WO2005015494A1 - 画像変換システム及び画像変換方法 - Google Patents
画像変換システム及び画像変換方法 Download PDFInfo
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- WO2005015494A1 WO2005015494A1 PCT/JP2004/011540 JP2004011540W WO2005015494A1 WO 2005015494 A1 WO2005015494 A1 WO 2005015494A1 JP 2004011540 W JP2004011540 W JP 2004011540W WO 2005015494 A1 WO2005015494 A1 WO 2005015494A1
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- coordinate system
- angle
- image conversion
- image
- correspondence table
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- 238000006243 chemical reaction Methods 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims description 48
- 238000013507 mapping Methods 0.000 claims abstract description 95
- 230000002596 correlated effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 27
- 239000013256 coordination polymer Substances 0.000 description 23
- 238000003384 imaging method Methods 0.000 description 23
- 230000006870 function Effects 0.000 description 20
- 238000003860 storage Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 14
- 238000004519 manufacturing process Methods 0.000 description 12
- 238000001914 filtration Methods 0.000 description 11
- 230000007423 decrease Effects 0.000 description 5
- 239000004973 liquid crystal related substance Substances 0.000 description 5
- 235000002198 Annona diversifolia Nutrition 0.000 description 2
- 241000282842 Lama glama Species 0.000 description 2
- 238000005304 joining Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 230000004931 aggregating effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/12—Panospheric to cylindrical image transformations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
Definitions
- the present invention relates to an image conversion system and an image conversion method for performing image conversion by mapping pixels of a projected image on a first coordinate system to a second coordinate system.
- An image of 360 degrees around the periphery is obtained by imaging with an imaging means such as a digital camera using an omnidirectional or wide-angle curved lens or curved mirror, and this image is generally called a projected image.
- an imaging means such as a digital camera using an omnidirectional or wide-angle curved lens or curved mirror
- this image is generally called a projected image.
- an imaging means such as a digital camera using an omnidirectional or wide-angle curved lens or curved mirror
- the image projected onto the plane of the two-dimensional space so as to be crushed and pasted perpendicularly to the plane becomes a circular projected image of an orthographic fisheye lens, and if an omnidirectional mirror is used, it will be projected onto the curved surface of the mirror.
- the projected image is the image projected in such a way that the reflected 3D space image is squashed and pasted on the plane of the 2D space.
- Projected images obtained using omnidirectional or wide-angle curved lenses or curved mirrors are distorted circles.
- the image is converted to a rectangular panorama image as if the whole scene was captured while rotating horizontally, and then displayed on the terminal.
- a method of mapping pixels of a circular projected image on a first coordinate system (polar coordinate system) to a second coordinate system (orthogonal coordinate system) is used.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-331789
- Patent Document 1 discloses that a circular projected image on a first coordinate system (polar coordinate system) is converted into a second coordinate system (linear coordinate system).
- a conversion principle for converting into a panoramic image on a (cross coordinate system) is disclosed.
- the coordinates (X, Y) on the first coordinate system (input circular image) corresponding to the coordinates (X, y) on the second coordinate system are calculated using a predetermined coordinate conversion formula.
- the circular projected image Is converted to a panoramic image. Disclosure of the invention
- a projected image is obtained by projecting a curved surface of a curved lens or a curved mirror onto a plane, and thus the image is in a distorted state.
- the distortion of the image depends on the curvature of the curved surface of the curved lens or the curved mirror. .
- the conventional image conversion is an image conversion corresponding to only a specific curvature
- a projected image captured using a curved lens or a curved mirror other than the specific curvature is Correct distortion correction could not be performed.
- an object of the present invention is to be able to process an image from the first coordinates to the second coordinates at a higher speed than in the past, and to be applicable to various lenses and mirrors.
- Another object of the present invention is to provide an image conversion system and an image conversion method.
- an image conversion system according to claim 1 of the present invention has
- a second table is referred to by referring to a correspondence table for associating the first coordinate system with the second coordinate system.
- the image conversion method according to claim 9 of the present invention is the image conversion method according to claim 1, wherein the pixels of the projected image on the first coordinate system are mapped to the second coordinate system to perform image conversion.
- a mapping step of mapping a pixel on the first coordinate system associated with the correspondence table on the second coordinate system by referring to a correspondence table for associating the system with the second coordinate system. It is a special number.
