WO2018024503A1 - Génération d'une image panoramique destinée à un rendu stéréoscopique et rendu associé - Google Patents

Génération d'une image panoramique destinée à un rendu stéréoscopique et rendu associé Download PDF

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Publication number
WO2018024503A1
WO2018024503A1 PCT/EP2017/068443 EP2017068443W WO2018024503A1 WO 2018024503 A1 WO2018024503 A1 WO 2018024503A1 EP 2017068443 W EP2017068443 W EP 2017068443W WO 2018024503 A1 WO2018024503 A1 WO 2018024503A1
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WIPO (PCT)
Prior art keywords
image
rotation
pair
rotational
computer
Prior art date
Application number
PCT/EP2017/068443
Other languages
German (de)
English (en)
Inventor
Michael Haas
Original Assignee
Innaq Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Innaq Gmbh filed Critical Innaq Gmbh
Publication of WO2018024503A1 publication Critical patent/WO2018024503A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H04N13/221—Image signal generators using stereoscopic image cameras using a single 2D image sensor using the relative movement between cameras and objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/111—Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N2201/00—Indexing scheme relating to scanning, transmission or reproduction of documents or the like, and to details thereof
    • H04N2201/024—Indexing scheme relating to scanning, transmission or reproduction of documents or the like, and to details thereof deleted
    • H04N2201/02406—Arrangements for positioning elements within a head
    • H04N2201/02416—Rotational positioning, i.e. with respect to an axis

Definitions

  • the present invention relates to a computer-implemented method for generating a stereoscopic one
  • the present invention relates to a
  • Panoramic photographs have been made for a long time in order to capture scenes such as Landscapes or
  • View angles can be freely selected, with the angle of view directed to a specific part of the scene.
  • panorama pictures are created by combining (also known as "stitching") individual pictures into a complete picture
  • Image section gets.
  • the panoramic images thus generated are used for monoscopic, but also for stereoscopic representations, which is associated with a number of disadvantages.
  • the main drawback is that when the angle is changed, the motion parallax visible in reality is not
  • Panoramic images is the susceptibility to changes in the scene.
  • a typical example of such a change would be a vehicle that drives through the scene during the shoot, so that different parts (or parts of the footage) on different shots do not
  • the present invention has set itself the task of a method for generating stereoscopic
  • the method of generating the panoramic images shall be robust to dynamic changes, e.g. be opposed to moving vehicles, in scenes to be recorded.
  • the method comprising the following steps: a) taking at least one pair of images with a
  • Camera assembly each pair of images consisting of a first image and a second image, and wherein a recording position of the first image is shifted and / or rotated relative to a recording position of the second image;
  • this can also be dispensed with and the generated sequence of image pairs can be used as such for the panoramic image.
  • the two video files or the pair of video files can be packed into a single video file to better handle the panoramic image. Respectively. It is also possible to create a single video file directly from the pictures in the sequence.
  • the captured panoramic picture is suitable for the
  • Video glasses, helmet display, VR helmet or data helmet is called.
  • the recordings are made at certain times
  • a partial sequence of image pairs in particular a pair of video sequences, can be produced at each rotational angular position
  • the two images of each pair of images are taken from different recording positions, wherein the relative arrangement of the recording positions to each other is preferably the same at all rotational angle positions. This creates the prerequisite for the generation of
  • the inventive method always provides a panoramic image with motion parallax.
  • the first image of each image pair can be basically assigned to one user's eye and the second image of each image pair to the other user's eye. This creates the prerequisite for stereoscopic vision.
  • each pair of images consisting of a first and a second image
  • two video files can result, namely a video file for the sequence of the first images and a video image.
  • Rotation angle position are recorded multiple pairs of images, there are at each rotation angle position a subsequence of a plurality of first images and a subsequence of several second images. Again, ultimately two video files can be obtained.
  • One of these video files results from the sequence of the partial sequences of the first images, that is, again from a sequence of the first images.
