 is the isoboles of the imaging optical path in the non-central region of the imaging sensor of video camera in Fig. 1；
Fig. 4 is the imaging optical path schematic diagram of the central area of the imaging sensor of video camera in Fig. 1；
Fig. 5 is the structural representation of the panoramic seamless splicing component of the preferred embodiment of the present invention；
Fig. 6 is the flow chart of the panoramic seamless joining method of the preferred embodiment of the present invention.
Embodiment
Below against accompanying drawing and with reference to preferred embodiment the invention will be further described.
As shown in figure 1, being the structural representation of the camera system for being total to photocentre of the preferred embodiment of the present invention, the shooting
Machine device, which includes video camera A1, the first level crossing A2, the second level crossing A3, the first level crossing A2 and the second level crossing A3, mutually puts down
OK, video camera A1 primary optical axis is each perpendicular to, wherein：First level crossing A2 is located at the pre-determined distance in video camera A1 front,
Its minute surface is towards video camera A1；Second level crossing A3 is located at video camera A1 lens location, its minute surface the first level crossing of direction
A2, hole is opened up on the second level crossing A3, for supplying video camera A1 shooting images.
Further, the field range of video camera A1 imaging is just completely covered in the first level crossing A2 minute surface size,
That is, the light being imaged into video camera A1 inside can only come from the light of the first level crossing A2 reflections.Second
Level crossing A3 minute surface size is completely covered video camera A1 and the captured visual field is reflected by the first level crossing A2, that is to say, that
The light being imaged inside into video camera A1 can only be by the second level crossing A3 and the secondary reflections of the first level crossing A2 two
Light；Hole on wherein the second level crossing A3 is opened up at its center, and the size of the hole is smaller, not block shooting
Premised on the machine A1 shooting visual field, wherein the second level crossing A3 back side can be close at video camera A1 lens location, hole
The size in hole can be equal to or slightly greater than the size of video camera A1 main lens.
Video camera A1 photocentre is located at the center of main lens, in the case where not using special device be can not cause it is multiple
What the photocentre of video camera overlaped, being additionally, since the photo-sensitive cell of video camera has certain size, can only be to necessarily regarding
Wild scope is imaged.And the video camera A1 being total in the camera system of photocentre in the preferred embodiment of the present invention passes through two
The reflection of level crossing, is shot equivalent to dead astern is moved to, and allows video camera A1 photocentre to move backward, so that many
Individual video camera can be positioned in the space same point simultaneously and multiple different directions are shot, make multi-channel video it is seamless spliced into
For possibility.
As shown in Fig. 2 light is by mirror-reflection twice, on video camera A1 imaging sensor A5 non-central region
It is imaged, wherein, the light by the first level crossing A2 edge reflections just falls within imaging sensor A5 edge, i.e., and
One level crossing A2 just completely covers the video camera A1 shooting visual field.Convex lens A4 represents video camera A1 main lens, shooting
Machine A1 photocentre is located at convex lens A4 center, and the extended line of the second level crossing A3 all incident rays just intersects at one
Point, this is exactly that video camera A1 photocentre is moved to the position in dead astern, as virtual photocentre.
As shown in figure 3, removing the first level crossing A2 and the second level crossing A3, convex lens A4 is moved to the virtual optical at rear
At the position of the heart, while keeping imaging sensor A5 and convex lens A4 relative position constant.Contrasted with Fig. 2 as can be seen that scheming
Completely the same in the light and Fig. 2 that are received as the non-central region of sensors A 5, imaging is also completely the same；Namely
Say, video camera A1 is exactly moved to the position of the virtual photocentre in dead astern by the first level crossing A2 and the second level crossing A3 effect
Place is shot.
As shown in figure 4, the light that imaging sensor A5 central area is received, then by being more than mirror-reflection twice,
Light closer to imaging sensor A5 centers, the number of times of reflection is more, it is possible that Johannes Drost effect；And due to center
Region is not the overlapping region of adjacent camera, therefore will not produce influence to splicing.
