CN112348741A - Panoramic image splicing method, panoramic image splicing equipment, storage medium, display method and display system - Google Patents
Panoramic image splicing method, panoramic image splicing equipment, storage medium, display method and display system Download PDFInfo
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Abstract
The invention relates to a panoramic image splicing method, equipment, a storage medium, a display method and a system, wherein in the splicing method, left and right cameras assembled by a panoramic looking-around system are used for collecting left and right road surface scene images in the driving process of a vehicle, the characteristic information of lane lines in the left and right road surface images is analyzed and extracted in real time through computer vision and image processing technologies, the lane lines of the left and right spliced block images are fitted, the spliced images are rotated according to the included angle formed by the lane lines on the same side to be fitted into a curve, and the spliced block images are corrected according to the rotated angle to splice the panoramic images. The method has the advantages of simple realization, high image splicing gap accuracy, foresight, high real-time performance, strong practicability, stability, reliability, no need of additionally adding accessories, and good application value and economic benefit.
Description
Technical Field
The invention relates to the field of vehicle panoramic image splicing, in particular to a panoramic image splicing method, panoramic image splicing equipment, a storage medium, a display method and a display system.
Background
The panoramic all-round looking system comprises a terminal host, cameras and a display screen, wherein the host acquires real-time picture images of the cameras in all directions around the automobile, synthesizes a 2D/3D panoramic image and outputs the image to the central control display screen in the automobile through a series of software algorithm processing technologies such as image distortion correction, image splicing, image fusion, image visual angle conversion and the like, the panoramic all-round looking image visual angle can be automatically switched according to the automobile running state, a real environment condition around the running automobile is presented for a driver, the driver can more visually observe a blind area through visual lines, and the driving safety is improved.
The traditional panoramic all-round looking system adopts the fixed splicing technology of relative position between 4-way cameras or more-way cameras, namely the relative position between the cameras can not change along with the vehicle running after the cameras are installed on the vehicle, and the panoramic all-round looking system can only be suitable for passenger vehicles or vehicles with fixed vehicle types of vehicle shape structures, and can not be suitable for articulated vehicles with dynamic changes of shapes such as articulated buses, tractor + trailer combinations and the like, and because the articulated vehicles can be folded dynamically in front and back two carriages when turning.
In the traditional solution, an angle sensor of a hinged disk is additionally arranged to detect a rotation angle value between a front carriage and a rear carriage, and image splicing seam compensation is realized through the rotation angle value, for example, the invention patent with the publication number of CN 202010207381.6' is an implementation method for a variable-angle panoramic looking-around system of a hinged engineering vehicle.
The traditional image splicing method adopts a hardware sensor mode, has poor splicing effect and has a plurality of defects: firstly, the mode of additionally installing the angle sensor of the hinged disk is adopted, the structure is complex, the sensor is easy to damage, and the vehicle cost is increased; and secondly, the precision of the angle sensor of the hinged disk is not high, and the precision is gradually reduced along with the increase of the service life of the vehicle, so that the image splicing effect is poor.
Disclosure of Invention
In order to solve the above problems, the present invention provides a panoramic image stitching method, a panoramic image stitching device, a storage medium, a panoramic image display method, and a panoramic image display system.
The specific scheme is as follows:
a panoramic image splicing method comprises the following steps:
s1: synchronously acquiring external images of the vehicle through a left camera and a right camera on a tractor and a left camera and a right camera on a trailer which are arranged in the articulated vehicle, respectively performing overlook transformation on the acquired images and cutting according to requirements of splicing areas to generate a left front splicing block image, a left rear splicing block image, a right front splicing block image and a right rear splicing block image, and extracting lane line characteristic information in each image; initializing to set the rotation angle to be 0;
s2: constructing a vehicle coordinate system according to the extracted lane line characteristic information, and respectively fitting lane lines in the left front splicing block image, the left rear splicing block image, the right front splicing block image and the right rear splicing block image under the vehicle coordinate system;
s3: judging whether the lane lines in the left front tile image and the left rear tile image or the lane lines in the right front tile image and the right rear tile image can be fitted into a curve or not, and if so, entering S5; otherwise, go to S4;
s4: rotating the left rear splicing block image and the right rear splicing block image according to the left side included angle formed by the lane line in the left front splicing block image and the lane line in the left rear splicing block image or the right side included angle formed by the lane line in the right front splicing block image and the lane line in the right rear splicing block image under a vehicle coordinate system, updating the rotating angle to be the corresponding rotating angle, and returning to S3;
s5: calculating a rotation vector and a rotation angle according to conventional splicing parameters and the rotation angle of an articulated vehicle in a straight-going state, correcting a left rear splicing block image, a right rear splicing block image and the positions of a rear splicing block image and a trailer model which are generated by collecting and processing a rear camera arranged on a trailer under a vehicle coordinate system according to the rotation angle, and performing image splicing by combining a left front splicing block image, a right front splicing block image and a front splicing block image which is generated by collecting and processing a front camera arranged on a tractor to splice the images into a panoramic image.
