CN107240065A - A kind of 3D full view image generating systems and method - Google Patents
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Abstract
The present invention provides a kind of 3D full view image generating systems and method, and the system includes：Electronic control unit, display unit and No. four video cameras of vehicle all around everywhere are separately mounted to, this method includes：S11 is demarcated to No. four video camera；S12 gathers image using four-way CCD camera；S13 sets up three-dimensional surface model and carries out triangulation to it, and the texel and position coordinates of image are mapped in the three-dimensional surface model；S14 output display 3D panoramic pictures.The present invention realizes the output of panoramic picture by four camera modules, and simple system is easily installed；Method is stable, simple and easy to apply, and the speed of service is fast, and pattern accuracy is high, and availability is strong, applied widely, while reducing amount of calculation, reduces hardware, software cost.
Description
Technical field
The present invention relates to the senior drive assist system field for intelligent automobile, especially, it is related on a kind of automobile
3D full view image generating systems and method.
Background technology
In recent years, developing rapidly with motor vehicle industry, traffic accident is also increasing so that people become more concerned with
The safety problem of automobile, wherein automotive safety technology are even more to receive much concern.Traditional vehicle-mounted panoramic is mostly 2D panoramas, simply letter
Single image to collection splices, and many view data can be lost using 2D splicing, can not be sharp well
With the advantage of wide-angle lens, for driver be exactly generation the panoramic picture visual field it is smaller, and the processing platform based on DSP
It is difficult to functions expanding.
Senior drive assist system (Advanced Driver Assistant System, ADAS) is to utilize to be arranged on car
On various sensors, obtain environmental data at any time during running car, the computing and analysis of system carried out, so that in advance
Driver is first allowed to perceive the danger that may occur.Senior drive assist system includes panorama drive assist system, and it is based on complete
The generation of scape image, there is provided motor vehicle environment panoramic picture, is that intelligent parking, deviation, track auxiliary, spacing detection etc. are carried
Data support is supplied.
In the prior art, there is the invention of the method, such as Application No. 201210590533.0 of panoramic picture generation
Patent application describes a kind of curved surface projection apparatus and method of multiple-camera panorama system, and this method obtains wide angle cameras
Fault image, carries out projecting to after distortion correction on three-dimension curved surface to it and then generates panoramic picture.However, the 3D of this application is complete
Scape generation method has the following disadvantages：1. needing to carry out distortion correction to image, time complexity is higher；2. in integration region
Image mosaic effect is poor；3. do not make full use of the advantage of embedded platform.
The content of the invention
The present invention proposes a kind of 3D panoramic pictures generating means to overcome above-mentioned technological deficiency of the prior art.This
The purpose of invention is achieved through the following technical solutions.
A kind of 3D full view image generating systems, the system includes：Electronic control unit (ECU), display unit and pacify respectively
Mounted in No. four video cameras of vehicle all around everywhere, No. four video camera includes the front camera mould installed in vehicle front side
Block, the rear camera module installed in vehicle rear-side, put installed in a left side for vehicle left side camera module, it is right installed in vehicle
Camera module is put on the right side of side, is respectively used to gather the image on four direction all around, and send images to electronics control
Unit processed, electronic control unit is used to, according to four camera module acquired image data, build 360 degree of panoramic pictures,
And 360 degree of constructed panoramic pictures are sent to display unit；Display unit is used to be shown panoramic picture.
A kind of 3D panorama image generation methods, it uses above-mentioned system to realize that this method includes：S11 is to four tunnel
Video camera is demarcated；S12 gathers image using four-way CCD camera；S13 sets up three-dimensional surface model and carries out triangle to it and cuts open
Point, the texel and position coordinates of image are mapped in the three-dimensional surface model；S14 output display 3D panoramic pictures.
Preferably, wherein S13 comprises the following steps：
S131 sets up world coordinate system in three-dimensional surface model；
The texel and position coordinates for the original image that S132 obtains vehicle body four-way CCD camera module are mapped to three-dimensional
On surface model, the 3D reconstruct of original image is obtained, realizes that panorama is generated.
Preferably, wherein S132 comprises the following steps：
Three-dimensional surface model is divided into eight regions by S1320, front, rear, left and right, it is left front, left back, right before, it is right after；Wherein
The region of front, rear, left and right four is non-fused region, left front, left back, before the right side, and four regions are integration region behind the right side；
S1321 non-fused Area generations；
S1322 integration regions are generated.