- the mapping step refers to a correspondence table that associates the first coordinate system with the second coordinate system. Pixels in the first coordinate system associated in the correspondence table are mapped on the second coordinate system. Since the mapping is performed with reference to the correspondence table, the speed of the conversion process can be increased as compared with the case where the mapping position of the pixel is calculated using the coordinate conversion formula for each coordinate as in the related art.
- the image conversion system according to claim 2 of the present invention is based on the premise of claim 1, wherein the first coordinate system is a polar coordinate system, and the second coordinate system is a rectangular coordinate system. It is characterized by An image conversion method according to claim 10 of the present invention is based on the premise of claim 9, wherein the first coordinate system is a polar coordinate system, and the second coordinate system is a rectangular coordinate system. It is a special number.
- a projected image obtained by using an omnidirectional or wide-angle curved lens or curved mirror is circular, and this circular projected image is often converted into a panoramic image and displayed.
- the first coordinate system is a polar coordinate system
- the second coordinate system is Since the system is a rectangular coordinate system, when converting a circular projected image obtained using an omnidirectional or wide-angle curved mirror or curved surface lens into a panoramic image, the conversion table can be speeded up by referring to the correspondence table.
- the image conversion system according to claim 3 of the present invention is based on the premise of claim 2, wherein the projected image is a circular projected image obtained by projecting a curved surface having a circular outer periphery onto a plane. If the angle in the horizontal direction on a circular plane whose circumference is the circumference of the curved surface is angle ⁇ , the elevation angle from the center of the circular plane is angle ⁇ , and the distance from the center of the circular plane is distance r, the first seat
- the reference system is a polar coordinate system represented by an angle ⁇ and a distance r, the second coordinate system is an orthogonal coordinate system having a horizontal axis as an angle ⁇ and a vertical axis as an angle ⁇ , and the correspondence table includes: A mapping table for associating the distance r of the first coordinate system with the angle ⁇ of the second coordinate system, wherein the mapping means is associated with ( ⁇ , ⁇ ) of the second coordinate system in the correspondence table.
- the image conversion method according to claim 11 of the present invention is based on the premise of claim 10, wherein the projected image is a circular projected image obtained by projecting a curved surface having a circular outer periphery onto a plane, and If the angle in the horizontal direction on the circular plane whose circumference is the circumference of ⁇ is angle ⁇ , the elevation angle from the center of the circular plane is angle ⁇ , and the distance from the center of the circular plane is distance r, then the first coordinate system is The second coordinate system is a rectangular coordinate system in which the horizontal axis is angle ⁇ and the vertical axis is angle ⁇ , and the correspondence table is the first coordinate system.
- a mapping table for associating the distance r of the system with the angle ⁇ of the second coordinate system, wherein in the mapping step, the first coordinate system ( ⁇ , ⁇ ) of the second coordinate system is associated with the first coordinate system in the correspondence table.
- the feature is to map the pixel of ( ⁇ , r) on the coordinate system of.
- the mapping step refers to the correspondence table for associating the angle ⁇ with the distance r, and calculates ( ⁇ , ⁇ ) in the corresponding table
- the correspondence table is preferably an array of distances r in which the distances r corresponding to the angles ⁇ are arranged in the order of the coordinates ( ⁇ , ⁇ ) to be scanned on the second coordinate system.
- the mapping unit performs all of the operations on the first coordinates. It is characterized in that mapping is performed only for some of the pixels.
- the image conversion method according to claim 12 of the present invention is based on the premise of any one of claims 9 to 11, wherein in the mapping step, all pixels on the first coordinates are used in the mapping step. The feature is that mapping is performed for only some of the pixels.
- mapping step only a part of all the pixels on the first coordinate system is used in the mapping step. Since the mapping is performed on the second coordinate system, the speed of the conversion process is further increased as compared with the case where all the pixels are mapped. Since the image on the second coordinate system obtained by mapping only some of the pixels is unclear, a filtering means or a filtering step for performing a sharpness filtering process on the image on the second coordinate system. It is preferable from the viewpoint of providing sharpness S and sharpening the image.
- the filtering means may be provided in the image conversion system.For example, a terminal for downloading and displaying the image converted by the image conversion system via the Internet may be provided. The processing may be performed by the system, or may be performed by a terminal that displays the image.
- the mapping means stores the data for each of the curved surfaces.
- One of the correspondence tables is selected and referred to.
- An image conversion method according to claim 13 of the present invention is based on the premise of any one of claims 9 to 12, and in the mapping step, a mapping table stored for each curved surface in the mapping step. The feature is that one correspondence table is selected and referred to.
