896 results about "Image stitching" patented technology

A “Keyframe Stitcher” provides an efficient technique for building mosaic panoramic images by registering or aligning video frames to construct a mosaic panoramic representation. Matching of image pairs is performed by extracting feature points from every image frame and matching those points between image pairs. Further, the Keyframe Stitcher preserves accuracy of image stitching when matching image pairs by utilizing ordering information inherent in the video. The cost of searching for matches between image frames is reduced by identifying “keyframes” based on computed image-to-image overlap. Keyframes are then matched to all other keyframes, but intermediate image frames are only matched to temporally neighboring keyframes and neighboring intermediate frames to construct a “match structure.” Image orientations are then estimated from this match structure and used to construct the mosaic. Matches between image pairs may be compressed to reduce computational overhead by replacing groups of feature points with representative measurements.

The invention discloses a real-time panoramic image stitching method of aerial videos shot by an unmanned plane. The method comprises the steps of: utilizing a video acquisition card to acquire images which are transmitted to a base station in real time by an unmanned plane through microwave channels, carrying out key frame selection on an image sequence, and carrying out image enhancement on key frames; in the image splicing process, firstly carrying out characteristic detection and interframe matching on image frames by adopting an SURF (speeded up robust features) detection method with good robustness; then reducing the series-multiplication accumulative errors of images in a frame-to-mosaic image transformation mode, determining images which are not adjacent in time sequence but adjacent in space on a flight path according to the GPS (global positioning system) position information of the unmanned plane, optimizing the frame-to-mosaic transformation relation, determining image overlapping areas, thereby realizing image fusion and the panoramic image construction and realizing real-time effect of carrying out flying and stitching simultaneously; and in image transformation, based on adjacent frame information in a vision field and adjacent frame information in airspace, optimizing image transformation to obtain the accurate panoramic images. The stitching method has good real-time performance, is fast and accurate and meets the requirements of application occasions in multiple fields.

The invention provides a method for improving image stitching accuracy and a device for implementing the same, which apply to the multi-camera system for wide-angle image generation. Lens distortion causes mismatches of the features in the overlapping region of the images captured by the multi-camera system. As a result, the mismatches on the stitched wide-angle image are visible. The method and device for improving image stitching accuracy correct the lens distortion before stitching the images captured by the multi-camera system, so that the features in the overlapping region are matched and a seamless wide-angle image is generated by the stitching engine.

A method to stitch images includes the steps of: determining a template window in the first digital image and a target window in the second digital image and extracting selected features from the selected windows and a template in the template window; extracting selected features from within the template at a first resolution; matching the selected features in the target window; extracting selected features from within the template and target window at a second resolution higher than the first resolution; matching the selected features in the target window; performing a first evaluation of the second estimate of the stitching location; blending the second estimate of the stitching location; performing an evaluation of the stitching location; stitching the first digital image and a second digital image using the stitching location to create a stitched image; and saving the stitched image to memory. A system to perform the method is also described.

Scanned image portions of a virtual slide are stored in accord with a positional index metric associated to each image's location in a mosaic representation of the entire physical slide and a normalized correlation search is performed on next neighbor regional image blocks. A set of relative positional offset values and a correlation coefficient is determined for a regional image block and a next neighbor regional image block. A portion of the regional image blocks is viewed as a field of view of a display and a composite of the portion of regional image blocks is stitched together in accord with the set of relative positional offset values and the correlation coefficient, such that only the blocks comprising the portion are stitched. Moving the field of view of the display causes additional regional image blocks to be displayed, where image stitching is subsequently performed only with respect to the additional regional image blocks brought into the new field of view.

The invention discloses a method and a device for realizing real-time viewing of panoramic pictures, belonging to the field of electronics. The method comprises the following steps: two-dimensional images of the current scene are obtained; a depth map of the two-dimensional images is obtained; pre-stitching is carried out according to the two-dimensional images of the current scene, the two-dimensional images of the last scene of the current scene, the depth map of two-dimensional images of the current scene and the depth map of two-dimensional images of last scene of the current scene to generate and display pre-stitched panoroma three-dimensional images; when confirmation information from the users is received, the broad-viewing three-dimensional images are stitched and the three-dimensional images of the last scene of the current scene are continuously obtained until the panoramic three-dimensional images are obtained; in the invention images, especially the three-dimensional images are stitched in real time, displayed in real time and previewed in real time, so that panoramic images appear wherever the camera aperture goes and image-stitching mistakes can be corrected anytime, thus improving user experience.