A kind of terminal system, including memory, one or more processors, and one or more computer programs, its
Described in one or more computer programs be stored in memory, and be configured to by one or more of processors
Perform, the step of computer program includes being used to perform this method.
A kind of computer-readable recording medium, including the computer program being used in combination with terminal system, the computer
The step of program can be executed by processor to complete this method.
The present invention has the following advantages：The present invention realizes the output of panoramic picture, system letter by four camera modules
It is single, it is easily installed；Distortion correction need not be carried out to image, time complexity is low, in the image mosaic of integration region in method
Effect is good, takes full advantage of the advantage of embedded platform.The system and method are simple for structure, and the speed of service is fast, image essence
Exactness is high, and availability is strong, applied widely, while reducing amount of calculation, reduces hardware, software cost.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Accompanying drawing 1 shows the 3D full view image generating system structure charts of the present invention；
Accompanying drawing 2 shows the 3D panorama image generation method flow charts of the present invention；
Accompanying drawing 3 shows the three-dimensional surface model schematic diagram in the 3D panorama image generation methods of the present invention；
Accompanying drawing 4, which is shown in the 3D panorama image generation methods of the present invention, has been divided into three-dimensional surface model in eight regions
Schematic diagram；
Accompanying drawing 5 shows the panoramic picture of the 3D panorama image generation method output displays of the present invention.
Embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although showing this public affairs in accompanying drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.Conversely it is able to be best understood from the disclosure there is provided these embodiments, and can be by this public affairs
The scope opened completely convey to those skilled in the art.
According to the embodiment of the present invention, Fig. 1 shows a kind of 3D full view image generating systems, and the system includes electronics control
Unit (ECU) processed, display unit and be separately mounted to the camera module of vehicle all around everywhere, i.e., it is preposition shown in Fig. 1
Camera module, rear camera module, a left side put camera module, the right side and put camera module.Wherein, four camera modules are used
Image in collection all around four direction, sends an image to electronic control unit, and electronic control unit is used for basis
Four camera module acquired image data, build 360 degree of panoramic pictures, and 360 degree of constructed panoramic pictures are sent out
Display unit is given to be shown；View data is gathered by camera module and is sent to electronic control unit.
Fig. 2 shows the 3D panorama generation methods according to embodiment of the present invention, and it uses above-mentioned 3D panoramic pictures to give birth to
Realized into system, the key step of this method includes：S11 is demarcated to video camera；S12 four-way CCD cameras gather image；S13
Set up three-dimensional surface model and triangulation is carried out to it, the texel and position coordinates of image are mapped on model；S14
Output display.Specifically,
S11, to video camera carry out demarcation include：Calibrating camera, obtains the rotation that world coordinates is tied to camera coordinate system
Torque battle array and translation vector, and video camera distortion parameter, that is, the contact set up between world coordinate system and image coordinate system,
Realize the calculating of outer ginseng and internal reference.
S12, using four-way CCD camera collection image include：Using being separately mounted to the camera of vehicle all around everywhere
Module, shoots from the front, rear, left and right four direction of vehicle body and gathers image respectively.
It is preferably located at front camera module all around everywhere, rear camera module, a left side and puts shooting head mould
It is all fish eye lens that block, the right side, which put camera module,.
S13, threedimensional model and texture mapping (set up threedimensional model and triangulation is carried out to model) are set up, by image
Texel and position coordinates be mapped on model.
Normally, when rendering a textured sphere, first by sphere triangulation, calculate every on triangulation
The world coordinate system position coordinates and texture coordinate on individual summit, texture image is put into OpenGL, when rendering, according to summit
World coordinate system position coordinates and camera internal reference outside join, obtain projected position of the summit in final image, and according to
The texture coordinate on the summit, sampling obtains the pixel value of vertex correspondence from texture image.Wherein, between triangulation vertex
Summit pixel value can be realized by OpenGL interpolation.
The S13 of the 3D panorama generation methods of the present invention includes the front, rear, left and right four direction collection from vehicle body using S12
Image generate final 3D panoramic pictures, the 3D panoramic pictures can be used for the vehicle-mounted auxiliary of looking around of 3D and drive panoramic picture.
It is by three-dimensional surface model to generate the 3D panoramic pictures using the image of the front, rear, left and right four direction collection of vehicle body
(three-dimension curved surface be bowl-shape curved surface) renders to realize, i.e., S13 comprises the following steps：
S131 sets up world coordinate system in three-dimensional surface model.