- Curved lenses and curved mirrors having omnidirectional or wide-angle viewing angles have different curvatures of curved surfaces for each lens and mirror.
- An image conversion system associates a first coordinate system with a second coordinate system on the premise of the invention described in any one of the first to fifth aspects. It is characterized by comprising a correspondence table generating means for prompting the input of the correspondence information and generating the correspondence table based on the inputted correspondence information.
- the image conversion method according to claim 14 of the present invention is based on the premise that any one of claims 9 to 13 and the invention according to claim 1 correspond to the first coordinate system and the second coordinate system.
- a correspondence table generating step of prompting input of information and generating the correspondence table based on the inputted correspondence information is provided.
- the correspondence table generation step the first coordinate system and the second coordinate system input by the user are determined. Since the correspondence table is generated on the basis of the correspondence information for associating images, it is possible to perform image conversion according to a user's request.
- the image conversion system according to a seventh aspect of the present invention is based on the premise of the sixth aspect, wherein the correspondence information is correspondence information that associates an angle ⁇ with a distance r.
- An image conversion method according to a fifteenth aspect of the present invention is based on the premise of the fourteenth aspect, wherein the correspondence information is correspondence information that associates an angle ⁇ with a distance r.
- the correspondence table generating means in the correspondence table generating step, the correspondence table generating means associates the angle ⁇ inputted by the user with the distance r with the correspondence information. Since the correspondence table is generated on the basis of this, it is possible to perform a conversion process according to the curvature for each of various curved lens / curved surface mirrors.
- An image conversion system is based on the premise of the seventh aspect, wherein the correspondence table generating means includes a second correspondence line that associates the angle ⁇ with the distance r. Display the coordinate system and move the corresponding line to prompt input of corresponding information And
- the image conversion method according to claim 16 of the present invention is based on the premise of the invention according to claim 15, and displays, in the correspondence table generating step, a second coordinate system including a correspondence line that associates the angle ⁇ with the distance r. Then, the user is prompted to input corresponding information by moving the corresponding line.
- the user can simply input the correspondence information that associates the angle ⁇ with the distance r only by moving the corresponding line on the second coordinate system. Can be done.
- mapping is performed with reference to the correspondence table
- the speed of the conversion process can be increased as compared with the conventional case where the calculation is performed using a coordinate conversion formula for each coordinate.
- the conversion process is speeded up by mapping the circular projected image from the polar coordinate system to the rectangular coordinate system with reference to a correspondence table. By mapping only some of the pixels on the second coordinates, the speed can be further increased.
- FIG. 1 is a schematic diagram of an image conversion system and peripheral devices of the embodiment.
- FIG. 2 (a) is a schematic diagram of an imaging device having a curved lens
- FIG. 2 (b) is a schematic diagram of an imaging device having a curved mirror.
- FIG. 3 is a conceptual diagram showing a relationship between a curved lens / mirror and a projected image captured by a digital camera using the curved lens / mirror.
- FIG. 4 is a diagram schematically showing a hardware configuration of a computer system for realizing an image conversion system.
- FIG. 5 is a diagram schematically showing a functional configuration of an image conversion system.
- FIG. 6 is a conceptual diagram of data stored in a storage means.
- FIG. 7 is a conceptual diagram showing the function of a mapping means
- FIG. 7 (a) is a conceptual diagram of a circular projected image mapped on a first coordinate system which is a polar coordinate
- FIG. 7C is a conceptual diagram of a correspondence table
- FIG. 7C is a conceptual diagram of a panoramic image obtained by mapping pixels on a first coordinate system to a second coordinate system which is an orthogonal coordinate system.
- FIG. 8 is a diagram showing an example of a correspondence table.
- FIG. 9 is a flowchart illustrating an example of processing by a mapping unit.
- FIG. 10 is an explanatory diagram for explaining the function of the correspondence table generating means.
- FIG. 10 (a) is a diagram for explaining the relationship between the correspondence table in the initial state, the second coordinate system, and the curved lens Z mirror.
- FIG. 10B is an explanatory diagram for explaining the relationship between the correspondence table in which the curvature is changed from the initial state, the second coordinate system, and the curved lens / mirror.
- FIG. 11 is a conceptual diagram showing an embodiment of an image conversion system and an image conversion method.
- FIG. 12 is a flowchart of a process of the image conversion system in the present embodiment.
