CN107169924A - The method for building up and system of three-dimensional panoramic image - Google Patents
The method for building up and system of three-dimensional panoramic image Download PDFInfo
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- CN107169924A CN107169924A CN201710448347.6A CN201710448347A CN107169924A CN 107169924 A CN107169924 A CN 107169924A CN 201710448347 A CN201710448347 A CN 201710448347A CN 107169924 A CN107169924 A CN 107169924A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
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- 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
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- G06T5/00—Image enhancement or restoration
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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Abstract
The invention discloses the method for building up of three-dimensional panoramic image and system, it is related to technical field of virtual reality, hemispherical center position is taken pictures simultaneously by the multiple camera arrangements being symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, the image mosaic that multiple camera arrangements are shot is into panorama sketch and is sent to the display for carrying out three-dimensional panorama figure in appearance that panorama sketch is mapped to corresponding virtual semi-sphere surface model by virtual reality device.Because each camera arrangement ecto-entad is shot to hemispherical center position from different perspectives simultaneously, therefore, it can realize that user surrounds and show user's viewing angle corresponding three-dimensional panorama view when hemispheric center position goes in ring in real time, so user can arbitrarily change observation position, the scope of the observation zone of action of user is significantly increased, user experience is improved.Can solve the mobilizable region of observer in the prior art limit to very much with experience effect it is poor the problem of.
Description
Technical field
The present invention relates to the method for building up and system of technical field of virtual reality, more particularly to a kind of three-dimensional panoramic image.
Background technology
Three-dimensional panoramic image is the image information by the whole environment scene of cameras capture, and the spelling of image is carried out using software
Integration is connect, plane picture progress is handled and obtains three-dimensional panoramic image.Three-dimensional panoramic image can realize the plan two dimension
As being modeled to real three dimensions, reach simulation and reproduce the effect of true environment scene.
With the development of computer hardware technique, the increasingly popularization of intelligent wearable device, wear-type virtual reality is set
It is standby that virtual ambient image is presented at the moment by observer by image display panel, it is that observer builds one kind and places oneself in the midst of virtual ring
Experience in border.
However, currently used for the three-dimensional panoramic image in wear-type virtual reality device visual angle be all observer position
It is motionless, centered on observer position, 360 ° of outwards observations are rotated in place, while head can be looked up and top view.
The scene presented under this observation visual angle is so that the mobilizable region of observer is limited to very much, and experience effect is poor.
The content of the invention
In order to solve the above problems, the present invention provides the method for building up and system of a kind of three-dimensional panoramic image, can expand
Observation visual angle, increases the feeling of immersion of user.
The present invention provides a kind of method for building up of three-dimensional panoramic image, including：
Multiple camera arrangements, are symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, simultaneously towards hemispherical
Center position taken pictures, wherein, the image that adjacent each camera arrangement in locus is shot is partially overlapped by each other；
Image splicing device, is connected with multiple camera arrangements respectively, receives the image that multiple camera arrangements are sent, and will be many
The image mosaic that individual camera arrangement is sent is into panorama sketch, and the panorama sketch is the panorama sketch of hemispheric center position；
Virtual reality device, is connected with image splicing device, receives the panorama sketch after image splicing device splicing, will
Panorama sketch is mapped to the display for carrying out three-dimensional panorama figure in appearance of corresponding virtual semi-sphere surface model, the virtual semi-sphere face mould
Type is corresponding with hemisphere face.
Alternatively, hemisphere face is divided into some by sphere dimension line and sphere meridian, and each part is by adjacent
Meridian and dimension line, which intersect, obtains at least three intersection point, and the multiple camera arrangement includes taking the photograph located at the wide-angle of each point of intersection
Camera.
Alternatively, described system also includes：
Image compressing device, processing, described image pressure are compressed by the panorama sketch after image splicing device splicing
Compression apparatus is arranged in image splicing device, or is placed on image splicing device and is connected with image splicing device；
Image decompression device, the panorama sketch after handling image compressing device compression carries out decompression processing, and by decompression
Panorama sketch after reason is sent to virtual reality device progress textures and shows that described image decompression device can be arranged in virtual reality
In equipment.
