CN112085669A - 360-panoramic vehicle bottom black block removing method - Google Patents
360-panoramic vehicle bottom black block removing method Download PDFInfo
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- 230000004927 fusion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000007500 overflow downdraw method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/77—Retouching; Inpainting; Scratch removal
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- 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
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- G—PHYSICS
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- G06T2207/10004—Still image; Photographic image
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
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Abstract
The invention discloses a 360-around panoramic vehicle bottom black block removing method, which comprises the following steps: filling the non-image area at the bottom of the vehicle with an image mirror image to generate a mirror image at the bottom of the vehicle; generating a vehicle bottom shadow image; and fusing the mirror image of the vehicle bottom and the shadow image of the vehicle bottom. According to the invention, the image mirror image is used for generating the non-image area of the vehicle bottom, and then the shadow image of the vehicle bottom is fused to the image area of the vehicle bottom, so that the purpose of removing the vehicle bottom black block in 360-degree panoramic view is achieved, and a user can experience more truly.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted 360-degree panoramic views, in particular to a vehicle bottom black block removing method for 360-degree panoramic views.
Background
With the popularization of the vehicle-mounted 360-degree panoramic view, more and more rectification bars 360-degree panoramic view serve as standard fittings. The 360 around view panorama not only can help the driver to easily master the peripheral condition of car, improves the security of driving, can also strengthen user's driving experience. Because the particularity of the mounting position of the camera of the 360 all-round panorama can not shoot the image of the vehicle bottom, the vehicle bottom in the existing 360 all-round panorama is basically replaced by a black or gray square. This processing method may make the user experience slightly worse and lack the sense of reality.
Disclosure of Invention
In view of the above, in order to solve the above problems in the prior art, the present invention provides a vehicle bottom black block removing method for 360-dimensional panoramic view, which uses image mirroring to generate an image-free region of the vehicle bottom, and then fuses a vehicle bottom shadow map to the vehicle bottom image region, so as to achieve the purpose of removing the vehicle bottom black block in the 360-dimensional panoramic view.
The invention solves the problems through the following technical means:
a360-degree panoramic vehicle bottom black block removing method comprises the following steps:
filling the non-image area at the bottom of the vehicle with an image mirror image to generate a mirror image at the bottom of the vehicle;
generating a vehicle bottom shadow image;
and fusing the mirror image of the vehicle bottom and the shadow image of the vehicle bottom.
Further, the method for filling the non-image area at the bottom of the vehicle by using the image mirror image comprises the following steps: four cameras are respectively arranged at the front, the rear, the left and the right positions, images of the front, the rear, the left and the right cameras are used for mirroring to the vehicle bottom, and are fused into a vehicle bottom image through weighting.
Further, the fusion step is as follows:
assuming that the vehicle width is W and the vehicle length is H, setting an arbitrary vehicle bottom coordinate point (x, y) by taking the vehicle center as an origin, and calculating a mirror image pixel value of the arbitrary vehicle bottom coordinate point;
the method comprises the following steps of (1) assuming that a mirror image point of a vehicle bottom image mirror of a front camera is (x, y '), wherein y' is H-y; projecting the mirror image point (x, y') to a front camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
assuming that a mirror image point of a vehicle bottom mirror image of the rear camera is (x, y '), wherein y' is-H-y; projecting the mirror image point (x, y') to a rear camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the mirror image point of the vehicle bottom mirror image of the left camera is assumed to be (x ', y), wherein x' is-W-x; projecting the mirror image point (x, y') to a left camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the mirror image point of the vehicle bottom mirror image of the right camera is assumed to be (x ', y), wherein x' is W-x; projecting the mirror image point (x, y') to a right camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the four camera mirror images are fused together in a weighting method.
Further, a vehicle bottom shadow image was generated using 3ds max software.
Further, the 3ds max software is used for generating the car bottom shadow image, and the method comprises the following steps:
loading a 3D model of the automobile;
a plane is additionally arranged at the bottom of the 3D automobile model;
adding skylight light at any position of the top of the automobile;
rendering the shadow of the automobile to texture by using a baking function of 3ds max to generate an automobile bottom shadow image, wherein the shadow edge is in semitransparent transition;
the vehicle bottom plane uses a vehicle bottom shadow image as a texture mapping.