- FIG. 13 is an example of a display screen displayed on a display device by the image conversion system. Explanation of symbols
- the image conversion system 1 of the present embodiment is realized by a computer system such as a personal computer.
- FIG. 1 is a schematic diagram of an image conversion system 1 of the present embodiment and its peripheral devices.
- the image conversion system 1 is connected to an imaging device 2 such as an omnidirectional camera or a wide-angle camera and a display device 3 such as a liquid crystal display.
- the imaging device 2 is capable of capturing an image with a maximum of 360 degrees around the periphery.
- the imaging device 2 includes a curved lens 21 such as an omnidirectional lens or a wide-angle lens and an imaging unit 23,
- a fisheye lens with a viewing angle of 180 degrees is also included in the wide-angle lens.
- FIG. 3 shows a relationship between a curved lens 21 or a curved mirror 22 (hereinafter, referred to as a curved lens / mirror) and an image captured by an imaging unit 23 such as a digital camera using the curved lens / mirror.
- a curved lens ⁇ mirror is attached to the imaging means 23 and placed above the three-dimensional space of the X-axis, y-axis, and z-axis (in the direction of the z-axis), it is attached to the inside or outside of the curved lens / mirror. It can be considered assuming that the captured image is captured by the imaging unit 23, and the image captured by the imaging unit 23 is a circular projection obtained by projecting the outer circular curved surface of the curved lens / mirror onto a plane.
- An image captured using a curved lens / mirror in all directions becomes a donut-shaped circular flat image CP with a blank center, and an image captured using a wide-angle curved lens / mirror such as a fisheye lens has a blank center.
- the angle in the horizontal direction on the circular plane C whose circumference is the periphery of the curved surface of the curved lens / mirror is angle ⁇ , and the elevation from the center of the circular plane C If the angle (the angle between the circular plane C and the radiation from the center) is the angle ⁇ and the distance from the center is the distance r in the circular plane image CP, the size of the circular plane image CP is constant. Given this, the distance r from the center of the circular plane image CP when the point ( ⁇ , ⁇ ) on the surface is projected onto the plane depends on the curvature of the surface.
- FIG. 4 is a diagram schematically showing a hardware configuration of a computer system for realizing the image conversion system 1.
- the image conversion system 1 includes a CPU, a memory, an input device interface, a display device interface, an external device interface, a network interface, and an AV interface, each of which is connected via an internal bus.
- the imaging device 2 is connected to the image conversion system 1 via an AV interface, and a display device 3 such as a liquid crystal display is connected via a display device interface to an input device such as a keyboard or mouse via an input interface.
- the device 4 is connected to a storage means 5 such as a hard disk or a media drive via an external device interface, and to a network such as the Internet via a network interface.
- FIG. 5 is a diagram schematically showing a functional configuration of the image conversion system 1.
- the image conversion system 1 includes first coordinate setting means 11, mapping means 12 for orthogonal coordinates, and correspondence table generating means 13.
- a correspondence table is stored in the recording device 5 such as a hard disk.
- FIG. 6 is a conceptual diagram for explaining the information on the curved mirror / lens stored in the storage means 5.
- the storage means 5 stores characteristic information for each curved mirror or curved lens.
- the characteristic information includes identification marks (unique names and product numbers) of the curved mirror / lens, mirror / lens type (omnidirectional). Includes lens / mirror, fisheye lens / mirror distinction, elevation angle, depression angle, presence / absence of upside-down by mirror surface, correspondence table T described later, and the like.
- the first coordinate setting means 11 has a function of mapping the circular projected image CP input from the imaging means 2 to a first coordinate system, and setting first coordinates in the circular projected image CP. Since the projected image obtained by using the curved lens Z mirror is circular, the polar coordinate system is suitable as the first coordinate system (see FIG. 7 (a)). The center of the circular projected image CP overlaps the pole of the first coordinate system which is a polar coordinate system, and the direction on the circular projected image CP (for example, the north direction) is Referring to the information to be specified, the circular projected image CP is mapped to the first coordinate system so that the predetermined direction (for example, north direction) of the circular projected image CP overlaps with the polar axis, thereby obtaining the first coordinate system. Make settings.
- the mapping means 12 refers to a correspondence table T for associating the first coordinate system, which is a polar coordinate system, with the second coordinate system, which is a rectangular coordinate system, and performs correspondence on the second coordinate system in the correspondence table T. It has a function to map the attached pixels on the first coordinate system.