In figure 3, using vehicle midpoint as origin, vehicle right side direction is X-direction, and vehicle front side direction is Y direction,
It is upwards Z-direction perpendicular to floor, it is hereby achieved that the apex coordinate of each point in three-dimensional surface model.
The texel and position coordinates for the original image that S132 obtains vehicle body four-way CCD camera module are mapped to three-dimensional
On surface model, the 3D reconstruct of original image is obtained, realizes that panorama is generated.
Normally, the apex coordinate of curved surface is obtained by S131, a curved surface without colouring has simply been obtained,
Any vehicle periphery scene information will not be obtained by observing this curved surface.Accordingly, it would be desirable to give curved surface colouring, the source of color is
The four road original images that four-way CCD camera is collected, image pixel value " patch " is collected to curved surface by four-way CCD camera module
(that is, by original image pixels value reflection to three-dimensional surface model), observes this curved surface, can get the 3D of original image
Reconstruct.
Preferably, S132 includes rendering the texel of original image, by original image pixels value reflection to three
On dimension surface model (that is, the point on curved surface finds the corresponding points (may be floating number) in original image, and with the corresponding points
Pixel value is filled into the point on curved surface), comprise the following steps：
Three-dimensional surface model is divided into eight regions by S1320, front, rear, left and right, it is left front, left back, right before, it is right after., such as scheme
Shown in 4, similar oval region center is automobile body, is around divided into 8 regions, the wherein area of front, rear, left and right four
Domain is non-fused region, left front as shown in Fig. 4 summary light gray areas, left back, before the right side, and four regions are integration region behind the right side,
As Fig. 4 is omited shown in dark gray areas.
S1321 non-fused Area generations
For the region of front, rear, left and right four, it can project to respectively on the camera of four direction all around.
By taking front area as an example, a point P in front area, then P is in front side camera OcImage pixel coordinates system
Under coordinate pcCoordinate P under (u, v) and world coordinate systemw(xw,yw,zw) relation be：
Wherein, λ represents normalized parameter, and R and t are the spin matrix peace that world coordinates is tied to front side camera coordinate system
The amount of shifting to (R is a 3*3 matrix, and t is 3*1 vector, i.e. outer ginseng and internal reference).cx,cyFor the shape of front side fisheye image
Change center.For the distance of pixel to deformation center.F (ρ)=a0+a1ρ+a2ρ2+…+anρnImage cephalic flexure
Taylor expansion f (ρ)=a of face equation0+a1ρ+a2ρ2+…+anρn。
The Coordinate generation method of posterior region, left field, right side area reference front area, thus, all around
The four road original images in four regions are as texture image, according to above-mentioned method, by getting four regions all around
The world coordinates of each point on curved surface can be got every on curved surface to the projection of four tunnel coordinates of original image coordinates all around
The texture coordinate of one point.
S1232 non-fused Area generations
Left back for left front, before the right side, four regions behind the right side, this four regions are intersecting area, left front region, the region
In each point can project in front side and left side camera image and sat, it is necessary to obtain pixel from front side image
Mark, obtains a pixel coordinate, and using the seam crossing blending algorithm of formula (4-2), will be got from front side from left-side images
Pixel value and left side get pixel value fusion, obtain a brand-new pixel value.
Specifically, by taking left front side region as an example, for the point P in left front side region, obtain first in front side image
Subpoint p1' and left-side images in subpoint p2', using the method for Weighted Fusion, the pixel value for obtaining P points is：
Pixel (P)=λ Pixel (p '1)+(1-λ)Pixel(p′2) formula (4-2)
Wherein, λ ∈ [0,1] are fusion parameters, and the intersecting lens closer to left field and left front region, λ is smaller.
Left back region, right forefoot area, right rear region with reference to the Coordinate generation method in left front region, thus, get a left side
Before, it is left back, before the right side, texture coordinate of four regions to each point on curved surface behind the right side.
In a specific embodiment, above-mentioned S1231 and S1232 are realized using OpenGL.OpenGL is a set of program library,
There is provided some instruments for rendering 3D models.In this specific embodiment, including following aspect：
Rendering for Sphere Measurement Model is copied, surface model is carried out triangulation by us, the position for calculating each summit is sat
The pixel value of point inside mark and texture coordinate, surface triangulation is realized by OpenGL automatic interpolations.Triangulation is closeer, raw
It is higher into obtained panoramic picture quality.