Further, the method for fusing the mirror image of the vehicle bottom and the shadow image of the vehicle bottom comprises the following steps: when the 360-degree around-looking panoramic algorithm renders the 3D car model, the 3D car model needs to be wholly upwards deviated by 1 cm, and then the shadow and the car bottom mirror image can be fused.
Compared with the prior art, the invention has the beneficial effects that at least:
according to the invention, the image mirror image is used for generating the non-image area of the vehicle bottom, and then the shadow image of the vehicle bottom is fused to the image area of the vehicle bottom, so that the purpose of removing the vehicle bottom black block in 360-degree panoramic view is achieved, and a user can experience more truly.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a 360-view panoramic vehicle bottom black block removing method of the invention;
FIG. 2 is a schematic diagram of a fusion method that may be referenced in embodiments of the present invention;
FIG. 3 is a schematic diagram of generating a shadow image of a vehicle bottom in an embodiment of the invention;
fig. 4 is an effect diagram of fusing shadow and vehicle bottom mirror image in the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
Examples
As shown in figure 1, the invention discloses a 360-around panoramic vehicle bottom black block removing method, which comprises the following three aspects:
(1) filling the non-image area at the bottom of the vehicle with an image mirror image to generate a mirror image at the bottom of the vehicle;
(2) generating a vehicle bottom shadow image;
(3) and fusing the mirror image of the vehicle bottom and the shadow image of the vehicle bottom.
The 360 panoramic view is respectively provided with four cameras at the front, the rear, the left and the right positions, the method for filling the vehicle bottom non-image area by using the image mirror image is that the images of the front, the rear, the left and the right cameras are mirrored to the vehicle bottom and are fused into a vehicle bottom image by weighting, and the fusion step is as follows:
(1) assume that the vehicle width is W and the vehicle length is H, with the vehicle center as the origin. Giving any vehicle bottom coordinate point (x, y), and calculating a mirror image pixel value of the vehicle bottom coordinate point (x, y);
(2) suppose the mirror image point of the vehicle bottom image mirror of the front camera is (x, y '), wherein y' is H-y. The mirror image point (x, y') is projected to the front camera according to the projection method of 360-degree panoramic view, and then the pixel value of the mirror image can be obtained;
(3) suppose that the mirror image point of the vehicle bottom mirror image of the rear camera is (x, y '), where y' is-H-y. The mirror image point (x, y') is projected to the rear camera according to the projection method of 360-degree panoramic view, and then the pixel value of the mirror image can be obtained;
(4) suppose that the mirror image point of the vehicle bottom mirror image of the left camera is (x ', y), wherein x' is-W-x. Projecting the mirror image point (x, y') to a left camera according to a projection method of 360-degree panoramic view, and obtaining a pixel value of a mirror image;
(5) suppose that the mirror image point of the vehicle bottom mirror image of the right camera is (x ', y), wherein x' is W-x. Projecting the mirror image point (x, y') to the right camera according to a projection method of 360-degree panoramic view, and obtaining a pixel value of a mirror image;
(6) the four camera mirror images are fused together in a weighting method. One possible reference fusion method is shown in fig. 2.
Wherein,
the inner part of the black frame represents the vehicle bottom area;
s1 represents a visible range area of the front camera;
s2 denotes a mirror image area of the front camera;
s3 represents a visible range area of the rear camera;
s4 denotes a mirror image area of the rear camera;
s5 represents a visible range area of the left camera;
s6 denotes a mirror image area of the left camera;
s7 represents a visible range area of the right camera;
s8 denotes a mirror image area of the right shot.
S9 represents a vehicle bottom frame;
s10 represents the mirror image weighted fusion area of the front camera and the left camera, and linear weight can be used;
s11 represents the mirror image weighted fusion area of the front camera and the right camera, and linear weight can be used;
s12 represents the mirror image weighted fusion area of the rear camera and the left camera, and linear weight can be used;
s13 represents the mirror image weighted fusion area of the rear and right cameras, and linear weights may be used.
The vehicle bottom shadow image was generated using 3ds max software. Comprises the following steps:
(1) loading a 3D model of the automobile;
(2) a plane is additionally arranged at the bottom of the 3D automobile model;
(3) adding skylight light at any position of the top of the automobile;
(4) rendering the shadow of the automobile to the texture by using the baking function of 3ds max, and generating a shadow image of the bottom of the automobile, wherein the shadow edge is in semitransparent transition as shown in figure 3;
(5) the vehicle bottom plane uses a vehicle bottom shadow image as a texture mapping.