- FIG. 7 is a conceptual diagram showing the function of the mapping means 12.
- FIG. 7 (a) is a conceptual diagram of a circular projected image CP mapped to a first coordinate system which is a polar coordinate system
- FIG. 7 (c) shows pixels on the first coordinate system in a rectangular coordinate system
- FIG. 8 is a conceptual diagram of a panoramic image PP obtained by performing a certain coordinate on a second coordinate system.
- the second coordinate system is an orthogonal coordinate system in which the horizontal axis is angle ⁇ and the vertical axis is angle ⁇ .
- the horizontal axis is assigned at equal intervals from an angle of ⁇ ° to 360 °
- the vertical axis is assigned an angle ⁇ from 0 ° to 90 ° at predetermined intervals.
- FIG. 7C is a conceptual diagram of the correspondence table T.
- the correspondence table T is stored in the storage means 5 such as a hard disk for each curved lens / mirror, and associates the distance r on the first coordinate system with the angle ⁇ on the second coordinate system. .
- the storage means 5 such as a hard disk for each curved lens / mirror
- a ⁇ -r curve corresponding to the curvature of the curved surface of each curved lens / mirror is obtained.
- the correspondence table T is an array of distances r.
- FIG. 8 shows a specific example of the correspondence table T.
- the correspondence table T is a tabular form in which an array of angles ⁇ is associated with an array of distances r (see FIG. 8A), or a distance r is arrayed for each angle ⁇ at a predetermined interval. Format (see Figure 8 (b)).
- the value of the angle ⁇ of each table T is a value obtained by converting the range that can be taken from horizontal to vertical into the range of 0 to 1, and the distance r is set by the user in the circular projected image as shown in the embodiment described later. This is the value obtained by converting the distance r in the specified area into the range from 0 to 1.
- FIG. 9 is a flowchart illustrating an example of a process performed by the mapping unit 12. While raster scanning the second coordinate system, refer to the correspondence table T for each coordinate ( ⁇ , ⁇ ).
- the angle ⁇ is associated with the distance r
- the angle ⁇ of the coordinates ( ⁇ , ⁇ ) is replaced with the corresponding distance r, and converted to coordinates ( ⁇ , r).
- the pixel located at the coordinates ( ⁇ ⁇ , r) is detected by scanning in the ⁇ direction in order from the inner circumference, and the pixels located at the coordinates ( ⁇ , r) are mapped to the coordinates ( ⁇ , ⁇ ) of the second coordinate system. .
- the correspondence table T stores the scanned coordinates ( ⁇ ,
- FIG. 8B is an array table of the distances r in which the distances r corresponding to the angles ⁇ are arranged in the order of ⁇ ) (see FIG. 8B).
- the mapping means 12 maps the pixels by converting the angle ⁇ into the distance r in the arrangement order of the corresponding table while scanning the second coordinate system at predetermined intervals.
- the correspondence table T referred to by the mapping means 12 is one correspondence table selected from the correspondence table T stored and stored in the storage means for each curved lens / mirror. For example, the user is prompted to enter information for specifying a curved lens / mirror (identification sign or lens / mirror type), and the input information is searched as a search key in the storage unit 5, so that the information is retrieved. Select one piece of characteristic information that includes it, and refer to the corresponding tape information T included therein.
- the mapping means 12 calculates the coordinates ( ⁇ , ⁇ ) on the first coordinate system associated with the coordinates ( ⁇ , ⁇ ) on the orthogonal coordinate system, which is the second coordinate system, in the correspondence table T.
- the pixel of r) is mapped.
- the coordinate position according to the curvature is calculated. Pixels are mapped to the pixels and distortion correction is performed, so that the speed of the conversion process can be increased as compared with the case where a coordinate conversion operation is performed for each coordinate as in the related art.
- a circular projected image CP obtained by projecting a curved surface of a substantially hemispherical curved lens / mirror onto a plane is converted into a panoramic image PP.
- the part corresponding to the part of the hemispherical curved lens / mirror) has little distortion. It is also a synthetic model with a widely used almost spherical three-dimensional computer graphic. It is also easy to work with files.
- the mapping means 12 has a function of obtaining the coordinates ( ⁇ , r) of the first coordinate system from the corresponding tape hole T based on the coordinates ( ⁇ , ⁇ ) of the second coordinate system.
