Panoramagram generation method

Abstract

The invention provides a panoramagram generation method which includes the steps that (1) for the same region, a benchmark image and an image to be registered are obtained; (2) pixel characteristic value sequences are generated for the two images respectively; (3) front M pixel points in the two sequences are selected to serve as characteristic points; (4) feature matching is conducted on the two sets of characteristic points, and a matching point pair sequence is obtained; (5) an affine mapping relation is built according to the matching point pair sequence, and a transformed image to be registered is obtained; (6) the shared regions on the two images are fused, and a spherical panoramagram for the same region is obtained; (7) the spherical panoramagram is converted to be an unfolded planar coordinate system from a spherical coordinate system, and a panoramagram is generated. The method is simple in overall procedure, high in speed and capable of generating the panoramagram with high accuracy and small deformation under the conditions that the lens pitch angle is unknown and the rotating angle is unknown and converting the spherical surface of the panoramagram to a plane, and watching is facilitated for users.

Description

technical field [0001] The invention relates to an image processing method. Background technique [0002] Using a single lens to take pictures of the surrounding environment is limited by the size of the field of view, making it difficult to reflect the surrounding panorama. In view of this situation, several images of the surrounding scenes need to be spliced ​​to form a surrounding panoramic image, so that the user can perceive the overview of the surrounding topography or scene. For users such as cars, the multi-camera recorder based on this technology can seamlessly monitor the 360-degree panoramic view around the car. For the lunar rover, the surrounding panorama has become particularly important, which can guide the walking of the lunar rover and avoid driving into the lunar crater and hitting rocks. For ordinary home users, multi-cameras can be used together to realize seamless 360-degree panoramic monitoring of the home. Since the generated image is a panoramic im...

AI Technical Summary

Problems solved by technology

The disadvantage of these methods is that the calculation is complicated and it is difficult to meet the real-time requirements; secondly, the method only considers the splicing when the camera angle is horizontal. The lens is tilted, etc., and the spliced ​​image is a spherical image. It is necessary to convert the spherical image to a cylindrical image for a more objective display.

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