Alternatively, image splicing device, using the homography conversion between plane projection, multiple camera arrangements are sent
Image under different projection planes is transformed under approximately the same plane, and characteristic point is carried out to each image after projection plane unification
Monitoring is extracted, and is screened for the matching for having the two of overlapping region images to carry out characteristic point, sets up two figures for having overlapping region
Matching double points as between, image registration and fusion, exposure compensating are carried out to the image after Feature Points Matching and goes ghost to handle,
The image mosaic that multiple camera arrangements are shot is into panorama sketch.
Alternatively, virtual reality device, user around hemispheric center position go in ring when, obtain user position and
Viewing-angle information, three are carried out according to the position of user and Viewing-angle information by the image on the hemisphere surface model under correspondence position and visual angle
Dimension image is shown；When triggering viewpoint height adjust instruction, raise corresponding viewpoint height position, by corresponding viewpoint height,
Image on hemisphere surface model under horizontal location and view directions carries out 3-D view and shown；When user is in hemispheric
Heart direction close to when, by the default multiple of the increase resolution of the 3-D view of display, it is ensured that the 3-D view of display is clear not
Distortion.
The present invention also provides a kind of method for building up of three-dimensional panoramic image, including：
The image that multiple camera arrangements are shot simultaneously towards hemispheric center position is obtained, wherein, it is the multiple to take pictures
Device is symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, and each adjacent camera arrangement of locus is shot
Image is partially overlapped by each other；
The image mosaic that multiple camera arrangements are shot is into panorama sketch, and the panorama sketch is complete for hemispheric center position
Jing Tu；
Panorama sketch after splicing is mapped to the carry out three-dimensional panorama figure in appearance of corresponding virtual semi-sphere surface model
Display, the virtual semi-sphere surface model is corresponding with hemisphere face.
Alternatively, hemisphere face is divided into some by sphere dimension line and sphere meridian, and each part is by adjacent
Meridian and dimension line, which intersect, obtains at least three intersection point, and the multiple camera arrangement includes taking the photograph located at the wide-angle of each point of intersection
Camera.
Alternatively, described method also includes：
Using the homography conversion between plane projection, the image under the different projection planes that multiple camera arrangements are sent
It is transformed under approximately the same plane；
Carry out characteristic point monitoring to each image after projection plane unification to extract, for there are the two of overlapping region figures
Matching screening as carrying out characteristic point, sets up the matching double points having between two images of overlapping region；
Image registration and fusion, exposure compensating are carried out to the image after Feature Points Matching and goes ghost to handle, by multiple figures
As being spliced into panorama sketch.
Alternatively, described method also includes：
When user is gone in ring around hemispheric center position, position and the Viewing-angle information of user is obtained, according to user's
Image on hemisphere surface model under correspondence position and visual angle is carried out 3-D view and shown by position and Viewing-angle information；
When triggering viewpoint height adjust instruction, corresponding viewpoint height position is raised, by corresponding viewpoint height, level
The image on hemisphere surface model under positioning and view directions carries out 3-D view and shown；
When user is close to hemispheric center position, by default times of the increase resolution of the 3-D view of display
Number, it is ensured that the 3-D view of display is clearly undistorted.
Alternatively, described method also includes：
When the button for monitoring to be located at triggering viewpoint height adjust instruction on virtual reality device is triggered, viewpoint is triggered
Height adjust instruction；Or
The preset times of viewpoint height adjust instruction are triggered when monitoring that the user for wearing virtual reality device continuously jumps
When, trigger viewpoint height adjust instruction.
The embodiment of the present invention by be symmetrically evenly arranged on hemisphere face each other in spherical surface position relation by multiple being taken pictures
Device is taken pictures to hemispheric center position simultaneously, and the image mosaic that multiple camera arrangements are shot is into panorama sketch and sends
Panorama sketch is mapped to the display for carrying out three-dimensional panorama figure in appearance of corresponding virtual semi-sphere surface model to virtual reality device.