  • the other of these video files follows from the sequence of
  • this method is for generating
  • Panoramic images in monoscopic playback tolerate changes in the scenery, since no stitching must be done and each eye sees the same picture.
  • the first rotation axis is parallel to the vertical, so that a horizontal first rotation angle range results.
  • the first rotation angle range preferably extends from a rotation angle start position to a
  • the first rotation angle range may be e.g. 360 °.
  • Typical values for the rotational angle increment are in the range from 0.01 ° to 20 °, preferably from 0.1 ° to 5 °, particularly preferably from 0.5 ° to 3 °.
  • the Drehwinkelinkrement is chosen to be constant.
  • the rotational angle positions can be determined as the sum of the rotational start angle position and an integer one
  • Camera assembly includes a camera that between the Recording position of the first image and the recording position of the second image is movable back and forth.
  • the two shooting positions also be understood that the two shooting positions also be used.
  • the panoramic image according to the invention can also be generated with only a single camera.
  • the movement of the camera between the shooting positions can be done in different ways.
  • the camera may be guided on a linear rail, for example, and e.g. be moved by means of an electric motor or by means of an electric, pneumatic or hydraulic cylinder.
  • the linear rail for example, and e.g. be moved by means of an electric motor or by means of an electric, pneumatic or hydraulic cylinder.
  • rail can be rotated about the first axis of rotation to transfer the camera assembly from one rotational position to the next.
  • Movement of the camera between the recording position of the first image and the recording position of the second image by rotation, preferably about the first axis of rotation takes place.
  • the first image part can extend over 0% to 70% of a width of the image and the second image part over 30% to 100% of the width of the image. Furthermore, to generate the image pair at a certain rotational angle position, images of
  • the image which is recorded at the immediately preceding rotational angle positions and, on the other hand, the image which is recorded at the immediately following rotational angular positions are used.
  • Rotation angle position The one image part of the image, which at the rotational angle position immediately before
  • the first image of the image pair is at the determined rotational angular position.
  • the recording position of the first image is thus set by the camera arrangement at the rotational angle position immediately before the determined rotational angular position.
  • the other image part of the image, which is taken at the rotational angle position immediately after the determined rotational angular position, is the second image of the image pair at the particular one
  • the recording position of the second picture is thus determined by the camera arrangement at the rotational angle position immediately after the specific rotational angular position.
  • the camera takes on one
  • step b) can also be carried out at least partially simultaneously with step a), which in turn saves time
  • the images are taken with a wide-angle objective, preferably with a
  • the camera arrangement has a first camera and a camera shifted relative to it and / or
  • the first image is taken with the first camera and the second image with the second camera.
  • the first camera takes all first images and the second camera takes all second images.
  • the triggering of the two cameras takes place
  • the first picture and the second picture are recorded simultaneously.
  • the first video file can be generated and from the sequence of second images taken with the second camera, the second video file.
  • the two cameras can for this purpose e.g. be mounted on a holder, with the position of the two cameras
  • the relative arrangement of the two cameras - and thus in particular their distance from one another - preferably remains fixed.
  • the version with two cameras is also included.
  • stereoscopic rendering tolerant of changes in scenery. For example, if a car moves through the scene during recording, it is usually captured by both cameras at the same time. In the
  • the car is also displayed to each eye, i. e. it does not occur that e.g. the left eye sees a part of the car and the right eye sees no part of the car.
  • the rapid recording with two cameras even enables the recording of changes in the scene and stereoscopic reproduction.
  • the user will not intersect the axis of rotation about an axis of rotation, but will be spaced therefrom. To take this circumstance into account when taking the panoramic image, it is in a preferred embodiment of the
  • the camera assembly from the first axis of rotation has a first distance.
  • the camera assembly is rotated eccentrically about the first axis of rotation.
  • the first distance on the one hand and the relative arrangement of the two receiving positions to each other on the other hand are matched.