For the triangulation vertex in non-fused region, it would be desirable to incoming world coordinate system coordinate and texture coordinate：
As it appears from the above, the first to three are classified as the world coordinate system coordinate on summit, the four to five is classified as the texture coordinate on summit.
For the triangulation point in integration region, it would be desirable to incoming world coordinate system coordinate, two texture coordinates and
Fusion parameters λ.
As it appears from the above, the first to three are classified as the world coordinate system coordinate on summit, the four to five is classified as first line on summit
Coordinate (such as front side image texture coordinate) is managed, the six to seven is classified as second texture coordinate, and (for example left-side images texture is sat
Mark), last is classified as fusion parameters λ.
If using OpenGL ES1.0 fixed program pipelines, merged for two texture coordinates of integration region and one
Parameter it is incoming, can all bring very big difficulty, it may be desired to be resorted to trickery to serve oneself generation by the method such as template image, but for
OpenGL ES2.0 may be programmed for pipeline, and it is all very easy problem to bring multiple vertical arrays and multiple texture images into.
For non-fused region, corresponding vertex shader is：
Here aPosition is apex coordinate, and aTexCoord is texture coordinate, and uProjMatrix is tied to for world coordinates
The transformation matrix of OpenGL virtual video cameras.
Piece member tinter is accordingly：
Here vTexCoord is texture coordinate, and sTexture is current certain original image, texture2D all the way
(sTexture, vTexCoord) is that the corresponding pixel values of vTexCoord are obtained in sTexture, is assigned to final display
Piece member color variance gl_FragColor.
For integration region, corresponding vertex shader is：
ATexCoord1 and aTexCoord2 is two texture coordinates, aWeight be fusion parameters λ, aPosition and
UProjMatrix is with shown on.
Piece member tinter is accordingly：
As it appears from the above, sTexture1 and sTexture2 is two-way original image, by sampling function, we are obtained the
The pixel value color2 in pixel value color1 and the second road original image all the way in original image, two color values are passed through
Fusion parameters vWeight fusions obtain final piece member color.
Because the illumination of four cameras is different, the brightness of the original four road image of generation is also inconsistent, it would be desirable to
The brightness of four road original images is balanced in panoramic picture, therefore, we need to distribute different brightness to four road original images
Offset, and be passed in piece member tinter, as follows, the uCompensation in the piece member tinter of non-fused region, it is first
First pass through texture2D (sTexture, vTexCoord) and obtain the corresponding pixel values of vTexCoord, then it is changed by RGB
For YUV, uCompensation is added in the Y-component in YUV, afterwards, then the YUV after conversion RGB, brightness is converted into
The code of adjustment is as follows：
S14 output displays
The panoramic picture obtained after processing is subjected to display output by display unit.
In a specific embodiment, when realizing this method using OpenGL, as shown in above-mentioned code, when in main functions
In when being written with gl_FragColor, OpenGL frameworks carry out display output, the panoramic picture exported such as Fig. 5 institutes with chance
Show.
According to one embodiment of the present invention, a kind of terminal system, including memory, one or more places are also disclosed
Device, and one or more computer programs are managed, wherein one or more of computer programs are stored in memory, and
And be configured to by one or more of computing devices, the computer program includes being used to perform foregoing 3D panoramas life
Into each step (each step that especially, S132 includes, more particularly, using OpenGL institutes reality in above-described embodiment of method
Existing above-mentioned S1231 and S1232 steps).
According to one embodiment of the present invention, also disclose a kind of computer-readable recording medium, including with it is above-mentioned
The computer program that terminal system is used in combination, the computer program can be executed by processor to complete foregoing 3D panoramas life
Into each step of method, (each step that especially, S132 includes, more particularly, above-mentioned is that OpenGL institutes are used in embodiment
The above-mentioned S1231 and S1232 steps realized).
The 3D panoramic pictures generating means of the present invention will be collected using the i.MX6 platforms of Freescale as hardware platform
Imagery exploitation OpenGL technology-mappeds carry out display output on the threedimensional model established in advance, then by display device.
The present invention realizes the output of panoramic picture by four camera modules, and simple system is easily installed；Method is stable, simply
Easy, the speed of service is fast, and pattern accuracy is high, and availability is strong, applied widely, while reduce amount of calculation, reduce hardware,
Software cost.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of the claim
Enclose and be defined.
