CN101825840A - Multi-camera real-time omnidirectional imaging system - Google Patents
Multi-camera real-time omnidirectional imaging system Download PDFInfo
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Abstract
The invention discloses a multi-camera real-time omnidirectional imaging system, which comprises an optical imaging unit, an image processing unit and an omnidirectional image display unit. The optical imaging unit comprises a regular polyhedral bracket, and cameras and image sensors which are arranged in all face centers of the regular polyhedral bracket; optical axes of the cameras are overlapped with connecting lines from the face centers of the regular polyhedral bracket to a body centre of the regular polyhedral bracket, and are intersected in the body centre of the regular polyhedral bracket; the image processing unit receives a plurality of circular images acquired by the optical imaging unit and combines the plurality of circular images into an image by methods of image calibrating, cutting and spicing; and the omnidirectional image display unit displays the images in a hemispherical view by a spherical perspective projection method. The multi-camera real-time omnidirectional imaging system increases the image processing speed, and eliminates a blind region of a view field; and the requirement of omnidirectional imaging can be met through the normal camera instead of the optical camera with a complex structure, so that cost is effectively reduced.
Description
Technical field
The present invention relates to the panoramic imaging techniques field, relate in particular to a kind of multi-camera real-time omnidirectional imaging system.
Background technology
Omnidirectional imaging system has in each fields such as economy, science and technology, military affairs, commerce widely to be used.This system imaging contains much information, and is particularly suitable in all kinds of monitors.Existing omnidirectional imaging system mainly contains five kinds of implementations:
First kind is that single optical system realizes the hyper-hemispherical staring imaging, its typical optical system is the fish-eye lens system, as shown in Figure 1, this is a kind of visible light wave range fish-eye lens, has the field angle of 200 degree, total system is made up of 8 groups of 10 lens combination, structure is quite complicated, and because its inevitably big distortion, the resolution of visual field, edge can descend greatly with respect to the visual field, center, design cost is higher, and difficulty of processing is bigger.
Second kind is the preposition panoramic imagery of aspheric reflecting surface, and as shown in Figure 2, this is a kind of omnidirectional imaging system that adopts aspheric reflecting surface as preposition element, utilizes preposition aspheric surface to reduce the incident angle of off-axis ray, re-uses common optical system imaging.The shortcoming of this mode is can't imaging for the space after the imageing sensor position, has the blind area, center.
The third is the endless belt imaging of cylinder plane projection, and as shown in Figure 3, this system can realize 360 degree endless belt imagings, and the splicing by sensor can obtain full resolution pricture, but the optical center is a reflecting surface, and there is the blind area, center in the visual field.
The 4th kind is the multi-lens array panoramic imagery, and this system utilizes a plurality of camera lens forming arrays to realize panoramic imagery, and the spatial dimension of energy imaging is by the arrangement mode decision of camera lens.Fig. 4 is a kind of panoramic seamless video camera (patent No. ZL 200720112359.3) of ring shooting, can realize the panoramic picture in 360 ° of endless belt scopes, but can't realize the Scenery Imaging to video camera top and vision blind area, bottom.
The 5th kind is single-lens scanning panoramic imagery, and this system utilizes the single camera scanning panorama space of high-resolution small field of view, and the image that scanning is obtained splices and imaging then.But, when target moves when very fast, just might in monitoring process, omit important goal, scan the instantaneous blind area that exists, and merging algorithm for images speed is slower.
Be based on extraction based on the traditional images joining method of rim detection to image information, exist the image of information overlap to carry out rim detection and coupling to two width of cloth, finish splicing then, this method is applicable to the image mosaic under the high resolving power small field of view situation, for the big visual field situation lower limb detection algorithm that obviously distorts limitation is arranged then.This method need be extracted and handle the information of each pixel in the image, so arithmetic speed is slower.
Summary of the invention
The present invention is directed to traditional omnidirectional imaging system complex structure, there is the blind area, visual field, image processing speed waits shortcoming slowly, a kind of multi-camera real-time omnidirectional imaging system is provided, has adopted the regular polygon mode that a plurality of camera lenses are installed, simultaneously the space all directions have been carried out imaging, overcome the blind area, visual field, image mosaic does not adopt the traditional characteristic detection method, and travelling speed is fast, realizes real-time omnidirectional imaging.
A kind of multi-camera real-time omnidirectional imaging system comprises optical imagery unit, graphics processing unit, panoramic picture display unit;
Described optical imagery unit comprises the spherical housing that is made of loam cake and base; be connected to spherical housing in the regular polygon support; the regular polygon support is connected with screw with pillar on the base and is fixing; each center of area place of regular polygon support is provided with a camera lens and an imageing sensor; have on the ball-type shell and the same number of camera aperture of camera lens; each camera aperture place is provided with lens cap, is used for len.Imageing sensor is connected with an end of usb hub by the usb data line, and the other end of usb hub is by usb data line and graphics processing unit transmission data.
