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WO2011095026A1 - Procédé et système de photographie - Google Patents

Procédé et système de photographie Download PDF

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Publication number
WO2011095026A1
WO2011095026A1 PCT/CN2010/078856 CN2010078856W WO2011095026A1 WO 2011095026 A1 WO2011095026 A1 WO 2011095026A1 CN 2010078856 W CN2010078856 W CN 2010078856W WO 2011095026 A1 WO2011095026 A1 WO 2011095026A1
Authority
WO
WIPO (PCT)
Prior art keywords
imaging device
imaging
image
devices
brightness
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2010/078856
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English (en)
Chinese (zh)
Inventor
苏红宏
王兆祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Device Co Ltd
Original Assignee
Huawei Device Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Device Co Ltd filed Critical Huawei Device Co Ltd
Publication of WO2011095026A1 publication Critical patent/WO2011095026A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance

Definitions

  • the present invention claims the priority of the Chinese Patent Application entitled “Camera Method and System", filed on February 2, 2010, the Chinese Patent Office, Application No. 201010105422.
  • the present invention relates to the field of image acquisition technologies, and in particular, to an imaging method and system. BACKGROUND OF THE INVENTION
  • the prior art there are two schemes for shooting with two cameras.
  • the first scheme two cameras are placed in parallel, and the images captured by the two cameras are stitched and imaged, and the images captured by the two cameras overlap at different depths. different.
  • the equivalent optical center of one camera is coincident with the optical center of the other camera through the mirror, and the shooting edges of the two cameras are also aligned.
  • the images captured by the two cameras have different overlapping areas at different depths, and it is difficult to splicing the images that are aligned at each depth level; in the second scheme, the two cameras have no overlapping regions, and there are obvious stitching seams.
  • the two cameras when shooting images, the brightness and/or chromaticity of the images captured by the two cameras will be different. There will be obvious differences when stitching together, and it is difficult to combine the two without overlapping areas. Alignment of images, it is also difficult to determine and eliminate brightness and/or chromaticity differences by image processing, which is not conducive to splicing imaging of images. Summary of the invention
  • Embodiments of the present invention provide an imaging method and system, and a plurality of imaging devices capable of capturing an overlapping area when an optical center is contracted, which is advantageous for splicing imaging of an image.
  • a camera method includes:
  • Each of the imaging devices in the imaging device respectively captures an object, and the imaging device includes a plurality of imaging devices, The imaging devices are optically coincident, and there are overlapping regions between the captured images of two adjacent imaging devices;
  • the captured images of the respective imaging devices in the imaging device are spliced and imaged.
  • a camera system comprising:
  • An image capturing device wherein the image capturing device includes a plurality of image capturing devices, wherein the plurality of image capturing devices respectively capture an object, the plurality of image capturing devices are optically coincident, and an image of overlapping images between adjacent two image capturing devices has an overlap region;
  • the processing device is configured to perform splicing imaging on the captured image of each imaging device in the imaging device.
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident.
  • the overlapping regions can be conveniently used. Aligning the images to fuse the brightness and/or chromaticity of the spliced image is beneficial to the analysis processing during image splicing; since there is an overlapping area between the captured images of two adjacent imaging devices, the splicing seam pair can be easily eliminated The effect of image stitching improves image quality.
  • Embodiment 1 is a flowchart of an image capturing method according to Embodiment 1 of the present invention.
  • FIG. 2 is a flowchart of an image capturing method according to Embodiment 2 of the present invention.
  • FIG. 2a is a schematic diagram of a brightness fitting curve of each pixel in an overlapping area according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic structural diagram of a camera system according to Embodiment 3 of the present invention
  • FIG. 4 is a schematic structural diagram of a camera system according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic structural diagram of an image pickup apparatus according to Embodiment 4 of the present invention.
  • FIG. 6 is a schematic structural diagram of an image pickup apparatus according to Embodiment 5 of the present invention.
  • the technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of them. Example. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention. In order to make the advantages of the technical solutions of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and embodiments.
  • This embodiment provides an imaging method. As shown in FIG. 1, the method includes:
  • Each of the image capturing apparatuses in the image capturing apparatus respectively captures an object
  • the image capturing apparatus includes a plurality of image capturing apparatuses
  • the plurality of image capturing apparatuses have an optical center coincidently, and an overlapping area exists between the captured images of the adjacent two image capturing apparatuses;
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident.
  • the overlapping regions can be used to conveniently perform images.
  • the alignment and the fusion of the brightness and/or chromaticity of the stitched image are beneficial to the analysis processing during image stitching; since there are overlapping regions between the captured images of two adjacent camera devices, the stitching can be easily eliminated. The impact is enhanced to improve image quality.
  • the imaging method includes:
  • Each of the imaging devices in the imaging device respectively captures an object
