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Rapid three-dimensional panoramic image stitching method

A panoramic image, fast stitching technology, used in image enhancement, image analysis, image data processing and other directions

Inactive Publication Date: 2018-08-10
江苏四点灵机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, there is no simple and quick panorama mosaic scheme for three-dimensional images by using machine vision and iterative optimization algorithms combined with network communication. The present invention solves such problems

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Embodiment Construction

[0030] The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

[0031] The three-dimensional image is collected by a binocular depth camera; as an option, the binocular depth camera consists of: a GRB camera and an infrared depth camera. The RGB image and depth information complete the 3D reconstruction through the client; the client communicates with the server through the network and transforms the 3D images of multiple fields of view into the same coordinate system on the server in real time.

[0032] The angle setting between adjacent cameras is related to the imaging field of view of a single camera. To make the stitching accuracy more accurate, the angle between adjacent cameras should be as small as possible. However, to complete the 360° panorama stitching scheme, the relative The smaller the angle between adjacent cameras means that more cameras should be provided. Considering comprehensively...

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Abstract

The invention discloses a rapid three-dimensional panoramic image stitching method. The method comprises the following steps of: firstly obtaining internal parameters and distortion parameters of cameras by utilizing a traditional calibration method; obtaining a position transformation relationship between RGB camera coordinate systems and depth camera coordinate systems by utilizing the calibration parameter so as to generate three-dimensional images; recognizing three-dimensional position relationship, in each camera coordinate system, of a calibration plate by utilizing a machine vision method, so as to convert the three-dimensional images in different cameras into a coordinate system of a same calibration object to complete coarse registration of three-dimensional stitching; optimizingand iterating precision of the three-dimensional image stitching by utilizing an icp iteration algorithm, and storing the position transformation relationship of each camera coordinate system so as to generate a coordinate system transformation relationship query table, wherein the query table only needs to be generated for one time; and keeping the position of each camera unchanged, and mappingthe three-dimensional images in the different camera coordinate systems into a same coordinate system by utilizing the query table, so as to complete the rapid three-dimensional panoramic image stitching.

Description

technical field [0001] The invention relates to the fields of three-dimensional detection and three-dimensional reconstruction, in particular to a method for quickly splicing three-dimensional panoramic images. Background technique [0002] The three-dimensional panoramic image stitching technology is a technology to obtain the spatial coordinate information of the surrounding environment and the position of objects in a large field of view. The 3D panoramic image can provide a 360-degree 3D object image model, which well reflects the real shape of the object. The rapid 3D image stitching technology has huge applications in many fields such as military, cultural relics, medicine, education, and industrial inspection. prospect. [0003] Image stitching technology has been around for a long time. Image stitching technology is to stitch a group of overlapping images into a large seamless image, which can eliminate overlapping information and reduce the amount of information st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/40G06T7/80G06T17/00
CPCG06T3/4038G06T17/00G06T2207/10012G06T2207/30208G06T7/85
Inventor 林斌胡翔蔡宁
Owner 江苏四点灵机器人有限公司
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