Quaternion-based panoramic image stabilizing method

A quaternion, panoramic technology, applied in electrical components, image analysis, image communication and other directions, can solve the problems of different attitude changes, unable to accurately locate the overall attitude transformation, etc.

Inactive Publication Date: 2015-12-30
CHANGCHUN UNIV OF SCI & TECH
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Problems solved by technology

This method can effectively solve the problem that the overall pose transformation cannot be acc

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  • Quaternion-based panoramic image stabilizing method
  • Quaternion-based panoramic image stabilizing method
  • Quaternion-based panoramic image stabilizing method

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Embodiment Construction

[0043] Below in conjunction with accompanying drawing, the present invention will be further described: as figure 1 , 2As shown, the first step uses Zhang Zhengyou calibration method to calibrate each camera in the panoramic imaging system to obtain the internal parameter matrix M of each camera,

[0044]

[0045] In the internal reference matrix and Indicates that the photosensitive device is in the Direction and direction offset, is in direction pixel focal length is in The focal length of the pixel in the direction, through the internal parameter matrix and Distortion correction is performed on the images collected by each camera, and the pixel focal length f of each camera can be obtained through M.

[0046] The second step is to select the right-hand coordinate system to establish a sphere model, and establish a sphere model whose radius is the focal length, and the coordinates of the center of the sphere model are (0,0,0). The established sphere m...

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Abstract

The invention relates to a quaternion-based panoramic image stabilizing method which is characterized in that the method comprises the following specific steps: 1) single-camera model sphere establishment; 2) angle-based stereographic projection method; 3) multi-sphere model fusion method; 4) quaternion-based panoramic spherical surface image stabilizing method; and 5) panoramic sphere expansion method. A plurality of sphere models are subjected to normalization, and spherical surfaces of the plurality of sphere models are fused to form a single-frame panoramic sphere model of a multi-camera imaging system; the front and back panoramic spherical surface images are subjected to feature point matching; pose relation between the two panoramic spheres is calculated through a quaternion method, and then, the spherical surface images are subjected to conversion according to the obtained pose relation; and finally, information on the panoramic spherical surfaces is reduced to a plane image, and thus the image stabilizing effect is achieved. The method can effectively solve the problem that the overall pose transformation cannot be accurately positioned due to different pose change of each camera in a panoramic camera system.

Description

technical field [0001] The invention relates to a quaternion-based panoramic image stabilization method, in particular to a panoramic video sequence image stabilization method generated by a panoramic imaging system composed of multiple cameras, and belongs to the field of digital image processing. Background technique [0002] The generation of panoramic images generally adopts the following basic methods: the first type is to use a wide-angle camera or a panoramic reflection optical lens to generate a panoramic image video sequence; the second type is to use a single camera to perform a scanning movement with a large viewing angle, and then splicing to form a panoramic video Sequence; the third type is to use multiple cameras arranged in a divergent manner to form a panoramic imaging system. Multiple cameras can simultaneously collect video images and fuse these video frames into a panoramic video sequence. Among them, the image stabilization method for the first type and ...

Claims

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Application Information

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IPC IPC(8): H04N5/21G06T7/00
Inventor 方明徐晶付飞蚺司书哲任正玮田颖
Owner CHANGCHUN UNIV OF SCI & TECH
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