  • the imaging device includes a plurality of imaging devices, wherein the plurality of imaging devices are optically coincident, and there is an overlapping region between the captured images of the adjacent two imaging devices.
  • the overlapping regions between the captured images of the two adjacent imaging devices can be aligned, and the images captured by the two imaging devices can be analyzed to find the paired feature points of the overlapping regions, and the images are aligned based on the paired feature points (position) Correction).
  • the SIFT (Scale-Invariant Feature Transform) method can be used to determine the pairing feature points.
  • Determining the brightness and/or chrominance correction relationship of the overlap region can be obtained by calculating the luminance and/or chrominance values of a plurality of images/pixels and then fitting the calibration curve. Taking the brightness calculation as an example, if 10 points of the overlapping area are selected, the brightness values of the 10 points in the captured images of the two imaging devices are:
  • a linear fitting curve can be obtained by least squares method, as shown in Fig. 2a, the line
  • the fitted curve of sex has the following functional relationship:
  • X represents a luminance value of a captured image of the first imaging apparatus
  • y represents a luminance value of a captured image of the second imaging apparatus.
  • the luminance value of each point of the image captured by the first imaging apparatus is adjusted according to the fitting curve function relationship obtained in step 203, that is,
  • the adjustment method of chromaticity is similar to the brightness.
  • the brightness value and/or chrominance value correction can be analyzed based on one or more frames of images. After the correction relationship is calculated, the correction relationship is directly used in subsequent images to correct, and the paired feature points are not extracted and analyzed in real time.
  • the imaging quality of a certain camera may not be very good. Therefore, at the edge of the overlapping area, the image of one camera can be selected as the main reference for correction, that is, the image is obtained by weighting in the overlapping area. You can use the following formula to weight:
  • F(P) represents an image signal finally synthesized at any point in the overlap region
  • the image signal may be an RGB value or a YUV value
  • F ⁇ P) represents an image signal of the P point output by the camera C1
  • F 2 (P) represents the image signal of point P output by camera C2
  • the fusion region of the projection stitching is set to coincide with the overlapping region of the captured image, ax F ⁇ P) and y9 x F 2 (P) As the input of two adjacent projections respectively, the image is naturally restored when the output is superimposed, and the stitching fusion is performed without projection stitching.
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident.
  • the overlapping region can be used to conveniently align the image and correct the brightness and/or chromaticity of the spliced image according to the paired feature points in the overlapping region, which is advantageous for Analysis processing when images are stitched; Since there are overlapping regions between the captured images of two adjacent imaging devices, the influence of the stitching seam on the image stitching can be easily eliminated, and the image quality is improved.
  • This embodiment provides a camera system. As shown in FIG. 3, the system includes:
  • the imaging device 31 includes a plurality of imaging devices, wherein the plurality of imaging devices respectively acquire captured images, the plurality of imaging devices are optically coincident, and the captured images of the adjacent two imaging devices overlap
  • the processing device 32 is configured to perform splicing imaging on the captured image of each imaging device in the imaging device 31.
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident. When the captured images of the imaging devices in the imaging device are spliced and imaged, the overlapping regions can be used to conveniently perform images.
  • the alignment and the fusion of the brightness and/or chromaticity of the stitched image are beneficial to the analysis processing during image stitching; since there are overlapping regions between the captured images of two adjacent camera devices, the stitching can be easily eliminated. The impact is enhanced to improve image quality.
  • This embodiment provides a camera system. As shown in FIG. 4, the system includes:
  • the imaging device 41 includes a plurality of imaging devices, the plurality of imaging devices respectively acquiring captured images, the plurality of imaging devices having optical centers coincident, and overlapping images of adjacent two imaging devices
  • the processing device 42 is configured to perform splicing imaging of the captured image of each imaging device in the imaging device 41.
  • the imaging device includes: two cameras C1 and C2, on the mid-perpendicular line of the line segment formed by the optical center of C1 and the optical center of C2 , the mirror AD is set, wherein the AC segment is a total reflection mirror surface, and the CD segment is a semi-reflex lens surface.
  • the virtual optical center of C1 coincides with the optical center 0 of C2.
  • PQRS is the subject.
  • the light emitted by the QR segment passes through the semi-reflex lens surface CD, part of the light is reflected into C1, and some of the light passes through the transmission into C2.
  • the QR segment will be imaged in both cameras, but the brightness will be lower than other regions. . Therefore, C1 can capture the PR segment of the object, and C2 can capture the QS segment of the object, eventually forming the overlapping region QR.
  • the mirror AD can be selected from glass as the substrate.
  • the AC segment is coated with a total reflection film (such as aluminum) to form total reflection.
  • the CD segment is coated with a very thin semi-reflective film (also aluminum), which can pass through a part. Light can also reflect a portion of the light. Preferably, the transmittance and reflectance of the CD segment light are both close to 50%. Since the coating on the mirror AD is very thin and the substrate is the same, the gap between the total reflection film and the semi-reflective film is very small and does not substantially affect.
  • Imaging In order to reduce the effect of refraction on imaging, the substrate selects materials with a low refractive index, such as: light glass, plexiglass, resin, and the thickness of the substrate is small.