- the coordinates ( ⁇ , ⁇ ) of the second coordinate system may be obtained based on the coordinates ( ⁇ , r) of the coordinate system. That is, while scanning the first coordinate system, for each coordinate ( ⁇ , r), the distance r is associated with the angle ⁇ in the table T, and the distance r of the coordinate ( ⁇ , r) is replaced with the angle ⁇ .
- the second coordinate system is raster-scanned to detect the coordinates ( ⁇ , r), and the pixel at the coordinates ( ⁇ , r) on the polar coordinate system is determined by the coordinates ( ⁇ , r) of the second coordinate system. ) May be mapped.
- the mapping means 12 has a function of mapping pixels to only some of the coordinates ( ⁇ , ⁇ ) on the second coordinate system instead of mapping the pixels to all the coordinates ( ⁇ , ⁇ ).
- the mapping means 12 raster-scans the second coordinate system, and only coordinates ( ⁇ , ⁇ ) at predetermined intervals are referred to the correspondence table T, and the coordinates ( ⁇ , r) of the first coordinate system are referred to. Is obtained, and pixels are mapped only to coordinates ( ⁇ , ⁇ ) at predetermined intervals on the second coordinate system. As a result, pixels are mapped to only some of the coordinates ( ⁇ , ⁇ ) of the coordinates ( ⁇ , ⁇ ) on the second coordinate system.
- the speed of the conversion process is further increased.
- the predetermined interval may be constant on the first coordinate system, but the information amount decreases as the heading force increases toward the inner periphery of the circular projected image CP, so that the decrease in the information amount is covered. For this reason, it is preferable to change the predetermined interval so as to gradually decrease from the outer circumference to the inner circumference of the circular projected image CP.
- the image conversion system 1 may include a pixel interpolating unit that interpolates a pixel with respect to coordinates to which a pixel is not mapped by the mapping unit 12. If the pixel interpolation means uses a general image linear interpolation method, it is good. [0048] Pixels associated with the correspondence table T are not mapped to coordinates located within a predetermined interval on the first coordinate system, and the pixel is missing, so that it is unclear. Therefore, the image conversion system 1 or a terminal connected to the image conversion system 1 and displaying the no-llama image PP performs filtering for performing sharpness filtering on the image on the second coordinate system obtained by the mapping means 12. It is preferable from the viewpoint of providing a means S and sharpening an image.
- a filter matrix in which numerical values are arranged so as to increase the difference between the density values of pixels in contact with each other may be used.
- the filtering means is provided in the terminal, and the filtering-unprocessed panorama image PP received from the image conversion system S is provided on the terminal side. Filtering processing may be performed.
- the terminal is a mobile phone or the like, the filtering means is provided in the image conversion system 1, and the filtered panorama image PP is transmitted to the terminal and displayed on the image conversion system 1. good.
- the filtering means may be used when mapping all pixels on the first coordinate system.
- the mapping means 12 may perform image conversion on all the regions of the circular projected image CP as described above. However, from the viewpoint of reducing the processing load, the mapping unit 12 provides the user with the circular projected image CP.
- the mapping means 12 is provided with an area designating function for prompting the designation of a part or all of the areas. The mapping means 12 can perform image conversion by mapping only the designated area.
- the image conversion system 1 includes a correspondence table generation unit 13.
- the correspondence table generating means 13 has a function of prompting the user to input correspondence information for associating the angle ⁇ with the distance r, and generating a correspondence table T based on the inputted correspondence information.
- FIG. 10 is an explanatory diagram for explaining the function of the correspondence table generating means 13.
- FIG. 10A is an explanatory diagram for explaining the relationship between the correspondence table T in the initial state, the second coordinate system, and the curved lens / mirror.
- the correspondence table T in the initial state is set when a curved surface lens Z mirror whose curved surface is assumed to have a predetermined curvature is used.
- the initial correspondence table T is It is a ⁇ -r curve (actually a numerical system IJ) corresponding to a constant curvature.
- the correspondence table generating means 13 converts the circular projection image CP into a panoramic image PP by the mapping means 12 with reference to the correspondence table T in the initial state, and displays the panoramic image PP on the second coordinate system.
- a corresponding line L indicating the correspondence between the angle ⁇ , which is the vertical axis, and the distance r.
- a plurality of corresponding lines L are displayed on the second coordinate system in parallel with the horizontal axis and at equal intervals in the vertical axis direction, and correspond to concentric circles drawn at equal intervals from the center in the circular projected image CP.