Further, the lane line feature information is a lane line coordinate point, which is extracted by a random sampling consensus algorithm.
Further, the vehicle coordinate system is a rectangular coordinate system which takes the left front corner of the vehicle as the origin of the vehicle coordinate system, the advancing direction of the vehicle as the ordinate and the direction parallel to the vehicle head as the abscissa.
A panoramic image stitching terminal device comprises a processor, a memory and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the method of the embodiment of the invention.
A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as described above for an embodiment of the invention.
A panoramic image splicing display method comprises the following steps: and displaying the car model corresponding to the articulated car corrected according to the method of the embodiment of the invention and the spliced panoramic image through a display screen arranged in the articulated car.
A panoramic image splicing display system comprises a front camera, a left camera, a right camera, a rear camera, a left camera and a right camera, wherein the front camera, the left camera and the right camera are arranged on a tractor in an articulated vehicle; the six cameras collect external image information of the articulated vehicle and send the external image information to the panoramic image splicing terminal equipment; the panoramic image splicing terminal device splices images collected by the six cameras into a panoramic image according to the method of the embodiment of the invention, corrects the car model of the articulated car, and then sends the car model and the panoramic image to the display screen for displaying.
According to the technical scheme, the left and right cameras assembled in the panoramic all-around viewing system are mainly utilized to collect the left and right road surface scene images in the driving process of the vehicle, the lane line characteristic information in the left and right road surface images is analyzed and extracted in real time through the computer vision and image processing technology, and the dynamic splicing of the images at the hinged part is realized through the lane line curve fitting. The method has the advantages of simple realization, high image splicing gap accuracy, foresight, high real-time performance, strong practicability, stability, reliability, no need of additionally adding accessories, and good application value and economic benefit.
Drawings
Fig. 1 is a flowchart illustrating a first embodiment of the present invention.
Fig. 2 is a schematic view of a vehicle coordinate system according to a first embodiment of the present invention.
Fig. 3 is a schematic diagram of six splicing regions according to a first embodiment of the present invention.
Fig. 4 is a schematic diagram of images of a splice obtained when an articulated vehicle turns according to an embodiment of the present invention.
Fig. 5 is a schematic position diagram of cameras mounted on an articulated vehicle according to a fourth embodiment of the invention.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures.
The invention will now be further described with reference to the accompanying drawings and detailed description.
The first embodiment is as follows:
the embodiment of the invention provides a panoramic image splicing method, as shown in figure 1, the method comprises the following steps:
s1: synchronously acquiring external images of the vehicle through a left camera and a right camera on a tractor and a left camera and a right camera on a trailer which are arranged in the articulated vehicle, respectively performing overlook transformation on the acquired images and cutting according to requirements of splicing areas to generate a left front splicing block image, a left rear splicing block image, a right front splicing block image and a right rear splicing block image, and extracting lane line characteristic information in each image; the rotation angle is initially set to 0.
In this embodiment, the lane line feature information is set as a lane line coordinate point, and is extracted by a Random sample consensus (RANSAC) algorithm.
S2: and constructing a vehicle coordinate system according to the extracted lane line characteristic information, and respectively fitting lane lines in the left front splicing block image, the left rear splicing block image, the right front splicing block image and the right rear splicing block image under the vehicle coordinate system.
In this embodiment, the vehicle coordinate system is a rectangular coordinate system (X-axis) with the front left corner of the vehicle as the origin of the vehicle coordinate system (i.e., the intersection of the X-coordinate and the Y-axis coordinate), the vehicle forward direction as the ordinate (Y-axis), and the direction parallel to the vehicle head as the abscissa to the right, as shown in fig. 2.