  • Panoramic picture allows a particularly realistic-looking
  • corresponding to which second axis of rotation with the first axis of rotation a non-zero angle, preferably an angle of 90 ° includes, when shooting a fisheye lens can be used.
  • a non-zero angle preferably an angle of 90 °
  • Camera assembly has been rotated about a second axis of rotation, wherein the second axis of rotation with the first axis of rotation at an angle not equal to zero, preferably an angle of 90 °, includes. It is preferably provided that the steps a) to d) are repeated after the camera arrangement has been rotated about the second axis of rotation. Due to the rotation or possibly the rotations about the second axis of rotation, a sequence of second angular positions (with respect to the second axis of rotation) is obtained
  • Axis of rotation preferably a sequence of elevation angles, set or generated.
  • That at a plurality of second rotational angle positions about the second axis of rotation is in each case a sequence of image pairs or
  • each of the first and second video file are recorded.
  • the recorded data are recorded.
  • Panoramic image consisting of several sequences or pairs of video files, the number of these sequences or of these pairs being equal to the number of occupied second ones
  • Elevation angle range The elevation angle range is thus one
  • Rotation angle positions are taken, which are in the second rotation angle range.
  • the second rotation angle range or its size may be e.g. in the range of 45 ° to 180 °, preferably from 45 ° to 90 °. But there are also larger areas conceivable.
  • Successive second rotational angle positions may differ by one, preferably constant, second rotational angle element.
  • Rotation angle increment are in the range of 0.01 ° to 20 °
  • a user sees with one eye the first display of the stereoscopic display device and with the other eye the second display.
  • Display rotational position can be interpolated or computationally achieved. For this it is at a preferred
  • step dd Embodiment of the computer-implemented method according to the invention provided that the following steps are performed in step dd):
  • Representation rotational position is, and the at least one pair of images that rotational angle position, which is in the sequence immediately after the presentation rotational position; otherwise: Apply the at least one image pair of this rotational angle position as the at least one
  • the panorama image is in the form of at least one video file, preferably in the form of at least one pair of video files, it should be noted that the sequence of image pairs is of course directly derived from the
  • At least one video file preferably from the at least one pair of video files, can be extracted, and thus available anyway, to perform the above steps.
  • the calculation of the at least one representation image pair can be done in a manner known per se, for example by blending the first images of the at least one
  • Display rotational position is.
  • known methods can also be used in which the images are projected onto a projection body (usually a sphere or a cube), wherein the projection body rotates and / or
  • the determination of the angle of view can be done in different ways. To be technically very easy too
  • Input device made choice. That the user can e.g. by means of a keyboard, a mouse, one
  • Touchscreens or the like enter or select the desired angle.
  • Determination of the viewing angle based on sensor signals That A conscious input of the user is not absolutely necessary. Instead, movements of the user are detected by sensors and are the
  • Such sensor systems are known per se from today's VR applications.
  • at least one so-called eye tracker can be used to To follow movement of an eye or the eyes of the user and to determine thereon based on the current angle of view.
  • a so-called head tracker can be used to register movements of the user's head and, based on this, to determine the current viewing angle.
  • User can be determined continuously by means of the sensors to determine based on the current angle of view.
  • a second display rotational angle position is determined, which is the angle of view relative to the second
  • the rotation axis corresponds to that sequence which can be assigned to a second rotation angle position with respect to the second rotation axis, which second rotation angle position comes closest to the second representation rotation angle position, and the image pairs of this sequence are used for the creation of the at least one representation image pair.
  • the image pairs of this sequence are used for the creation of at least one representation image pair.
  • the calculation of the at least one representation image pair can be carried out in a manner known per se, for example by blending the image pairs of the sequences which are at the second rotation angle positions, the second
  • Projection usually a ball or a cube
  • the projection body rotates and / or
  • FIG. 1 shows a schematic illustration of a camera arrangement when carrying out a method according to the invention, the camera arrangement having a camera
  • FIG. 2 shows a schematic illustration of a camera arrangement when carrying out a method according to the invention, the camera arrangement having a first camera and a second camera
  • a camera assembly 1 is illustrated, as in the implementation of an inventive
  • each pair of images consists of a first image and a second image and wherein a
  • Receiving position 7b of the second image is shifted and / or rotated; b) rotating the camera assembly 1 with respect to a first
  • the following step is also preferably performed: d) generating at least one video file from the pictures of the sequence, preferably a first video file from the first pictures of the sequence and a second video file from the second pictures of the sequence.