The center of area of the optical axis of described camera lens and its place regular polygon support overlaps to the body-centered line of regular polygon support, the optical axis intersection of all camera lenses is in the body-centered of regular polygon support, these camera lenses have identical field angle, this field angle is greater than the circumscribed circle diameter of a face of the regular polygon support subtended angle to the regular polygon stake body heart, this subtended angle is to make picture material that adjacent two camera lenses take the photograph the minimum field angle that overlaps occur, promptly when the field angle of camera lens during greater than this minimum field angle, overlapping appears in the picture material that adjacent two camera lenses are taken the photograph, this image-generating unit collects some width of cloth circular image, and sends these images to graphics processing unit by imageing sensor.
Described graphics processing unit receives several circular image that the optical imagery unit collects, and judges at first whether camera lens is calibrated, if not calibration is then calibrated camera lens earlier.Use the graphics algorithm of OpenCV that camera lens is carried out scale operation, obtain visual field centre coordinate, image diameter N and the distortion correction multinomial coefficient of circular image, according to the distortion correction multinomial coefficient image is carried out distortion correction, then every width of cloth circular image is cut into required regular polygon image, the length of side L of this regular polygon image is determined by following formula:
Wherein, N is the circular image diameter that camera lens collects, and α is the subtended angle of the circumscribed circle diameter of a face of regular polygon support to the regular polygon stake body heart, and θ is the field angle of camera lens, and n is the limit number of a face of regular polygon support.Because the spatial symmetry that camera lens is arranged only needs a camera lens is carried out scale operation, resulting parameter can apply to other images, has accelerated the speed of system handles image.
The spatial relation of arranging according to camera lens several regular polygon image mosaics that cutting is obtained become a width of cloth seamless flat surface image then, be sent to the panoramic picture display unit, finally be presented in the hemisphere view, obtain the real time panoramic image by the method for panoramic picture display unit by the spherical perspective projection.
The present invention is because the mode that has adopted camera lens to arrange according to regular polygon, can all carry out imaging to all directions in the space, thereby the method that when Flame Image Process and splicing, can not adopt tradition to detect based on picture edge characteristic, directly take the mode of image cutting to finish image mosaic, improved image processing speed greatly, eliminated the blind area, visual field simultaneously, its image-generating unit does not need baroque optical lens yet, common lens can be realized the requirement of panoramic imagery, effectively reduces cost.
Description of drawings
Fig. 1 is the visible light wave range fish-eye lens;
Fig. 2 adopts the omnidirectional imaging system schematic diagram of aspheric reflecting surface as preposition element;
Fig. 3 is the index path of overall view ring belt gaze imaging system;
Fig. 4 is that disclosed a kind of panoramic seamless shows video camera in patent ZL 200720112359.3;
Fig. 5 is the perspective view of one embodiment of the present invention support and base;
Fig. 6 is the sectional view of optical imagery unit in the embodiment shown in Figure 5;
Fig. 7 is the synoptic diagram of minimum field angle in the embodiment shown in Figure 5;
Fig. 8 is the process flow diagram of Flame Image Process of the present invention;
Fig. 9 is the program flow diagram of graphics processing unit among the present invention.
Embodiment
Below in conjunction with description of drawings one embodiment of the present invention:
A kind of multi-camera real-time omnidirectional imaging system comprises optical imagery unit, graphics processing unit, panoramic picture display unit.
Shown in Fig. 5,6; the optical imagery unit comprises the ball-type shell 1 that is made of loam cake 2 and base 3; be connected to the regular hexahedron support 4 of ball-type shell 1 on base 3, installing; its length of side is 12cm; regular hexahedron support 4 is connected with pillar 5 usefulness screws on the base 3 and is fixing; camera lens 6 is installed at each center of area place at regular hexahedron support 4; the back of camera lens 6 is provided with imageing sensor 7; have on the ball-type shell 1 and the same number of camera aperture 8 of camera lens; each camera aperture 8 place is provided with lens cap, is used for len 6.
The center of area of the optical axis of camera lens 6 and its place regular hexahedron support 4 overlaps to the body-centered line of regular hexahedron support 4, and the optical axis intersection of all camera lenses 6 is in the body-centered of regular hexahedron support 4, these six camera lenses 6 have identical field angle, and this field angle is greater than the circumscribed circle diameter of 4 one faces of the regular hexahedron support subtended angle to regular hexahedron support 4 body-centereds.As shown in Figure 7, this angle is the angle α of line between two-end-point C, the D of a regular hexahedron body-centered P and a face circumscribed circle diameter d, is 109.5 °, and R is a regular hexahedron circumsphere radius.
In the present embodiment, the field angle of the camera lens 4 that is adopted is 135 °, greater than 109.5 ° of minimum field angle at this moment, can guarantee that the image that collects has the overlapping region, effectively covers the total space.