The fitting of the lane lines is to connect coordinate points of the lane lines into a curve, the four images are combined into four lane line curves, and polynomial equations adopted by the fitting are respectively as follows:
y1＝an*xn+an-1*xn-1+...a1*x+a0 (1)
y2＝bn*xn+bn-1*xn-1+...b1*x+b0 (2)
y3＝cn*xn+cn-1*xn-1+...c1*x+c0 (3)
y4＝dn*xn+dn-1*xn-1+...d1*x+d0 (4)
wherein: equations (1), (2), (3) and (4) respectively represent lane line curve equations of four images of the left front tile image, the left rear tile image, the right front tile image and the right rear tile image, an…a0、bn…b0、cn…c0And dn…d0The constant coefficients of four polynomial modes are respectively expressed, n represents the power of the polynomial equation, and n generally takes the value of 3.
S3: judging whether the lane lines in the left front tile image and the left rear tile image or the lane lines in the right front tile image and the right rear tile image can be fitted into a curve or not through a polynomial equation, and if so, entering S5; otherwise, go to S4;
wherein the left lane line and the right lane line are determined to be the same.
S4: rotating the left rear splicing block image and the right rear splicing block image according to the left side included angle theta formed by the lane line in the left front splicing block image and the lane line in the left rear splicing block image or the right side included angle alpha formed by the lane line in the right front splicing block image and the lane line in the right rear splicing block image under a vehicle coordinate system, updating the rotating angle to be the corresponding rotating angle, and returning to S3;
the criterion for selecting the left-side included angle theta or the right-side included angle alpha is that the included angle corresponding to the turning side is usually selected, and if the left-side included angle theta is turned towards the left side, the left-side included angle theta is selected.
S5: calculating a rotation vector and a rotation angle beta according to conventional splicing parameters and rotation angles of an articulated vehicle in a straight-going state, correcting a left rear splicing block image, a right rear splicing block image and positions of a rear splicing block image and a trailer model which are generated by collecting and processing a rear camera arranged on a trailer under a vehicle coordinate system according to the rotation angle beta, and performing image splicing by combining a left front splicing block image, a right front splicing block image and a front splicing block image which is generated by collecting and processing a front camera arranged on a tractor to splice the images into a panoramic image.
In the embodiment, after the vehicle is completely assembled and offline, the vehicle enters a panoramic calibration site, is calibrated according to the vehicle shape of straight running (namely when the rotation angle beta of the tractor and the trailer is 0), and generates and stores conventional splicing parameters in the straight running state of the vehicle after calibration.
The six tile images are generated by cropping the images according to the requirements of the tile areas, and the six tile areas are shown in fig. 3.
Because when the articulated vehicle turns, the relative geometric position of the tractor and the trailer changes, the splicing block images captured by the six cameras are as shown in fig. 4, before dynamic splicing correction processing in the embodiment is not performed, according to a conventional splicing method when the vehicle moves straight, the situation of splicing block staggering and splicing block overlapping can occur in the conventional splicing block position when the six splicing block images are filled in the vehicle moving straight, and at the moment, 360-degree panoramic all-round images formed by splicing the six splicing block images are not complete in dislocation. After the method of the embodiment is adopted, the spliced images corresponding to the trailer are rotated, the conditions of splicing block staggering and splicing block overlapping are avoided, and a complete 360-degree panoramic all-around image is generated.
The first embodiment of the invention has the following beneficial effects:
firstly, the method comprises the following steps: the characteristic information of a lane line on a running road of a vehicle can be sensed in real time, the rotation angle beta of the hinged disc is calculated in real time, the dynamic splicing correction of the panoramic looking-around system image is carried out in real time, and the cost is not required to be increased through an image processing software algorithm;
II, secondly: the rotation angle beta is obtained through curve fitting calculation of the lane lines, the accuracy is high, the influence of service life is avoided, image splicing gaps are small, and the splicing effect is good.
Example two:
the embodiment of the invention provides panoramic image stitching terminal equipment, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the steps in the method embodiment of the first embodiment of the invention are realized when the processor executes the computer program.
Further, as an executable scheme, the panoramic image stitching terminal device may be a computing device such as a vehicle-mounted computer. The panoramic image stitching terminal equipment can comprise but is not limited to a processor and a memory. It is understood by those skilled in the art that the above-mentioned constituent structure of the panoramic image stitching terminal device is only an example of the panoramic image stitching terminal device, and does not constitute a limitation to the panoramic image stitching terminal device, and may include more or less components than the above, or combine some components, or different components, for example, the panoramic image stitching terminal device may further include an input/output device, a network access device, a bus, and the like, which is not limited in this embodiment of the present invention.