  • a stereoscopic display device such as a video recorder.
  • a head mounted display (not shown)
  • a user sees with one eye the first display of the stereoscopic display device
  • Playback device and with the other eye the second display.
  • the viewing angle e.g. when the user turns and the rotation is registered by means of sensors or when the user selects a different angle by means of an input device, the motion parallax becomes full
  • the camera arrangement 1 comprises a camera 9.
  • the camera assembly 1 is about the first axis of rotation 3,
  • the first rotation axis 3 may-but need not of course-be parallel to the vertical, so that in this case the first rotation angle range 6 is a horizontal first rotation angle range 6.
  • the first rotation angle range 6 is approximately 305 ° in FIG. 1, but can in principle also be up to and including 360 °.
  • the rotation is eccentric to the first axis of rotation 3, i. the camera arrangement 1 has a first distance 5 greater than zero from the first axis of rotation 3.
  • the first distance 5 can be in the range from 1 cm to 100 cm, preferably from 5 cm to 15 cm.
  • the distance becomes similar to the radius of a human head, e.g. about 8 cm, chosen to the user's perspective as possible
  • Fig. 1 the camera 9 is drawn with solid lines at the rotational angle position 4a, wherein the rotational angle position 4a corresponds to a rotational angle start position.
  • the Drehwinkelinkrement ⁇ is chosen constant in the embodiment of FIG. 1 and is about 12.5 °.
  • certain rotational angle position taken pictures of rotational angle positions that come before and after the specific rotational angle position.
  • the image which is previously recorded at two rotational angle positions and, on the other hand, the image which is recorded at two rotational angle positions are used.
  • the image which is recorded at the immediately preceding rotational angle positions and, on the other hand the image which immediately follows
  • Rotation angle positions is added, used.
  • the rotational angle position 4b is the specific rotational angular position. The one (shown in
  • Rotation angle position 4a is received immediately before the rotational angular position 4b, the first image of the pair of images to the rotational angle position 4b.
  • the recording position 7a of the first image of the pair of images for the rotational angle position 4b is therefore set by the camera arrangement 1 at the rotational angle position 4a immediately before the rotational angular position 4b.
  • the other (left-hand in the illustrated example) image part of the image, which is taken at the rotation angle position 4c immediately after the rotation angle position 4b, is the second image of the image pair to the rotation angle position 4b.
  • the recording position 7b of the second image of the pair of images for the rotational angle position 4b is thus set by the camera arrangement at the rotational angle position 4c immediately after the rotational angular position 4b.
  • the camera 9 is thus rotated by rotation of the camera assembly 1 about the first axis of rotation 3 at the same time between the
  • the camera 9 is further rotatably mounted about a second axis of rotation 8 and can be rotated about this in a conventional manner, for example with a
  • the second axis of rotation 8 is in the illustrated embodiment normal to the first axis of rotation 3.
  • the second axis of rotation 8 may - but of course not - be parallel to the horizontal, so that by rotation of the camera assembly 1 about the second axis of rotation 8 a
  • Rotation angle positions about the second axis of rotation 8 respectively the sequence of image pairs or the first and second video file are recorded, as described above.
  • the first rotation angle range 6 is preferably completely swept over at every second rotational angular position. That The pair of images or images are then recorded at the rotational angle positions 4a, 4n at a specific second rotational angle position, then the rotation about the second rotational axis 8 is effected by a second rotational angle increment, whereupon the image pairs or images are recorded at the rotational angle positions 4a, 4n and immediately.