With reference to Fig. 1 to Fig. 4, video camera A1 photocentre is moved at the virtual photocentre in dead astern by mirror-reflection twice,
It can be drawn from image-forming principle, the distance of video camera A1 photocentre to virtual photocentre is equal to video camera A1 photocentre to the first plane
Mirror A2 distance is with the first level crossing A2 to the second level crossing A3 apart from sum.
As shown in figure 5, the panoramic seamless splicing component of the present invention includes multiple above-mentioned camera systems, multiple video cameras
Device, which facing away from, to form a ring, and the virtual photocentre of each camera system is respectively positioned on the center of the circle, i.e. each video camera
The photocentre of video camera in device is respectively equal to the photocentre of corresponding video camera to the first level crossing to the distance at the center of the circle
Distance and the first level crossing to the second level crossing apart from sum so that photocentre is set each camera system altogether.
Further, the photocentre of the video camera in each camera system is located on same circle, by adjusting every group of plane
The distance moved after the distance between mirror, the photocentre for making each camera system is equal to the radius size of the circle, you can so that all
The virtual photocentre of camera system is located on the center of circle (center of i.e. foregoing circle) of the circle, now, equivalent to the video camera
It is moved to the circle centre position to shoot multiple different directions, so as to obtain the parallax free video of multichannel.In certain embodiments,
The panoramic seamless splicing component can include 5~10 camera systems, the equidistant arrangement respectively of each camera system.
On the basis of the hardware unit shown in Fig. 5 ensures input video quality, the preferred embodiment of the present invention discloses one
Panoramic seamless joining method is planted, as shown in fig. 6, comprising the following steps：
S1：Video is shot using panoramic seamless splicing component as shown in Figure 5, to each in panoramic seamless splicing component
The first frame (first frame) for the video that camera system is shot carries out feature extraction and characteristic matching, specifically, can use SIFT
(size constancy eigentransformation), SURF (acceleration robust feature) or ORB feature extraction algorithms, extract each video camera dress
The characteristic point of the first two field picture of the video of shooting is put, and the characteristic point of the first two field picture of each video is matched；
S2：Homography alignment is carried out to the first frame (first frame) of each video, specifically, a global homography is used
Transformation matrix, the characteristic point matched is alignd, so as to calculate the intrinsic parameter and outer parameter of each camera system；
S3：According to the intrinsic parameter of each camera system and outer parameter, the image for respectively shooting each camera system
Projection is on using virtual photocentre as the sphere of the centre of sphere, because each camera system is total to photocentre, so each video camera is filled
Putting the image of shooting will project to same sphere, and be parallax free；
S4：Image after projection is merged, multiple images are fused to single panoramic picture, specifically, can be adopted
Multi-band fusion method is used, due to being parallax free between each image, so the panorama sketch of fusion is also seamless；
Repeat step S3 and step S4, projects and merges successively each two field picture, obtains seamless panoramic image frame, and then
The panoramic video that generation is seamless.
The panorama sketch that the image/video shot using the panoramic seamless splicing component shown in Fig. 5 is synthesized after above-mentioned steps
As or video be completely seamless, wherein due to there is no parallax between multiple images, without carrying out the steps such as seam searching so that
It can improve splicing speed, and then improve the frame per second of panoramic video, this experience to virtual reality is most important.
The camera system of photocentre that is total to of the present invention is put down by increasing by one group at the front of video camera and lens location
Face mirror so that beyond the physical size that video camera is moved to after the photocentre of video camera, so that the photocentre of multiple video cameras is overlapped
It is possibly realized, and then devises a kind of panoramic seamless splicing component of photocentre altogether.Due to the panoramic seamless splicing component of common photocentre
The video of acquisition has parallax free advantage, so can not only improve the splicing effect of panoramic video, obtains seamless panorama
Video, and the algorithm of video-splicing can be simplified, improve the speed of video-splicing and the frame per second of panoramic video.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of from present inventive concept, some equivalent substitutes or obvious modification can also be made, and performance or purposes are identical, all should
When being considered as belonging to protection scope of the present invention.