Further, as an executable solution, the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, and the like. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, and the processor is a control center of the panoramic image stitching terminal device, and various interfaces and lines are used to connect various parts of the whole panoramic image stitching terminal device.
The memory may be configured to store the computer program and/or the module, and the processor may implement various functions of the panoramic image stitching terminal device by executing or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the mobile phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Example three:
the present invention also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above-mentioned method according to the embodiment of the present invention.
The integrated module/unit of the panoramic image stitching terminal device can be stored in a computer readable storage medium if the module/unit is realized in the form of a software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.
Example four:
the invention also provides a panoramic image splicing display method and a panoramic image splicing display system, wherein the display method is based on the embodiment that the corrected car model of the articulated vehicle and the spliced panoramic image are generated, and the car model corresponding to the corrected articulated vehicle and the spliced panoramic image are displayed through a display screen arranged in the articulated vehicle.
The display system comprises a front camera, a left camera and a right camera which are arranged on a tractor in the articulated vehicle, a rear camera, a left camera and a right camera which are arranged on a trailer in the articulated vehicle, panoramic image splicing terminal equipment and a display screen arranged in the articulated vehicle; the six cameras collect external image information of the articulated vehicle and send the external image information to the panoramic image splicing terminal equipment; the panoramic image splicing terminal equipment splices images collected by the six cameras into a panoramic image according to the method in the first embodiment, corrects the car model, and sends the car model and the panoramic image to the display screen for displaying.
The cameras adopted in the embodiment are panoramic all-round cameras which are arranged around the vehicle, the optical axis direction faces the ground and forms a certain included angle (such as 45 degrees) with the ground, real-time images of the surrounding environment of the vehicle can be collected, and the cameras and the controller in the panoramic image splicing terminal equipment are communicated through a video transmission line (such as an LVDS/CVBS communication interface).
As shown in fig. 5, the articulated vehicle in this embodiment is composed of a tractor and a trailer. Install 3 cameras on tractor front camera, the left camera of tractor and the right camera of tractor on the tractor, the camera installation is fixed the back, and at the vehicle in-process of traveling, the relative geometric position relation between these 3 cameras is fixed unchangeable. Install 3 cameras of camera behind left camera of trailer, the right camera of trailer and the trailer on the trailer, the camera installation is fixed the back, and at the vehicle in-process of traveling, the relative geometric position relation between these 3 cameras is fixed unchangeable. Be connected through the articulated disk pivot between tractor and the trailer, when the vehicle in the on-the-road driving process, be dynamic rotation between tractor and the trailer, consequently 3 cameras on the tractor and the trailer on relative geometric position relation also dynamic change between 3 cameras, consequently splice seam also dynamic change between tractor and the trailer, need realize through the real-time detection tractor and the trailer between dynamic position relation that 6 cameras splice into complete 360 panorama panoramic view images.
It should be noted that the setting condition of the above-mentioned camera is only an implementation mode, in the practical application process, more cameras can be set according to the length of the vehicle, the images shot by all the cameras set on the left side of the tractor are processed and spliced into a left front splicing block image, the images shot by all the cameras set on the right side of the tractor are processed and spliced into a right front splicing block image, the images shot by all the cameras set on the left side of the trailer are processed and spliced into a left rear splicing block image, and the images shot by all the cameras set on the right side of the trailer are processed and spliced into a right rear splicing block image.
The display screen is a display (also commonly referred to as a "center control screen") installed at a center console of the vehicle, and is mainly used for displaying the generated panoramic image, and the display screen and the controller are communicated through a video transmission line (such as an LVDS/CVBS communication interface).