- the corresponding line L can be moved in the vertical axis direction by the user's operation (see FIG. 10 (b)), and the memory width of the vertical axis of the second coordinate system increases and decreases in accordance with the movement of the corresponding line L.
- the value of the angle ⁇ of the vertical axis indicated by each corresponding line L is not changed by the movement of the corresponding line L and is constant.
- the distance r to the angle ⁇ on the corresponding line L corresponds to the distance between the maximum value ⁇ (max) of the angle ⁇ and the corresponding line L.
- the force S that caused the corresponding line L to move downward and the distance r to the angle ⁇ became shorter, and the force S that caused it to move upward and the distance r to the angle ⁇ became It is getting longer.
- the correspondence table generating means 13 displays the converted llama image PP converted with reference to the correspondence table T in the initial state on the second coordinate system provided with the correspondence line L, thereby providing the user with the information. On the other hand, it is urged to move the corresponding line L on the second coordinate system to obtain the desired panoramic image PP.
- Figure 10 (b) shows the state in which the corresponding line has been moved.
- the correspondence table generation function 13 increases or decreases the memory width of the vertical axis angle ⁇ according to the movement of the corresponding line L, and disperses or arranges the arrangement of pixels between the corresponding line L and the corresponding line L in the vertical axis direction.
- the curve (actually, the value of the distance r to be arranged) of the correspondence table T is changed.
- the curve in the correspondence table (actually the numerical values to be arranged) is a curve (numerical value) that reflects the curvature of the curved surface of the curved lens / mirror (see the thick line in Fig. 10 (b)).
- the generated correspondence table T is stored in the storage medium 5 together with the identification information and other characteristic information, and from the next image conversion, the mapping means 12 refers to the correspondence table T specified by the user to perform mapping. By doing so, image conversion according to the curvature of the curved lens / mirror is performed.
- the first coordinate system setting means 11 maps the circular projection image CP to the first coordinate system and sets the first coordinates (first coordinate system setting step).
- the image conversion system 1 performs mapping of pixels from the first coordinates to the second coordinates by the mapping means (mapping step).
- the panorama image PP generated in the mapping step is displayed on the display device 3 (display step).
- the correspondence table generation means 13 maps the panoramic image PP converted by the mapping means 11 with reference to the correspondence table T in the initial state, to a second coordinate system provided with the correspondence line L,
- the display on the display device 3 prompts the user to input correspondence information (movement of the corresponding line), and disperses Z pixels on the second coordinate according to the corresponding line L moved by the user.
- the curve of the correspondence table T is changed and stored in the storage means 5 together with the identification information (corresponding table generation step).
- the correspondence table generation step is performed when the desired correspondence table T is not stored in the storage means 5, and in the mapping step performed thereafter, the correspondence table T generated in the correspondence table generation step is selected and stored. Mapping can be performed by reference.
- FIG. 11 is a conceptual diagram showing an embodiment of the image conversion system 1 and the image conversion method
- FIG. 12 is a flowchart of processing of the image conversion system 1.
- the image conversion system 1, the client 6, and the server 7 are connected via the Internet, and the production user uses the image conversion system 1 to generate a panoramic image by the image conversion method.
- the production user uses the image conversion system 1 to generate a panoramic image by the image conversion method.
- a case will be described as an example where a llama image is uploaded to the server 7 and a general user uses the client 6 to browse the panoramic image uploaded to the server 7.
- the client 6 is a computer terminal such as a mobile phone or a personal computer having a display screen.
- the personal computer is equipped with an OS and a WWW browser, and has a function for browsing video images (hereinafter referred to as a player function).
- the player function is realized by a WWW browser plug-in, etc. It has functions necessary for browsing panoramic images, such as the ability to specify images and display them in a predetermined area (window).
- the mobile phone has a display function of displaying an image on the liquid crystal display unit.
- FIG. 13 shows a display screen displayed on the display device 3 by the image conversion system 1.
- the image conversion system 1 is designed to input the specification information (lens type, unique name, product number, lens Z mirror type, etc.) for specifying the curved lens / mirror into the specification information input column on the display screen. Then, it waits until an area to be converted is specified in the circular projected image displayed on the display screen.
- the image conversion system 1 uses the specification information as a search key to store the storage unit 5 as a search key. Search and read one piece of property information including information that matches the specified information.
- specification information such as a lens type, a unique name, a product number, and a lens Z-mirror type
- the image conversion system 1 converts the area specified by the first coordinate system setting unit 13 into the first area. And sets the first coordinate system for the circular projected image.