  • the panoramic image therefore includes every other rotational angular position or for every second
  • Rotation angle position a sequence of image pairs or a first and a second video file.
  • a second representation of rotational angle position can be determined, which corresponds to the angle of view relative to the second axis of rotation 8. Then, that sequence is determined which can be assigned to that second rotational angular position which comes closest to the second rotational representation angular position. The Image pairs of this sequence are finally used to create the at least one display image pair.
  • Fig. 2 shows a further embodiment of the
  • Camera assembly 1 as in the implementation of a
  • the camera arrangement 1 in FIG. 2 has a first camera 2a and a second camera 2b, which is particularly rapid
  • the first camera 2a and the second camera 2b are mounted on a linear mount 10 so that they have a preferably adjustable, fixed offset arrangement to each other.
  • the two cameras 2a, 2b have a distance 11 in the range from 1 cm to 100 cm, preferably from 3 cm to 16 cm
  • the distance will be similar to the distance of the human eyes, e.g. approx. 6.4 cm, chosen to capture the user's perspective as realistically as possible.
  • the cameras 2a, 2b can also be rotated relative to each other.
  • the first camera 2 a serves to receive the first images and is located at the recording position 7 a at each rotational angle position 4 a, 4 n.
  • the second camera 2b is for taking the second images and is at each
  • the receiving positions 7a, 7b are shifted relative to each other accordingly.
  • the sequence of image pairs can be generated. Respectively.
  • the first video file can finally be generated and from the sequence of second ones
  • the linear holder 10 is arranged at the first distance 5 from the first axis of rotation 3.
  • the first distance 5 is also in the embodiment of FIG. 2 in the range of 1 cm to 100 cm, preferably from 5 cm to 15 cm.
  • the first rotation angle range 6 in FIG. 2 is 360 °, with the camera arrangement 1 being shown only in the case of the rotation angle position 4b with solid lines and in the case of
  • the rotational angle increment ⁇ is selected to be very large in FIG. 2 and is approximately 39 °.
  • the second axis of rotation 8 which is also normal in this case on the first axis of rotation 3.
  • the second axis of rotation 8 - as in the embodiment of FIG. 1 - at each rotational position 4a, 4n a tangent to an imaginary circle 12 whose radius is the first distance 5 and whose center lies on the first axis of rotation 3.
  • the camera assembly 1 of FIG. 2 allows the
  • the panoramic image therefore comprises a sequence of image pairs or a first and a second video file at every second rotational angle position or for every second rotational angular position, wherein each first video file was recorded with the first camera 2a and every second video file with the second camera 2b.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

L'invention concerne un procédé mis en œuvre par ordinateur pour la génération d'une image panoramique destinée à un rendu stéréoscopique. Selon l'invention, le procédé comprend les étapes suivantes : a) la réception d'au moins une paire d'images avec un agencement de caméras (1), chaque paire d'images étant composée d'une première image et d'une seconde image tandis qu'une position de prise de vue (7a) de la première image est tournée et/ou décalée par rapport à une position de prise de vue (7b) de la seconde image ; b) la rotation de l'agencement de caméras (1) relativement à un premier axe de rotation (3) d'un incrément angulaire (Δ) d'une position angulaire (4a) à une prochaine position angulaire (4b) ; c) la répétition des étapes a) et b) jusqu'à ce qu'une première plage angulaire (6), de préférence définissable au préalable, soit dépassée afin de générer une série de prises de vue d'au moins une paire d'images pour les positions angulaires successives (4a, 4b, 4c, ..., 4n).
PCT/EP2017/068443 2016-08-02 2017-07-21 Génération d'une image panoramique destinée à un rendu stéréoscopique et rendu associé WO2018024503A1 (fr)

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ATA50701/2016 2016-08-02
ATA50701/2016A AT518256B1 (de) 2016-08-02 2016-08-02 Erzeugung eines für eine stereoskopische wiedergabe vorgesehenen panoramabilds und eine solche wiedergabe

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