Because the image that each camera arrangement is shot is partially overlapped by each other (local degree of overlapping is high), the closeness of image covering is higher, energy
Enough realize the panoramic picture covering of full angle so that when local overlapping image mosaic is three-dimensional panoramic image, effect is rounder and more smooth,
Closer to real scene.Further, because each camera arrangement ecto-entad is from different perspectives simultaneously to hemispheric center
Direction (scene) is shot, it is thereby achieved that user is surrounded when hemispheric center position goes in ring, display user sees in real time
The corresponding three-dimensional panorama view of angle is examined, such user can arbitrarily change observation position, and the observation for significantly increasing user is lived
The scope in dynamic region, improves user experience.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Three-dimensional panoramic image that Fig. 1 provides for one embodiment of the invention sets up system architecture diagram；
Fig. 2 is a kind of camera arrangement arrangement schematic diagram provided in an embodiment of the present invention；
The method for building up schematic flow sheet for the three-dimensional panoramic image that Fig. 3 provides for one embodiment of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclude and include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX being distinguished from each other out.For example, not departing from implementation of the present invention
In the case of example scope, the first XXX can also be referred to as the 2nd XXX, similarly, and the 2nd XXX can also be referred to as the first XXX.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or also include for this commodity or the intrinsic key element of system.In the feelings of not more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
The present invention shoots Same Scene simultaneously from different perspectives by multiple camera arrangements, overlapping covering is obtained in real time whole
The multiple images of scene, obtain the image coverage of more crypto set, enabling according to active user towards requiring come to the use
Family provides corresponding image so that user obtains the experience of real-time stereoscopic vision effect.
Three-dimensional panoramic image that Fig. 1 provides for one embodiment of the invention sets up system architecture diagram, as shown in figure 1, this hair
The system that bright embodiment is provided includes：
N number of camera arrangement, is symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, while in hemispheric
Heart direction is taken pictures, wherein, the image that each adjacent camera arrangement of locus is shot is partially overlapped by each other；Wherein, N is big
In 3.
In the present embodiment, hemisphere face is divided into some by sphere dimension line and sphere meridian, and each part is by phase
Adjacent meridian and dimension line, which intersect, obtains at least three intersection point, and the multiple camera arrangement is included located at the wide of each point of intersection
Angle video camera.In a kind of optional implementation, it can use sphere dimension line that hemisphere face is divided into 2 along radius of a ball central point
Part, hemisphere face is divided 4 parts with sphere meridian, has adjacent two meridians and adjacent two dimension lines to intersect and obtains eight friendships
Point, wide angle cameras is respectively disposed with eight point of intersection, the point of intersection arrangement for having adjacent two meridians to intersect in the sphere arctic
There is wide angle cameras.
Fig. 2 is a kind of camera arrangement arrangement schematic diagram provided in an embodiment of the present invention, as shown in Fig. 2 being taken the photograph using 9 wide-angles
Camera is symmetrically and evenly arranged on hemisphere face, and 9 wide angle cameras are shot towards hemispheric center position, that is,
Say, each wide angle cameras ecto-entad is shot to hemispheric center position simultaneously from different perspectives, adjacent wide-angle
The image that video camera is shot is partially overlapped by each other (local degree of overlapping is high), and the closeness of image covering is higher, can realize full-shape
The panoramic picture covering of degree so that when local overlapping image mosaic is three-dimensional panoramic image, effect is rounder and more smooth, closer to truly
Scene.
The system of the present embodiment also includes：Image splicing device, is connected with multiple camera arrangements respectively, receives multiple take pictures
The image that device is sent, and the image mosaic that multiple camera arrangements are sent is into panorama sketch, the panorama sketch is ball center position
The panorama sketch of the object at place；
Image splicing device can use the homography conversion between plane projection when implementing image mosaic, will
Image under the different projection planes that multiple camera arrangements are sent is transformed under approximately the same plane, after projection plane unification
Each image carries out characteristic point monitoring and extracted, and screens, sets up for the matching for having the two of overlapping region images to carry out characteristic point
There are the matching double points between two images of overlapping region, image registration and fusion are carried out to the image after Feature Points Matching, is exposed
Light compensates and goes ghost to handle, and the image mosaic that multiple camera arrangements are shot is into panorama sketch.
The system of the present embodiment also includes：Virtual reality device, is connected with image splicing device, receives image splicing device
Panorama sketch after splicing, panorama sketch is mapped to the three-dimensional panorama figure of progress in appearance of corresponding virtual semi-sphere surface model
It has been shown that, the virtual semi-sphere surface model is corresponding with hemisphere face.