Claims (10)
1. a kind of camera system for being total to photocentre, it is characterised in that including video camera, the first level crossing and the second level crossing,
The minute surface of first level crossing and the second level crossing is parallel to each other, and is each perpendicular to the primary optical axis of the video camera；Wherein：
First level crossing is located at the pre-determined distance in the front of the video camera, and minute surface is towards the video camera；
Second level crossing is located at the lens location of the video camera, and minute surface is towards first level crossing, described the
Two level crossings are provided with hole, for supplying the video camera shooting image.
2. camera system according to claim 1, it is characterised in that the minute surface size of first level crossing is just complete
The visual field of the imaging of video camera described in all standing.
3. camera system according to claim 1, it is characterised in that the minute surface size of second level crossing is covered completely
Cover the video camera and the captured visual field is reflected by first level crossing.
4. camera system according to claim 1, it is characterised in that described hole is arranged on second level crossing
Center, the size of described hole is more than or equal to the size of the main lens of the video camera.
5. the camera system according to any one of Claims 1-4, it is characterised in that the back side of second level crossing
At the lens location for being close to the video camera, the size of described hole is just not block the shooting visual field of the video camera.
6. a kind of panoramic seamless splicing component, it is characterised in that including multiple shootings as described in any one of claim 1 to 5
Machine device, multiple camera systems form a ring back to setting, the video camera in each described camera system
Photocentre to the distance at the center of the circle be respectively equal to the photocentre of the corresponding video camera to first level crossing away from
From with sum with a distance from first level crossing to second level crossing.
7. panoramic seamless splicing component according to claim 6, it is characterised in that including 5~10 video camera dresses
Put.
8. the panoramic seamless splicing component according to claim 6 or 7, it is characterised in that in each described camera system
The photocentre of the video camera be located on same circle, and each described video camera equidistant arrangement respectively.
9. a kind of panoramic seamless joining method, it is characterised in that comprise the following steps：
S1：Video is shot using the panoramic seamless splicing component as described in any one of claim 6 to 8, to the panoramic seamless
First frame of the video that each described camera system in splicing component is shot carries out feature extraction and characteristic matching respectively；
S2：Homography alignment is carried out to the first frame of each video, the parameter of each camera system is calculated respectively；
S3：According to the parameter of each camera system, the image projection for respectively shooting each camera system is to institute
The center of circle is stated on the sphere of the centre of sphere；
S4：Image after projection is merged, multiple images are fused to single panoramic picture；
Repeat step S3 and step S4, projects and merges successively each two field picture, obtains seamless panoramic image frame, generates seamless
Panoramic video.
10. panoramic seamless joining method according to claim 9, it is characterised in that specifically included in step S1：Using
SIFT, SURF or ORB feature extraction algorithm, extract the spy of the first two field picture of the video that each described camera system is shot
Levy a little, and the characteristic point of the first two field picture of each video is matched；Preferably, the image after projection is entered in step S4
Row fusion uses multi-band fusion method.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196808.5A CN107024828A (en) | 2017-03-29 | 2017-03-29 | A kind of camera system for being total to photocentre, panoramic seamless splicing component and method |
| PCT/CN2017/083304 WO2018176575A1 (en) | 2017-03-29 | 2017-05-05 | Co-optical-center camera device, and seamless panoramic stitching assembly and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710196808.5A CN107024828A (en) | 2017-03-29 | 2017-03-29 | A kind of camera system for being total to photocentre, panoramic seamless splicing component and method |
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| CN107024828A true CN107024828A (en) | 2017-08-08 |
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| CN201710196808.5A Pending CN107024828A (en) | 2017-03-29 | 2017-03-29 | A kind of camera system for being total to photocentre, panoramic seamless splicing component and method |
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| WO (1) | WO2018176575A1 (en) |
Cited By (1)
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|---|---|---|---|---|
| CN110086987A (en) * | 2019-04-22 | 2019-08-02 | 惠州Tcl移动通信有限公司 | A kind of camera visual angle method of cutting out, device and storage medium |
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| KR20000017888A (en) * | 1999-12-28 | 2000-04-06 | 김기삼 | single lens stereo vision gain method with mirrors |
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| WO2018176575A1 (en) | 2018-10-04 |
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