As shown in Figure 8, described imageing sensor 7 is connected with an end of usb hub by the usb data line, and the other end of usb hub is by usb data line and graphics processing unit transmission data.Present embodiment to the treatment of picture process is:
Six camera lenses 6 of optical imagery unit collect six width of cloth circular image, send six tunnel vision signals to graphics processing unit by imageing sensor 7, usb hub, usb data line.Graphics processing unit receives this six width of cloth image, and the pixel size of every two field picture is 1024 * 768, and frame frequency is 5fps.
As shown in Figure 9, graphics processing unit judges at first whether camera lens 6 is calibrated after receiving six road video datas, if not calibration is then calibrated camera lens 6 earlier.Graphics algorithm to the utilization of piece image wherein OpenCV obtains its visual field centre coordinate (being the coordinate of center, visual field in the image pixel coordinate system), image diameter, distortion correction multinomial coefficient.Because camera lens 6 has spatial symmetry on arranging, then only need a figure is operated, resulting parameter can apply in other images, and this has also accelerated the speed of Flame Image Process.
Then, the distortion correction multinomial coefficient that obtains according to calibration is corrected the distortion aberration to image.Then image is carried out cutting, obtain foursquare image, this foursquare centre coordinate is the visual field centre coordinate, and its length of side L is determined by following formula:
Wherein, N is the diameter of circular image, be 988px, α is 109.5 °, θ is 135 ° of the field angle of camera lens 6, n is that foursquare limit is several 4, can calculate to such an extent that the square length of side that obtains of cutting is 409px, and the part that circular image is cropped is the intersection of 6 pairs of space scene shot of adjacent two camera lenses.
Then, according to the spatial relation between the camera lens 6, six width of cloth square-shaped image direct splicing that cutting is obtained, obtain a width of cloth seamless flat surface image about surrounding environment, send this width of cloth plane picture to the panoramic picture display unit, finally this width of cloth plane picture is presented in the hemisphere view, obtains real-time panoramic picture by the method for panoramic picture display unit by the spherical perspective projection.
Claims (7)
1. multi-camera real-time omnidirectional imaging system, the image that comprises the optical imagery unit of images acquired, the optical imagery unit is gathered carries out the panoramic picture display unit of image after graphics processing unit that the cutting splicing handles and the display process, it is characterized in that, described optical imagery unit comprises a regular polygon support (4), and each center of area place of regular polygon support (4) is provided with a camera lens (6).
2. multi-camera real-time omnidirectional imaging system as claimed in claim 1, it is characterized in that, the center of area of the optical axis of the camera lens at described each center of area place (6) and its place regular polygon support (4) overlaps to the body-centered line of regular polygon support (4), and the optical axis intersection of all camera lenses (6) is in the body-centered of regular polygon support (4).
3. multi-camera real-time omnidirectional imaging system as claimed in claim 1, it is characterized in that, the camera lens at described each center of area place (6) has identical field angle, and this field angle is greater than the circumscribed circle diameter of (4) faces of the regular polygon support subtended angle to regular polygon support (4) body-centered.
4. multi-camera real-time omnidirectional imaging system as claimed in claim 1, it is characterized in that, described optical imagery unit comprises the spherical housing (1) that is made of loam cake (2) and base (3), be connected to spherical housing (1) in the regular polygon support (4), regular polygon support (4) is connected with pillar (5) on the base (3) and is fixing.
5. multi-camera real-time omnidirectional imaging system as claimed in claim 1 is characterized in that, has on the described ball-type shell (1) and the same number of camera aperture of camera lens (6) (8), and each camera aperture (8) locates to be provided with lens cap.
6. multi-camera real-time omnidirectional imaging system as claimed in claim 1, it is characterized in that, described each camera lens (6) back is provided with an imageing sensor (7), imageing sensor (7) is connected with an end of usb hub by the usb data line, and the other end of usb hub is by usb data line and graphics processing unit transmission data.
7. multi-camera real-time omnidirectional imaging system as claimed in claim 1, it is characterized in that, described graphics processing unit receives several circular image that the optical imagery unit collects, every width of cloth circular image is cut into required regular polygon image, and the length of side L of this regular polygon image is determined by following formula:
Wherein, N is the circular image diameter that the optical imagery unit collects, α is the subtended angle of the circumscribed circle diameter of (4) faces of regular polygon support to regular polygon support (4) body-centered, and θ is the field angle of camera lens (6), and n is the limit number of (4) faces of regular polygon support;
Then, several regular polygon image mosaics that the spatial relation of arranging according to camera lens (6) obtains cutting become a width of cloth seamless flat surface image, be sent to the panoramic picture display unit, finally be presented in the hemisphere view, obtain the real time panoramic image by the method for panoramic picture display unit by the spherical perspective projection.
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