Fuse vehicle bottom mirror image and vehicle bottom shadow image, the method is: when the 360-degree around-looking panoramic algorithm renders the 3D car model, the 3D car model needs to be wholly upwards deviated by 1 cm, and then the shadow and the car bottom mirror image can be fused. The effect diagram is shown in fig. 4, which shows that the left 2D 360 around view panorama and the right 3D 360 around view panorama have the effect of removing the vehicle bottom black block.
According to the invention, the image mirror image is used for generating the non-image area of the vehicle bottom, and then the shadow image of the vehicle bottom is fused to the image area of the vehicle bottom, so that the purpose of removing the vehicle bottom black block in 360-degree panoramic view is achieved, and a user can experience more truly.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A360-degree panoramic vehicle bottom black block removing method is characterized by comprising the following steps:
filling the non-image area at the bottom of the vehicle with an image mirror image to generate a mirror image at the bottom of the vehicle;
generating a vehicle bottom shadow image;
and fusing the mirror image of the vehicle bottom and the shadow image of the vehicle bottom.
2. The vehicle bottom black block removing method of the 360-dimensional panoramic view of claim 1, wherein the method for filling the non-image area of the vehicle bottom by using the image mirror image comprises the following steps: four cameras are respectively arranged at the front, the rear, the left and the right positions, images of the front, the rear, the left and the right cameras are used for mirroring to the vehicle bottom, and are fused into a vehicle bottom image through weighting.
3. The 360 all around panoramic vehicle bottom black block removing method according to claim 2, characterized in that the fusing steps are as follows:
assuming that the vehicle width is W and the vehicle length is H, setting an arbitrary vehicle bottom coordinate point (x, y) by taking the vehicle center as an origin, and calculating a mirror image pixel value of the arbitrary vehicle bottom coordinate point;
the method comprises the following steps of (1) assuming that a mirror image point of a vehicle bottom image mirror of a front camera is (x, y '), wherein y' is H-y; projecting the mirror image point (x, y') to a front camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
assuming that a mirror image point of a vehicle bottom mirror image of the rear camera is (x, y '), wherein y' is-H-y; projecting the mirror image point (x, y') to a rear camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the mirror image point of the vehicle bottom mirror image of the left camera is assumed to be (x ', y), wherein x' is-W-x; projecting the mirror image point (x, y') to a left camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the mirror image point of the vehicle bottom mirror image of the right camera is assumed to be (x ', y), wherein x' is W-x; projecting the mirror image point (x, y') to a right camera according to a projection method of 360-degree panoramic view to obtain a pixel value of a mirror image;
the four camera mirror images are fused together in a weighting method.
4. The vehicle bottom deblock method of the 360-dimensional panoramic view of claim 1, wherein a shadow image of the vehicle bottom is generated using 3ds max software.
5. The method for removing the black blocks on the bottom of the vehicle with the 360-degree panoramic view according to claim 4, wherein the shadow image of the bottom of the vehicle is generated by using 3ds max software, comprising the following steps:
loading a 3D model of the automobile;
a plane is additionally arranged at the bottom of the 3D automobile model;
adding skylight light at any position of the top of the automobile;
rendering the shadow of the automobile to texture by using a baking function of 3ds max to generate an automobile bottom shadow image, wherein the shadow edge is in semitransparent transition;
the vehicle bottom plane uses a vehicle bottom shadow image as a texture mapping.
6. The 360 all-round panoramic vehicle bottom black block removing method according to claim 1, wherein the method for fusing the vehicle bottom mirror image and the vehicle bottom shadow image comprises the following steps: when the 360-degree around-looking panoramic algorithm renders the 3D car model, the 3D car model needs to be wholly upwards deviated by 1 cm, and then the shadow and the car bottom mirror image can be fused.
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20070279415A1 (en) * | 2006-06-01 | 2007-12-06 | Steve Sullivan | 2D to 3D image conversion |
| CN103810686A (en) * | 2014-02-27 | 2014-05-21 | 苏州大学 | Seamless splicing panorama assisting driving system and method |
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