  • the JK surface needs to be occluded (opaque), and there is no object in the CDJK area.
  • the position of the CDs C1 and C2 and the half-reflex lens surface CD are adjusted so that the object is located at EBDJH. Area (E, H points can be extended).
  • the method described in the second embodiment can be used for the splicing process of the captured images of the cameras C1 and C2, and details are not described herein again.
  • the processing device 42 may include:
  • the splicing module 421 is configured to align the overlapping areas between the captured images of the two adjacent imaging devices to obtain a spliced image.
  • the processing device 42 may further include:
  • the correction module 422 is configured to correct a brightness and/or a chromaticity difference of the stitched image according to the overlapping area.
  • the correction module 422 can include:
  • a determining unit 4221 configured to determine a brightness and/or a chromaticity correction relationship of the overlapping area according to the brightness value and/or the chromaticity value of the partial image or the pixel point in the overlapping area;
  • the correcting unit 4222 is configured to correct the brightness and/or chromaticity difference of the mosaic image according to the brightness and/or chromaticity correction relationship of the overlapping area.
  • the transmittance and the reflectance of the half-reflex lens surface CD are calculated as an example, and the transmittance and reflectance of the half-reflex lens surface CD are calculated.
  • the brightness value is divided by the corresponding transmittance or reflectance before calculation.
  • the captured image of the camera C1 it is necessary to divide the luminance value of the overlap region by the reflectance of the semi-reflex lens surface CD; for the captured image of the camera C2, it is necessary to divide the luminance value of the overlap region by The transmittance of the semi-reflex lens surface CD.
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident.
  • the overlapping regions can be used to conveniently perform images.
  • the alignment and the fusion of the brightness and/or chromaticity of the stitched image are beneficial to the analysis processing during image stitching; since there are overlapping regions between the captured images of two adjacent camera devices, the stitching can be easily eliminated. The impact is enhanced to improve image quality.
  • the cameras C 1 and C2 can be replaced with imaging and photosensitive devices such as a lens and a CCD sensor.
  • Embodiment 5 The embodiment provides an imaging system, and the system includes the devices, modules and units as shown in FIG. 4 in the fourth embodiment.
  • the image pickup apparatus includes: a convex lens L and a concave mirror ⁇ point 0 is an optical center of the convex lens L, the concave mirror M is a spherical mirror, and the concave mirror M The center of the circle is also at 0, since the light passing through 0 passes through the spherical mirror and the direction is unchanged (reflected along the original path), so 0 is actually the equivalent optical center of the concave mirror M.
  • 1, 2, and 3 are three photosensitive devices, wherein the photosensitive surface of 1 faces the convex lens L, and the photosensitive faces of 2 and 3 face the concave mirror M.
  • the object AF will be imaged separately on 1, 2, 3, and the object space of the image is corresponding to EF, BE, AC, such that there is an overlap region DE between 1 and 2, and an overlap region BC between 2 and 3.
  • the imaging conditions of the convex lens and the spherical mirror can be expressed by the formula (1): convex lens
  • the object distance of the convex lens L, ⁇ is the object distance of the concave mirror M, the image distance of the convex lens L, the image distance of the concave mirror M, / 2 is the object focal length of the concave mirror M, 'for the convex lens The image focal length of L.
  • F 2 is an image signal collected by the photosensitive device 2
  • A is a proportional coefficient, which can be determined by testing in an actual optical system, and is an adjusted image signal.
  • F 2 is an image signal collected by the photosensitive device 2
  • A is a proportional coefficient, which can be determined by testing in an actual optical system, and is an adjusted image signal.
  • the splicing process of the captured images of the camera photographic devices 1, 2, and 3 can be performed by the method described in the second embodiment, and details are not described herein again.
  • the convex lens L and the concave mirror M may also be equivalent convex lenses and equivalent concave mirrors composed of a plurality of optical devices.
  • the CCD can also be replaced with a camera by adding some optical components. For example: Remove 3 photosensitive devices, and place the image on the photosensitive devices 1 and 3 to other positions by placing the camera behind the photosensitive device 2, and place the camera at other positions, which is equivalent to the formation of the lens and the concave mirror.
  • the real image can be changed to a camera group with overlapping centers of light and overlapping areas, which will not be described here.
  • the imaging device includes a plurality of imaging devices, and the plurality of imaging devices are optically coincident.
  • the overlapping regions can be used to conveniently perform images.
  • the alignment and the fusion of the brightness and/or chromaticity of the stitched image are beneficial to the analysis processing during image stitching; since there are overlapping regions between the captured images of two adjacent camera devices, the stitching can be easily eliminated. The impact is enhanced to improve image quality.
  • the camera system provided by the embodiment of the invention can implement the method embodiment provided above.
  • the imaging method and system provided by the embodiments of the present invention can be applied to photographing high-resolution or wide-range images, but is not limited thereto.
  • a person skilled in the art can understand that all or part of the process of implementing the above embodiment method can be completed by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium. In execution, the flow of an embodiment of the methods as described above may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)
  • Image Processing (AREA)

