Image mosaic method, computer readable storage medium and computer equipment

Abstract

The present application is applicable to the field of image processing, and provides an image splicing method, device, computer-readable storage medium, computer equipment, and camera. The method includes: calculating a first mapping table corresponding to the lens of each camera according to the internal parameters of the lens of each camera, and converting an image corresponding to the lens of each camera collected at the same time Projected onto the unit sphere to obtain a plurality of first spherical images corresponding to the lens of each camera; the distance between the center of the circle formed by the external parameters of the lens of each camera and the optical centers of the lenses of multiple cameras is the distance from the circle The distance of a preset plane above or below is calculated to obtain the second mapping table corresponding to the lens of each camera, and according to the second mapping table, multiple first spherical images are mapped to a unified unit sphere, and stitched to obtain a panorama spherical image. This application can obtain more natural and real top and bottom mosaic pictures.

Description

technical field [0001] The present application belongs to the field of image processing, and in particular, relates to an image stitching method, device, computer-readable storage medium, computer equipment, and camera. Background technique [0002] Image stitching in the prior art is usually implemented in the following manner: first, the spherical coordinates of each pixel with the optical center of the lens as the spherical center are obtained through the internal parameters of the lens obtained by calibration; position, in which the rotation amount of the rotation coordinates is obtained from the angular relationship (external parameters) between multiple lenses; after obtaining the mapping from a single screen pixel to a unified spherical coordinate, the picture captured by each lens can be mapped to the spherical surface, Finally combined into a complete image. [0003] Since the positions of the optical centers of the lenses do not overlap, there is parallax between ...

AI Technical Summary

Problems solved by technology

However, for the most common panoramic camera structure in which multiple lenses are arranged in a ring, the bottom and top of the panoramic sphere are spliced ​​together by all the lens images. In the perspective of the viewer of the panoramic image, the top area and the bottom area of ​​the panoramic sphere are respectively composed of Multiple fan-shaped pictures are stitched together, and all the stitching seams are gathered at the center; due to the parallax between the lenses, the misalignment between the pictures is serious, so that the top and bottom of the panoramic camera will have alignment errors, picture distortion and other stitching errors; professional grade In order to obtain better image quality, panoramic cameras generally use larger image sensors and more lenses, resulting in greater parallax between lenses and more serious top / bottom stitching errors

However, the prior art method for eliminating seam misalignment between two lenses cannot eliminate the problem of simultaneous misalignment between multiple lenses, and cannot obtain a natural top / bottom image

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