Specifically, virtual reality device carry out three-dimensional panorama figure when, when monitor user surround hemispheric center side
To it is belt when, obtain user position and Viewing-angle information, according to the position of user and Viewing-angle information by under correspondence position and visual angle
Hemisphere surface model on image carry out 3-D view show；When triggering viewpoint height adjust instruction, corresponding viewpoint is raised
Height and position, the image on the hemisphere surface model under corresponding viewpoint height, horizontal location and view directions is carried out three-dimensional
Image is shown；It is when monitoring that user is close to hemispheric center position, the increase resolution of the 3-D view of display is pre-
If multiple, it is ensured that the 3-D view of display is clear and undistorted.
Therefore, being provided with sensor on virtual reality device, the conversion of the position and visual angle of user can be monitored.
In a kind of optional implementation, the system of the present embodiment also includes：
Image compressing device, processing, described image pressure are compressed by the panorama sketch after image splicing device splicing
Compression apparatus is arranged in image splicing device, or is placed on image splicing device and is connected with image splicing device；
Image decompression device, the panorama sketch after handling image compressing device compression carries out decompression processing, and by decompression
Panorama sketch after reason is sent to virtual reality device progress textures and shows that described image decompression device can be arranged in virtual reality
In equipment.
The embodiment of the present invention by be symmetrically evenly arranged on hemisphere face each other in spherical surface position relation by multiple being taken pictures
Device is taken pictures to hemispheric center position simultaneously, and the image mosaic that multiple camera arrangements are shot is into panorama sketch and sends
Panorama sketch is mapped to the display for carrying out three-dimensional panorama figure in appearance of corresponding virtual semi-sphere surface model to virtual reality device.
Because the image that each camera arrangement is shot is partially overlapped by each other (local degree of overlapping is high), the closeness of image covering is higher, energy
Enough realize the panoramic picture covering of full angle so that when local overlapping image mosaic is three-dimensional panoramic image, effect is rounder and more smooth,
Closer to real scene.Further, because each camera arrangement ecto-entad is from different perspectives simultaneously to hemispheric center
Direction is shot, it is thereby achieved that user is surrounded when hemispheric center position goes in ring shows user's viewing angle in real time
Corresponding three-dimensional panorama view, such user can arbitrarily change observation position, significantly increase the observation zone of action of user
Scope, improve user experience.
Based on the system architecture diagram shown in Fig. 1, the foundation side for the three-dimensional panoramic image that Fig. 3 provides for one embodiment of the invention
Method schematic flow sheet, as shown in figure 3, including：
101st, the multiple camera arrangements being symmetrically evenly arranged in each other in spherical surface position relation on hemisphere face are obtained and are directed to half
The image that spherical center position is shot simultaneously.
Wherein, the multiple camera arrangement is symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, space bit
The image for putting adjacent each camera arrangement shooting is partially overlapped by each other；
Wherein, multiple camera arrangements include in hemispherical specific arrangement：Hemisphere face is by sphere dimension line and sphere longitude
Line is divided into some, and each part obtains at least three intersection point, the multiple bat by adjacent meridian and dimension line are intersecting
Include the wide angle cameras located at each point of intersection according to device.As shown in Fig. 2 symmetrically and evenly being arranged using 9 wide angle cameras
On hemisphere face, 9 wide angle cameras are shot towards hemispheric center position, that is to say, that each wide angle cameras
Ecto-entad is shot to hemispheric center position simultaneously from different perspectives, so, what adjacent wide angle cameras was shot
Image is partially overlapped by each other (local degree of overlapping is high), and the closeness of image covering is higher, can realize the panoramic picture of full angle
Covering so that when local overlapping image mosaic is three-dimensional panoramic image, effect is rounder and more smooth, closer to real scene.
In the embodiment of the present invention, each camera arrangement is connected with image splicing device, can send the picture photographed
To image splicing device.
102nd, the image mosaic for shooting multiple camera arrangements is into panorama sketch.
