Method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic

A fisheye lens and fisheye image technology, applied in image analysis, image data processing, instruments, etc., can solve the problems of affecting the splicing effect, unable to map the hemisphere area, deformation, etc., to avoid traffic accidents, good visual scenes, high resolution rate effect

Inactive Publication Date: 2013-09-11
杭州海康希牧智能科技有限公司
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AI Technical Summary

Problems solved by technology

Perspective mapping cannot map hemispherical regions into a finite image plane
Therefore, the fisheye image will produce serious radial distortion, and the edge of the image will be severely stretched, resulting in exaggera

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  • Method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic
  • Method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic
  • Method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic

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Embodiment Construction

[0032] A fisheye lens vertical mapping image geometric correction method in fisheye image stitching, the specific steps are:

[0033] Step (1). Four fisheye images obtained by four fisheye lenses facing four directions respectively , , , According to the inverse process of the fisheye lens imaging process, it is mapped to a perspective plane image , , , .

[0034] The inverse process mapping method of the fisheye lens imaging process is a mature prior art.

[0035] Step (2). Using the scale-invariant feature transformation algorithm to obtain adjacent perspective plane images respectively and Matching pixel points in the overlapping area in , to obtain a perspective plane image and Corresponding overlapping area perspective planar image and .

[0036] The scale-invariant feature transformation algorithm adopts mature existing methods, such as the SIFT algorithm.

[0037] Step (3). Press to acquire fisheye image The preset pitch angle of the f...

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Abstract

The invention relates to a method for geometrically correcting vertically mapped images of fisheye lenses in fisheye image mosaic. Fisheye images can severely distort radially, and a mosaic effect is affected. The method includes enabling the four vehicular fisheye lenses to respectively acquire near-distance scenes in four directions of a vehicle body; unifying images of the four fisheye lenses on a ground coordinate system by means of mapping images and estimating pitching angles; geometrically correcting the images to form third-angle vertical overlook images with consistent visual perception. By the method, the four fisheye lenses are divided into two groups according to adjacent relations, the pitching angles and mosaic angles of each two adjacent images in each group are respectively solved, the pitching angles and mosaic angles of two groups of images are solved according to adjacent relations between the two groups of images of the lenses, and finally results are converted into respective independent pitching angles of the four images. The method has the advantages that fisheye image mosaic can be effectively implemented, and a seamless high-definition image can be finally formed.

Description

technical field [0001] The invention belongs to the technical field of image data processing, and relates to an image splicing method, in particular to a fisheye lens vertical mapping image geometric correction method applied to fisheye image splicing in which multiple cameras on a vehicle shoot close-range shots of surrounding scenes. Background technique [0002] With the wide application of photography technology, panoramic visual perception technology has become a popular research direction in industries that rely on visual information to make decisions in civil, military and aerospace fields. At present, panoramic visual perception technology mainly uses two methods: mirror and fisheye lens. A fisheye lens is a lens with an extremely short focal length and a viewing angle close to or equal to 180°. It is an extreme wide-angle lens, commonly known as "fisheye lens". In order to achieve the maximum photographic viewing angle of the lens, the diameter of the front lens o...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 杨志军王晨希徐向华
Owner 杭州海康希牧智能科技有限公司
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