Claims (6)
1. a kind of 3D full view image generating systems, the system includes：Electronic control unit (ECU), display unit and it is respectively mounted
In No. four video cameras of vehicle all around everywhere, No. four video camera includes the front camera mould installed in vehicle front side
Block, the rear camera module installed in vehicle rear-side, put installed in a left side for vehicle left side camera module, it is right installed in vehicle
Camera module is put on the right side of side, is respectively used to gather the image on four direction all around, and send images to electronics control
Unit processed, electronic control unit is used to, according to four camera module acquired image data, build 360 degree of panoramic pictures,
And 360 degree of constructed panoramic pictures are sent to display unit；Display unit is used to be shown panoramic picture.
2. a kind of 3D panorama image generation methods, it uses the system described in claim 1 to realize that this method includes：S11 is to institute
No. four video cameras are stated to be demarcated；S12 gathers image using four-way CCD camera；S13 sets up three-dimensional surface model and it is carried out
Triangulation, the texel and position coordinates of image are mapped in the three-dimensional surface model；S14 output display 3D panoramas
Image.
3. method as claimed in claim 2, wherein S13 comprise the following steps：
S131 sets up world coordinate system in three-dimensional surface model；
The texel and position coordinates for the original image that S132 obtains vehicle body four-way CCD camera module are mapped to three-dimension curved surface
On model, the 3D reconstruct of original image is obtained, realizes that panorama is generated.
4. method as claimed in claim 3, wherein S132 comprise the following steps：
Three-dimensional surface model is divided into eight regions by S1320, front, rear, left and right, it is left front, left back, right before, it is right after；Before wherein,
Afterwards, left and right four regions are non-fused region, left front, left back, before the right side, and four regions are integration region behind the right side；
S1321 non-fused Area generations；
S1322 integration regions are generated.
5. a kind of terminal system, including memory, one or more processors, and one or more computer programs, wherein
One or more of computer programs are stored in memory, and are configured to be held by one or more of processors
OK, the computer program includes being used for the step of perform claim requires any one of 2-4.
6. a kind of computer-readable recording medium, including the computer program being used in combination with terminal system, the computer journey
The step of sequence can be executed by processor to complete any one of claim 2-4.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108769569A (en) * | 2018-04-10 | 2018-11-06 | 中科院微电子研究所昆山分所 | A kind of 360 degree of stereoscopic full views observation systems and method for unmanned plane |
| CN108876719A (en) * | 2018-03-29 | 2018-11-23 | 广州大学 | Vehicle panoramic image mosaic external parameter estimation method based on virtual camera model |
| CN110599564A (en) * | 2019-09-19 | 2019-12-20 | 浙江大搜车软件技术有限公司 | Image display method and device, computer equipment and storage medium |
| CN110677599A (en) * | 2019-09-30 | 2020-01-10 | 西安工程大学 | System and method for reconstructing 360-degree panoramic video image |
| CN111696030A (en) * | 2020-05-29 | 2020-09-22 | 同致电子科技（厦门）有限公司 | Splicing fusion method for improving dislocation of 3D AVM splicing position |
| CN111968184A (en) * | 2020-08-24 | 2020-11-20 | 北京茵沃汽车科技有限公司 | Method, device and medium for realizing view follow-up in panoramic looking-around system |
| CN112070886A (en) * | 2020-09-04 | 2020-12-11 | 中车大同电力机车有限公司 | Image monitoring method and related equipment for mining dump truck |
| CN113066158A (en) * | 2019-12-16 | 2021-07-02 | 杭州海康威视数字技术股份有限公司 | Vehicle-mounted all-round looking method and device |
| CN116664752A (en) * | 2023-08-01 | 2023-08-29 | 南京维赛客网络科技有限公司 | Method, system and storage medium for realizing panoramic display based on patterned illumination |
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| CN110599564A (en) * | 2019-09-19 | 2019-12-20 | 浙江大搜车软件技术有限公司 | Image display method and device, computer equipment and storage medium |
| CN110677599B (en) * | 2019-09-30 | 2021-11-05 | 西安工程大学 | System and method for reconstructing 360-degree panoramic video image |
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| CN113066158A (en) * | 2019-12-16 | 2021-07-02 | 杭州海康威视数字技术股份有限公司 | Vehicle-mounted all-round looking method and device |
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| CN116664752A (en) * | 2023-08-01 | 2023-08-29 | 南京维赛客网络科技有限公司 | Method, system and storage medium for realizing panoramic display based on patterned illumination |
| CN116664752B (en) * | 2023-08-01 | 2023-10-17 | 南京维赛客网络科技有限公司 | Method, system and storage medium for realizing panoramic display based on patterned illumination |
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