Specifically, image splicing device is received after the image that each camera arrangement is transmitted, it is necessary to be carried out such as to image
Lower processing：Projection plane unification, feature extraction, characteristic matching, image registration and fusion, exposure compensating remove ghost, final to obtain
The panorama sketch textures of a hemisphere surface model outer surface can be covered to one.
Wherein, projection plane unification processing includes：Using the homography conversion between plane projection, by each dress of taking pictures
The image put under the different projection planes of shooting is transformed under approximately the same plane.
Wherein, feature extraction includes：Feature point detection extraction is carried out to each image, for example can be special using Scale invariant
The Sift characteristic points that conversion (Scale-invariant feature transform, SIFT) method extracts each image are levied, it is right
Each image carries out continuous filtering several times and obtains the first yardstick group image, and original graph image width high-shrinkage is half as large, if then carrying out
Dry time continuous filtering obtains the second yardstick group image, constantly repeats the process, until the wide high threshold value for being less than or equal to setting of image
Untill；Difference is carried out to the Gaussian image in each yardstick, Gaussian difference scale group image is formed；Solve and calculate these Gaussian differences
Divide the Local Extremum of yardstick group image, as Sift characteristic points.Wherein, Sift characteristic points are the local features of image, to flat
Shifting, rotation, scaling, brightness change, block there is good consistency with noise etc., to visible change, affine transformation
Keep a certain degree of stability.
Characteristic matching includes：Because the image that adjacent wide angle cameras is shot is partially overlapped by each other (local degree of overlapping
It is high), therefore for there is the two of overlapping region images, first using RANSAC (RANdom Sample Consensus abbreviation,
It is, according to one group of sample data set for including abnormal data, to calculate the mathematical model parameter of data, obtain effective sample number
According to algorithm) algorithm to characteristic point screen, reusing Sift/KD-Tree, (abbreviation of k-dimensional trees is a kind of segmentation
The data structure in k dimension datas space) set up the characteristic point pair matched between two images.
Image registration and fusion include：Image registration is to be joined by the characteristic point of matching to obtaining image space coordinate transform
Number；Image registration is finally carried out by coordinate conversion parameter；Non- multi-level technique or multi-level technique can be used in image co-registration
Come the spatial resolution and spectrum for improving the utilization rate of image information, improving computer interpretation precision and reliability, lifting image
Resolution ratio.
Exposure compensating and ghost is gone to include：According to optical perspective geometrical principle, the image that two different camera arrangements are shot,
Always there is certain parallax, the flaw for being difficult to receive visually occur in such as ghost image, ghost, the image for eventually resulting in splicing
Defect, it is therefore desirable to carry out going ghost to handle to image；Further, since camera has different shooting angle, the position for example having
In phototropic face, what is had is located at shady face, so as to cause captured image the inconsistent situation of depth of exposure occur.So this hair
Need to be exposed each image compensation in bright embodiment and go ghost to handle, wherein, exposure compensating can be straight according to target
Square figure curve is exposed adjustment to image.
Image splicing device repeats the above step image mosaic that shoots each filming apparatus into panorama sketch.
103rd, the progress in appearance for the panorama sketch after splicing being mapped into corresponding virtual semi-sphere surface model is three-dimensional complete
The display of scape figure.
Virtual semi-sphere surface model in the embodiment of the present invention is that virtual reality device passes through scientific and technical analog simulation reality
In hemisphere face after be added to again the model that virtual reality world is perceived by the user, be that virtualization technology is added to user's sense
The mode in the world is observed on official again.Therefore, existence position mapping relations between virtual semi-sphere surface model and hemisphere face.
In the embodiment of the present invention, in order to improve efficiency of transmission, network transmission resource is reduced, image splicing device will be clapped each
The image mosaic of device shooting is taken the photograph into after panorama sketch, the Lossless Compression that the panorama sketch being spliced into carries out lightweight can again be led to
Network transmission is crossed to virtual reality device.
Virtual reality device is decompressed to the panorama sketch received first, then by the panorama sketch correspondence textures after decompression
Onto the outer surface of virtual semi-sphere surface model, the three-dimensional panorama figure based on virtual reality is formed.