The invention discloses an image stitching method based on unmanned aerial vehicle POS information and image SURF feature combination and relates to the digital image processing field, the GIS field,the survey field and other relevant fields. According to the method, first, geometric correction is performed on images; second, geographic coordinates of four corners of each image are calculated; based on the geographic coordinates of the first image, a position relation of homonymy matching target positions is obtained by extracting SURF features of adjacent image overlapping regions, and therefore the geographic coordinates of the following images are sequentially corrected; and last, an adaptive gradual-in-gradual-out fusion algorithm is adopted, a panoramic image with a good visual effect is obtained, and good stitching of the images is completed. Through the method, an image feature extraction algorithm and the geographic coordinates of the images are combined, and stitching efficiency and the visual effect are both improved greatly compared with traditional feature extraction and stitching algorithms; and the image obtained after stitching contains geographic information, so that the image has certain practical value.

The invention discloses a navigation information acquisition method and an intelligent space system with multiple mobile robots. The intelligent space system comprises a distributed vision system and a Zigbee technology based wireless sensor network system. The method includes: carrying out image stitching based on a maximum gradient similar curve and an affine transformation model, and then carrying out image segmentation based on Otsu threshold segmentation and the mathematical morphology so that an environmental map is obtained. The mobile robots in navigation are positioned mainly by means of visual positioning, and Zigbee and DR (dead reckoning) combined positioning are used for making up visual blind zones in visual positioning supplementarily. The visual positioning refers to that positioning is realized by processing images including robot positions and direction signs mainly based on an HIS color model and the mathematical morphology. Combined positioning refers to that information fusion positioning of Zigbee and DR is achieved by the aid of a federal Kalman filter.

Provided is a parameter calibration method for cameras of a vehicle-mounted all-round view system. When internal parameters and external parameters of the cameras of the vehicle-mounted all-round view system are calibrated, a set of three-dimensional calibration markers are adopted and comprise a plurality of characteristic points which can be recognized easily from images and are provided with given three-dimensional coordinates; when a vehicle to be calibrated is parked in a calibration area, automatic image data collection is carried out through manual work or through external trigger signals, characteristic point extraction is carried out on the collected images, each camera is calibrated corresponding to the three-dimensional coordinate of each characteristic point, and errors of locating are lowered through the processes such as parameter optimization. According to the parameter calibration method for the cameras of the vehicle-mounted all-round view system, through the three-dimensional calibration markers, all areas of the cameras can be covered as much as possible, and the influence of camera distortion on the measuring errors in the calibration process is small; compared with a previous plane two-dimensional calibration board, a three-dimensional calibration board is accurate in selected characteristic point position, clear in imaging and low in error value, and image stitching precision is greatly improved.

An embodiment of the invention provides a panorama image stitching method and device which can perform good processing on a plurality of images when a camera is in non-pure rotation and displacement exists, and can allow the distortion generation rate of stitched images to be reduced. The method includes the following steps of: designing a homographic matrix according to local areas of various feature points in various images; using the designed homographic matrix to detect the feature points and delete the wrong feature points; performing meshing processing on the images; constructing a global energy function based on mesh vertices and various feature points after the wrong feature points are deleted; solving the optimized mesh vertices; performing coordinate transformation on pixel points of various images based on the optimized mesh vertices; and performing stitching processing on various images by using various transformed pixel points.

Disclosed are embodiments of systems and methods to stitch two or more images together into a composite image. By finding matching point pairs for a pair of images, a homography transform may be obtained for the pair of images. The homography transform may be used to generate a composite image of the image pair. In an embodiment, the process of identifying a homography transform may be iterated. In an embodiment, when forming the composite image, the transformed foreground regions may be selected such that there is no intersection of foreground pixel regions. In an embodiment, foreground pixel regions on the border of an image may be removed. The resulting composite image is a larger image generated from the selected regions from the input images. In embodiments, the process may be repeated for sets of images with more than two images.

A system for capturing images of a target, such as a test tube, that is presented in front of an optical imager and rotated 360 degrees. The imager of the system captures a series of images which are then stitched together to form a panoramic image of the target. The panoramic image may then be processed to decode any barcode code information placed on the target, capture other information placed on the target, or obtain information about the target or the contents thereof.

The invention provides a three-dimensional reconstruction-based unmanned aerial vehicle image stitching method. The method comprises the following steps of: obtaining unordered images shot by an unmanned aerial vehicle camera in a shooting area; carrying out feature point extraction on the obtained unordered images, carrying out feature matching on the extracted feature points to obtain matched feature point pairs; and sorting the unordered images according to the matched feature points and a sequence; analyzing the matched feature points so as to obtain camera attitude parameters, distortionparameters and space coordinates of the feature points; carrying out image clustering on the arranged images according to the camera attitude parameters and the space coordinates of the feature pointsso as to form a plurality of image clusters, respectively extracting dense point clouds of the image clusters, and completing dense matching; and carrying out ortho-rectification on the dense matchedimages according to the dense point clouds, the camera attitude parameters and the distortion parameters, and stitching the ortho-rectified images to obtain a stitched image. According to the method,the stitching speed is improved and projection distortion is not caused. The invention furthermore provides an unmanned aerial vehicle image stitching system.