- the region is specified by the production user using the mouse to specify a part or all of the circular projected image displayed on the display screen.
- the image conversion system 1 prompts input of a predetermined direction (north direction) together with the conversion area, and the production user clicks a predetermined direction (north direction) with a mouse and inputs the predetermined direction (north direction). .
- the image conversion system 1 recognizes the click point direction as a predetermined direction (north direction) from the center of the circular projected image, and regards a pixel in a specified area as having the center of the circular projected image overlapped with the pole and the predetermined direction defined as the polar axis. Map to the first coordinate so that they overlap.
- the image conversion system 1 uses the matching means 12 to execute the processing of the pixel from the first coordinate to the second coordinate according to the processing of the flowchart of FIG. Perform mapping.
- the circular projection is performed as in the above embodiment. Compared to the case of performing mapping in all areas of the image and performing image conversion, the processing speed is further reduced and the processing speed is further reduced.
- the correspondence table T is generated when the appropriate correspondence table T does not exist in the storage means 5, that is, when the correspondence table T corresponding to the curved lens Z mirror used for capturing the circular projected image does not exist. Done by the user.
- the image conversion system 1 displays the panoramic image converted by the mapping means 12 with reference to the correspondence table T in the initial state in the second coordinate system provided with the corresponding line L, and responds to the production user. Prompt for information.
- the production user moves the corresponding line L in the vertical axis direction so that the panoramic image is in a desired state.
- the correspondence table generation means 13 re-displays the panoramic image by dispersing or aggregating the pixels on the second coordinate system in accordance with the correspondence line L moved by the production user, and displays the curve of the correspondence table T (actually). Is the number to be arrayed).
- the production user inputs an identification sign into the identification sign input column on the display screen.
- the correspondence table generation means 13 stores the correspondence table T in the storage means 5 in association with the identification marker.
- the production user searches the storage means 5 using the identification index as a search key for the image conversion of the circular projected image captured using the curved lens / mirror, and retrieves the corresponding table from the storage means 5. By selecting T, a circular projected image can be converted to a panoramic image.
- the server 7 stores the panoramic image.
- a general user can display the panoramic image stored in the server on the display screen of the client 6.
- the client 6 has a function of performing panning and tilting by displaying only a part of the panoramic image specified by the general user.
- the client 6 is a personal computer or the like, after receiving all the panorama image data from the server 7 and storing it on the client 6 side, the client 6 receives a pan / tilt instruction input from a general user with a mouse or the like. In response, a part of the panoramic image is displayed on a liquid crystal display device or the like.
- pan or tilt from client 6 to server 7 Is transmitted by the server 7, pan and tilt processing is performed by the server 7, and the client 6 receives a part of the panoramic image obtained by performing the pan / tilt processing from the server 7, and transmits the panoramic image to the liquid crystal display unit or the like. indicate.
- the general user can display a desired image as if by moving his / her own line of sight by using the pan and tilt functions.
- the image conversion system according to the above-described embodiment has been described as an example in which the image conversion system is realized by a computer system such as a personal computer.
- the image conversion system may be realized by a mobile terminal such as a digital camera or a mobile phone.
- a panoramic image generated by the image conversion system is downloaded to a terminal such as a mobile phone and displayed, but may be displayed on a display device of the image conversion system.
- each of the above means and methods may be realized by a program or may be realized by a circuit such as an IC chip.
- an omnidirectional or wide-angle polyhedral image is formed by joining images of surroundings captured by a plurality of cameras, and a projected image obtained by projecting the polyhedral image onto a plane is converted into a panoramic image. It is also applicable to the conversion of combinations other than the polar coordinate system and the orthogonal coordinate system, for example, when converting an image on a three-dimensional rectangular coordinate system to a two-dimensional rectangular coordinate system.
- a still image has been described as an example, but the same processing is performed on each frame constituting the moving image for a moving image captured by a moving image capturing unit such as a CCD camera, so that the present invention can be applied to a moving image. It is possible.
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JP5843033B1 (ja) * | 2014-05-15 | 2016-01-13 | 株式会社リコー | 撮像システム、撮像装置、プログラムおよびシステム |
JP5843034B1 (ja) * | 2014-05-15 | 2016-01-13 | 株式会社リコー | 動画表示装置およびプログラム |
US9984436B1 (en) * | 2016-03-04 | 2018-05-29 | Scott Zhihao Chen | Method and system for real-time equirectangular projection |
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