In the embodiment of the present invention, due to each camera arrangement be ecto-entad from different perspectives simultaneously to hemispheric center
Direction is shot, it is thereby achieved that user is surrounded when hemispheric center position goes in ring shows user's viewing angle in real time
Corresponding three-dimensional panorama view, such user can arbitrarily change observation position, significantly increase the observation zone of action of user
Scope, improve user experience.
Specifically, when user is gone in ring around hemispheric center position, position and the Viewing-angle information of user is obtained, according to
Image on hemisphere surface model under correspondence position and visual angle is carried out 3-D view and shown by the position of user and Viewing-angle information.
When triggering viewpoint height adjust instruction, corresponding viewpoint height position is raised, by corresponding viewpoint height, level
The image on hemisphere surface model under positioning and view directions carries out 3-D view and shown；Wherein, viewpoint height adjust instruction
Triggering situation include but is not limited to following citing：Viewpoint height adjust instruction is triggered when monitoring to be located on virtual reality device
Button when being triggered, trigger viewpoint height adjust instruction；Or ought monitor that the user for wearing virtual reality device continuously jumps
When jumping the preset times of triggering viewpoint height adjust instruction, viewpoint height adjust instruction is triggered.
When user is close to hemispheric center position, by default times of the increase resolution of the 3-D view of display
Number, it is ensured that the 3-D view of display is clearly undistorted.As shown in Fig. 2 when user walks close to scene center point along radius, in order to
Allowed under the different depth of field in virtual reality device can with the 3-D view of the clear careful display virtual real of high-resolution,
1080P resolution ratio is subjected to rise resolution processes when user's viewpoint furthers for scene center point distance, for example, passed through
The multiple that neutral net specifies increase resolution, the multiple specified is traditionally arranged to be 2-4 times, and view distance scene center point is got over
Closely, set multiple higher, the clear and undistorted of image is ensured with this.
It should be noted that in the embodiment of the present invention, sensor is provided with virtual reality device, for user's head
Follow the trail of to determine position and posture of the user's head in real world, may thereby determine that the observation visual angle of virtual world.
The embodiment of the present invention by be symmetrically evenly arranged on hemisphere face each other in spherical surface position relation by multiple being taken pictures
Device is taken pictures to hemispheric center position simultaneously, and the image mosaic that multiple camera arrangements are shot is into panorama sketch and sends
Panorama sketch is mapped to the display for carrying out three-dimensional panorama figure in appearance of corresponding virtual semi-sphere surface model to virtual reality device.
Because the image that each camera arrangement is shot is partially overlapped by each other (local degree of overlapping is high), the closeness of image covering is higher, energy
Enough realize the panoramic picture covering of full angle so that when local overlapping image mosaic is three-dimensional panoramic image, effect is rounder and more smooth,
Closer to real scene.Further, because each camera arrangement ecto-entad is from different perspectives simultaneously to hemispheric center
Direction is shot, it is thereby achieved that user is surrounded when hemispheric center position goes in ring shows user's viewing angle in real time
Corresponding three-dimensional panorama view, such user can arbitrarily change observation position, significantly increase the observation zone of action of user
Scope, improve user experience.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of three-dimensional panoramic image sets up system, it is characterised in that including：
Multiple camera arrangements, are symmetrically evenly arranged on hemisphere face each other in spherical surface position relation, in hemispheric
Heart direction is taken pictures, wherein, the image that each adjacent camera arrangement of locus is shot is partially overlapped by each other；
Image splicing device, is connected with multiple camera arrangements respectively, receives the image that multiple camera arrangements are sent, and clap multiple
The image mosaic sent according to device is into panorama sketch, and the panorama sketch is the panorama sketch of hemispheric center position；
Virtual reality device, is connected with image splicing device, the panorama sketch after image splicing device splicing is received, by panorama
Figure be mapped to corresponding virtual semi-sphere surface model in appearance carry out three-dimensional panorama figure display, the virtual semi-sphere surface model with
Hemisphere face correspondence.
2. system according to claim 1, it is characterised in that：
Hemisphere face is divided into some by sphere dimension line and sphere meridian, and each part is by adjacent meridian and dimension
Line is intersecting to obtain at least three intersection point, and the multiple camera arrangement includes the wide angle cameras located at each point of intersection.