The invention discloses an image stitching method based on overlapping region scale-invariant feather transform (SIFT) feature points and belongs to the technical field of image processing. Aiming at the problems that the algorithm computation is large and subsequent matching error and computing redundancy are easily caused due to the non-overlapping region features because of extraction of the features of the whole image in the conventional image stitching algorithm based on features, the invention provides an image stitching method based on the overlapping region SIFT feature points. According to the method, only the feature points in the image overlapping region are extracted, the number of the feature points is reduced, and the algorithm computation is greatly reduced; and moreover, the feature points are represented by employing an improved SIFT feature vector extraction method, the computation during feature point matching is further reduced, and the mismatching rate is reduced. The invention also discloses an image stitching method with optical imaging difference, wherein the image stitching method comprises the following steps of: converting two images with optical imaging difference to be stitched to a cylindrical coordinate space by utilizing projection transformation, and stitching the images by using the image stitching method based on the overlapping region SIFT feature points.

The invention relates to an image stitching processing system, which belongs to the field of image processing, and is characterized in that an image reading unit, an overlapping region unit, a preprocessing unit, an optimal stitching line unit, a feature location unit, a feature matching unit, and a deformation propagation and image reconstruction unit are arranged in a digital processing circuit, wherein the image reading unit is used for reading two adjacent images from an image sequence; the overlapping region unit is used for acquiring an overlapping region of the two images; the preprocessing unit is used for preprocessing color of the overlapping region; the optimal stitching line unit is used for obtaining an optimal stitching line in the overlapping region; the feature location unit is used for detecting feature points in an optimal stitching line neighbourhood; the feature matching unit is used for matching the detected feature points; and the deformation propagation and image reconstruction unit is used for obtaining a deformation vector of each pixel point of each image, obtaining a gradient field of each image, and reconstructing a stitched image according to the gradient field. According to the image stitching processing system, the optimal stitching line is used as the most important image feature, so that the limitation of a shape of the overlapping region is solved, a lapped seam can be well eliminated in color and structure, and a real-time processing requirement can be met by utilizing an acceleration algorithm.

A system and method that allows the capture of a series of images to create a single linear panoramic image is disclosed. The method includes capturing an image, dynamically comparing a previously captured image with a preview image on a display of a capture device until a predetermined overlap threshold is satisfied, generating a user interface to provide feedback on the display of the capture device to guide a movement of the capture device, and capturing the preview image with enough overlap with the previously captured image with little to no tilt for creating a linear panorama.

Provided is an auxiliary ultrasonic scanning system of a robot based on an RGB-D sensor. The auxiliary ultrasonic scanning system comprises a Kinect sensor, the robot, an ultrasonic probe, a marker and a host and is characterized in that the Kinect sensor serves as a visual servo system of the robot; the ultrasonic probe is clamped on a mechanical arm of the robot; the marker is fixed onto the ultrasonic probe; the visual servo system of the robot is utilized for synchronously acquiring an RGB color image and a depth image and sending images to the host; the host finishes following processes such as image stitching operation and image three-dimensional reconstruction; according to image pairs acquired by the visual servo system, the marker fixed onto the ultrasonic probe is recognized and positioned by the host; according to a recognition-based positioning result, the position and the posture of the ultrasonic probe are calculated; and the host is used for sending a control instruction to the robot so that the mechanical arm of the robot is controlled to reach at the specified position for carrying out ultrasonic scanning operation. The auxiliary ultrasonic scanning system of the robot based on the RGB-D sensor is advantaged by being reasonable in design, reliable in performance, high in automated degree and detection efficiency and low in cost.

Provided is a method and apparatus for encoding and decoding multi-view video data. The encoding method includes: decomposing each view image of the multi-view video into an overlapped region and a non-overlapped region, the overlapped region being overlapped with other view image and the non-overlapped region not being overlapped with other view image; generating a stitched image by combining the non-overlapped region of each view image and a middle view image; encoding the stitched image using a first encoding algorithm; and encoding the overlapped region of each view image, using a second encoding algorithm. Further, the decomposing step includes the steps of estimating disparity information for each view image, based on a predetermined view image; and decomposing each view image into said overlapped region and said non-overlapped region using the estimated disparity information.