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A panoramic image splicing method is characterized by comprising the following steps:
s1: synchronously acquiring external images of the vehicle through a left camera and a right camera on a tractor and a left camera and a right camera on a trailer which are arranged in the articulated vehicle, respectively performing overlook transformation on the acquired images and cutting according to requirements of splicing areas to generate a left front splicing block image, a left rear splicing block image, a right front splicing block image and a right rear splicing block image, and extracting lane line characteristic information in each image; initializing to set the rotation angle to be 0;
s2: constructing a vehicle coordinate system according to the extracted lane line characteristic information, and respectively fitting lane lines in the left front splicing block image, the left rear splicing block image, the right front splicing block image and the right rear splicing block image under the vehicle coordinate system;
s3: judging whether the lane lines in the left front tile image and the left rear tile image or the lane lines in the right front tile image and the right rear tile image can be fitted into a curve or not, and if so, entering S5; otherwise, go to S4;
s4: rotating the left rear splicing block image and the right rear splicing block image according to the left side included angle formed by the lane line in the left front splicing block image and the lane line in the left rear splicing block image or the right side included angle formed by the lane line in the right front splicing block image and the lane line in the right rear splicing block image under a vehicle coordinate system, updating the rotating angle to be the corresponding rotating angle, and returning to S3;
s5: calculating a rotation vector and a rotation angle according to conventional splicing parameters and the rotation angle of an articulated vehicle in a straight-going state, correcting a left rear splicing block image, a right rear splicing block image and the positions of a rear splicing block image and a trailer model which are generated by collecting and processing a rear camera arranged on a trailer under a vehicle coordinate system according to the rotation angle, and performing image splicing by combining a left front splicing block image, a right front splicing block image and a front splicing block image which is generated by collecting and processing a front camera arranged on a tractor to splice the images into a panoramic image.
2. The panoramic image stitching method according to claim 1, characterized in that: the lane line feature information is a lane line coordinate point, which is extracted by a random sampling consensus algorithm.
3. The panoramic image stitching method according to claim 1, characterized in that: the vehicle coordinate system is a rectangular coordinate system which takes the left front corner of the vehicle as the origin of the vehicle coordinate system, the advancing direction of the vehicle as the ordinate and the direction parallel to the vehicle head as the abscissa.
4. The utility model provides a panorama image concatenation terminal equipment which characterized in that: comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor implementing the steps of the method according to any one of claims 1 to 3 when executing the computer program.
5. A computer-readable storage medium storing a computer program, characterized in that: the computer program when executed by a processor implementing the steps of the method as claimed in any one of claims 1 to 3.
6. A panoramic image splicing display method is characterized in that: the method comprises the following steps: displaying the car model of the articulated car corrected according to the method of any one of claims 1 to 3 and the spliced panoramic image through a display screen installed in the articulated car.
7. A panoramic image splicing display system is characterized by comprising a front camera, a left camera, a right camera, a rear camera, a left camera and a right camera, which are arranged on a tractor in an articulated vehicle, and a display screen, which is arranged in the articulated vehicle, and a panoramic image splicing terminal device; the six cameras collect external image information of the articulated vehicle and send the external image information to the panoramic image splicing terminal equipment; the panoramic image splicing terminal device splices images collected by the six cameras into a panoramic image according to the method of any one of claims 1-3, corrects the car model of the articulated vehicle, and sends the car model and the panoramic image to the display screen for display.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113401059A (en) * | 2021-08-06 | 2021-09-17 | 上海豫兴电子科技有限公司 | Display system and method for compensating visual field blind area of trailer rearview mirror |
| CN113870101A (en) * | 2021-12-02 | 2021-12-31 | 交通运输部公路科学研究所 | Panoramic all-around image splicing method and device for articulated vehicle |
| CN114018135A (en) * | 2021-09-29 | 2022-02-08 | 盛视科技股份有限公司 | Trailer rotation angle detection mechanism and panoramic splicing system |
| WO2023011667A1 (en) * | 2021-08-06 | 2023-02-09 | 上海豫兴电子科技有限公司 | Display system and method for compensating blind area of field of view in rearview mirror of tractor-trailer |
| CN116202424A (en) * | 2023-04-28 | 2023-06-02 | 深圳一清创新科技有限公司 | Vehicle body area detection method, tractor and tractor obstacle avoidance system |
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| CN114018135A (en) * | 2021-09-29 | 2022-02-08 | 盛视科技股份有限公司 | Trailer rotation angle detection mechanism and panoramic splicing system |
| CN114018135B (en) * | 2021-09-29 | 2023-01-10 | 盛视科技股份有限公司 | Trailer rotation angle detection mechanism and panoramic splicing system |
| CN113870101A (en) * | 2021-12-02 | 2021-12-31 | 交通运输部公路科学研究所 | Panoramic all-around image splicing method and device for articulated vehicle |
| CN116202424A (en) * | 2023-04-28 | 2023-06-02 | 深圳一清创新科技有限公司 | Vehicle body area detection method, tractor and tractor obstacle avoidance system |
| CN116202424B (en) * | 2023-04-28 | 2023-08-04 | 深圳一清创新科技有限公司 | Vehicle body area detection method, tractor and tractor obstacle avoidance system |
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