Abstract

L'invention porte sur un procédé et sur un système de photographie. Ledit procédé comporte : la prise respective de photo d'un objet par chaque équipement photographique dans un dispositif photographique, ledit dispositif photographique comprenant des équipements photographiques multiples, les centres optiques desdits équipements photographiques multiples coïncidant, et une région de superposition existant entre les images prises par deux équipements photographiques adjacents, et la représentation par collage des images prises par chaque équipement photographique dans le dispositif photographique.
PCT/CN2010/078856 2010-02-02 2010-11-18 Procédé et système de photographie Ceased WO2011095026A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2010101054227A CN102143305B (zh) 2010-02-02 2010-02-02 摄像方法及系统
CN201010105422.7 2010-02-02

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WO2011095026A1 true WO2011095026A1 (fr) 2011-08-11

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CN103925912A (zh) * 2014-04-02 2014-07-16 中国人民解放军总参谋部测绘研究所 内视场光学分割型大面阵ccd影像几何拼接方法
WO2015118495A1 (fr) 2014-02-06 2015-08-13 Luigi Lavazza S.P.A. Machine permettant la préparation de boissons dotée d'un capteur de microphone
CN114554176A (zh) * 2022-01-24 2022-05-27 北京有竹居网络技术有限公司 深度相机

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CN105554449B (zh) * 2015-12-11 2018-04-27 浙江宇视科技有限公司 一种用于快速拼接摄像机图像的方法及装置
US10334209B2 (en) * 2015-12-17 2019-06-25 Nike, Inc. Image stitching for footwear component processing
CN110095124B (zh) * 2019-05-16 2022-04-29 北京小马慧行科技有限公司 传感器系统与自动驾驶系统
CN110099220B (zh) * 2019-06-17 2021-04-13 广东中星微电子有限公司 一种全景拼接方法及装置
CN110544206A (zh) * 2019-08-29 2019-12-06 济南神博信息技术有限公司 一种图像拼接系统和图像拼接方法
CN110533624A (zh) * 2019-09-11 2019-12-03 神博(山东)安防科技有限公司 一种激光测距辅助拼接系统和图像拼接方法
CN112985587B (zh) * 2019-12-13 2024-04-09 旺矽科技股份有限公司 发光物料影像处理方法

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CN114554176A (zh) * 2022-01-24 2022-05-27 北京有竹居网络技术有限公司 深度相机

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