A method for panorama exposure correction can begin with the receiving of a hemispherical-coverage panoramic digital image set by a panoramic image stitching system. The hemispherical-coverage panoramic digital image set can be comprised of a ceiling image and at least three side images that are all captured simultaneously. The images of the image set can be aligned to create a panoramic image. Based on the alignment, overlapping regions between two adjacent side images and the ceiling image can be identified, the placement of blending seams can be determined, and the region of each image affected by a exposure correction can be determined. The exposure correction for each identified overlapping region can be determined. The exposure of the affected region of each image can then be adjusted in accordance with the determined exposure correction. A gradient blending can be performed for a predefined area across the blending seams.

Images captured by multi-camera arrays with overlap regions can be stitched together using image stitching operations. An image stitching operation can be selected for use in stitching images based on a number of factors. An image stitching operation can be selected based on a view window location of a user viewing the images to be stitched together. An image stitching operation can also be selected based on a type, priority, or depth of image features located within an overlap region. Finally, an image stitching operation can be selected based on a likelihood that a particular image stitching operation will produce visible artifacts. Once a stitching operation is selected, the images corresponding to the overlap region can be stitched using the stitching operation, and the stitched image can be stored for subsequent access.

The invention discloses an image stitching method based on characteristic point plane similarity, comprising first, respectively extracting characteristic points of two images to be stitched; matching the characteristic points to obtain characteristic point matching pairs; screening the characteristic point matching pairs based on plane similarity, the screening method including first randomly selecting a smallest sampling set; calculating the homography matrix of the smallest sampling set; calculating the residual error between each matching pair and a corresponding homography matrix to form a residual vector; and calculating the plane similarity between each two matching pairs according to a residual vector, and furthermore screening the matching pairs; calculating a transformational matrix according to screened matching sets, and transforming two images to be stitched into a same coordinate system; searching for an optimal stitching line; and fusing images according to the optimal stitching line to obtain an image stitching result. The method employs characteristic point matching pairs which are screened based on plane similarity to perform registering and stitching, and can improve image stitching accuracy and robustness.

The invention discloses a method and system for stitching panoramas based on multiple cameras. The method for stitching panoramas based on multiple cameras is applied to unmanned aerial vehicles. The unmanned aerial vehicle includes a plurality of cameras for capturing different viewing angles, and Partial viewing angles of two adjacent cameras overlap, including the following steps: S1. Calibrate each camera separately to obtain the internal reference data and external reference data of each camera; S2. According to the internal reference data and external parameter data of each camera , project the image acquired by each camera to a UAV coordinate system, and the UAV coordinate system takes the vertical projection point of the UAV on the ground as the coordinate origin; S3. The images acquired by the camera are preprocessed; S4. According to the external parameter data of each camera, all the preprocessed images are matched by using the scale-invariant feature transformation feature to perform image stitching to obtain a panorama.

An optical mouse scanner allows users to perform quick scans of paper documents (or of some other surface) without requiring a separate, standalone scanner. Scanning functionality may be provided to an optical mouse, such as a wireless optical mouse. The scanning sensor and / or the scanning light source could be same as that used for the optical motion detection for the mouse. Alternatively, a separate light source and / or imaging element could be provided for purposes of scanning. Image stitching software could use a number of captured images (e.g., a stream of captured frames) alone, or in association with mouse orientation and / or position information, to assemble a larger image from smaller captured image frames.

The invention provides an image stitching processing method and device. The method comprises the following steps of: acquiring images which correspond to multiple scene points, wherein an image which corresponds to each scene point comprises a reference image and to-be-stitched images, the reference image and the to-be-stitched images are acquired by different image acquisition devices in the view direction, and the reference image and the to-be-stitched images have overlap areas; respectively extracting matching interest points between the reference image and the to-be-stitched images which correspond to each scene point; estimating rotation matrixes and offset matrixes among the different image acquisition devices in the view direction by utilizing the matching interest points which correspond to the scene points; and respectively stitching the images which correspond to all the scene points according to the rotation matrixes and the offset matrixes. According to the image stitching processing method and device provided by the invention, external references of the image acquisition devices are estimated by utilizing the matching interest points of the images which correspond to the scene points to stitch the images which correspond to all the scene points, and therefore, errors brought by the image acquisition devices can be more equally dispersed, and the stitching quality of the images is improved.

A practical, real-time calibration of digital omnidirectional cameras in the areas of de-vignetting, brightness, contrast, and white balance control. Novel solutions for the color calibration of an omnidirectional camera rig, and an efficient method for devignetting images are presented. Additionally, a context-specific method of stitching images together into a panorama or a mosaic is provided.