3. system according to claim 1, it is characterised in that also include：
Image compressing device, processing, described image compression dress are compressed by the panorama sketch after image splicing device splicing
Put and be arranged in image splicing device, or be placed on image splicing device and be connected with image splicing device；
Image decompression device, the panorama sketch after handling image compressing device compression carries out decompression processing, and by after decompression processing
Panorama sketch be sent to virtual reality device carry out textures show that described image decompression device can be arranged in virtual reality device
In.
4. system according to claim 1, it is characterised in that：
Image splicing device, using the homography conversion between plane projection, the different projections that multiple camera arrangements are sent are flat
Image under face is transformed under approximately the same plane, and characteristic point monitoring is carried out to each image after projection plane unification and is extracted,
For there are the two of overlapping region images to carry out the matching screening of characteristic point, having between two images of overlapping region is set up
With point pair, image registration and fusion, exposure compensating are carried out to the image after Feature Points Matching and goes ghost to handle, is taken pictures multiple
The image mosaic that device is shot is into panorama sketch.
5. system according to claim 1, it is characterised in that：
Virtual reality device, when user is gone in ring around hemispheric center position, obtains position and the Viewing-angle information of user, root
The image on the hemisphere surface model under correspondence position and visual angle is carried out into 3-D view according to the position and Viewing-angle information of user to show；
When triggering viewpoint height adjust instruction, raise corresponding viewpoint height position, by corresponding viewpoint height, horizontal location and
Image on hemisphere surface model under view directions carries out 3-D view and shown；When user is close to hemispheric center position
When, by the default multiple of the increase resolution of the 3-D view of display, it is ensured that the 3-D view of display is clearly undistorted.
6.A kind of method for building up of three-dimensional panoramic image, it is characterised in that including：
The image that multiple camera arrangements are shot simultaneously towards hemispheric center position is obtained, wherein, the multiple camera arrangement
Symmetrically it is evenly arranged in each other in spherical surface position relation on hemisphere face, the image that each adjacent camera arrangement of locus is shot
It is partially overlapped by each other；
The image mosaic that multiple camera arrangements are shot is into panorama sketch, and the panorama sketch is the panorama of hemispheric center position
Figure；
The aobvious of three-dimensional panorama figure is carried out in appearance by what the panorama sketch after splicing was mapped to corresponding virtual semi-sphere surface model
Show, the virtual semi-sphere surface model is corresponding with hemisphere face.
7. method according to claim 6, it is characterised in that：
Hemisphere face is divided into some by sphere dimension line and sphere meridian, and each part is by adjacent meridian and dimension
Line is intersecting to obtain at least three intersection point, and the multiple camera arrangement includes the wide angle cameras located at each point of intersection.
8. method according to claim 6, it is characterised in that also include：
Using the homography conversion between plane projection, the image conversion under the different projection planes that multiple camera arrangements are sent
To under approximately the same plane；
Carry out characteristic point monitoring to each image after projection plane unification to extract, for there are the two of overlapping region images to enter
The matching screening of row characteristic point, sets up the matching double points having between two images of overlapping region；
Image registration and fusion, exposure compensating are carried out to the image after Feature Points Matching and goes ghost to handle, multiple images are spelled
It is connected into panorama sketch.
9. method according to claim 6, it is characterised in that also include：
When user is gone in ring around hemispheric center position, position and the Viewing-angle information of user is obtained, according to the position of user
The image on the hemisphere surface model under correspondence position and visual angle is carried out into 3-D view with Viewing-angle information to show；
When triggering viewpoint height adjust instruction, corresponding viewpoint height position is raised, by corresponding viewpoint height, horizontal location
And the image on the hemisphere surface model under view directions carries out 3-D view and shown；
When user is close to hemispheric center position, the default multiple of the increase resolution of the 3-D view of display is protected
The 3-D view for demonstrate,proving display is clearly undistorted.
10. method according to claim 9, it is characterised in that also include：
When the button for monitoring to be located at triggering viewpoint height adjust instruction on virtual reality device is triggered, viewpoint height is triggered
Adjust instruction；Or
When monitor the user for wearing virtual reality device continuously jump triggering viewpoint height adjust instruction preset times when, touch
Send out viewpoint height adjust instruction.
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