CN102629372A - 360 degree panoramic aerial view generation method used for assisting vehicle driving - Google Patents
360 degree panoramic aerial view generation method used for assisting vehicle driving Download PDFInfo
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Abstract
A 360 degree panoramic aerial view generation method used for assisting vehicle driving is disclosed. The method is characterized by: firstly, erecting four wide-angled cameras around a vehicle and guaranteeing that the cameras can cover all the field areas surrounding the vehicle; secondly, calibrating a camera parameter and carrying out distortion rectification on the collected image; then, carrying out areal perspective transformation on the rectified image so as to obtain the aerial view with a downward view effect; finally, establishing a image splicing lookup table so that a system can rapidly complete splicing of a panoramic picture through a lookup table method. The method is simple is easy to perform. A hardware equipment requirement is low. The system realizes the splicing of four pictures through the lookup table mode, which is rapid and has less amount of calculation. The operation parameter which is calibrated once by using the method can be served as a constant, be stored and be used in real time hardware system work so that system processing time can be substantially reduced and the real-time performance requirement of the system can be satisfied.
Description
Technical field
The invention belongs to vehicle assistant drive, Digital Image Processing and field of machine vision, especially, relate to a kind of 360 degree panoramas that are used for the service vehicle driving and get a bird's eye view drawing generating method.
Background technology
Along with improving constantly of China's rapid development of economy and living standards of the people, automobile has become a pith and the main vehicles in people's life.In the traveling process that drives a car, the driver is through rotary head and the rearview mirror environment around observing, but visual range is limited, and has a lot of vision blind spots, just do not note slightly might occurrence of traffic accident or vehicle scratch.Therefore, how to enlarge driver's field range, the cleaning blind area becomes the important aspect that effective minimizing accident takes place, and also is the research focus of automobile assistant driving technical field simultaneously.
Traditional drive assist system based on image is at automobile tail the reversing camera to be installed, and when hanging reverse gear, this system can connect the camera that is positioned at the tailstock automatically, environment behind the car is presented on the LCD of console.This method is simply effective, but still has a lot of blind areas, like vehicle both sides and the place ahead.
Summary of the invention
Limited to existing drive assist system field range, have problems such as blind area and blurred vision; The present invention proposes a kind of 360 degree panoramas that are used for the service vehicle driving and get a bird's eye view drawing generating method; For the driver provides vehicle periphery 360 degree scenery vertical views; The environment that helps the driver to know to understand and grasp vehicle periphery, with the relative distance of barrier, cleaning vision blind area is to accomplish safety and accurate driver behavior.
A kind of 360 degree panoramas that are used for the service vehicle driving that the present invention proposes are got a bird's eye view drawing generating method and were comprised for four steps: at first, set up four wide-angle imaging machines all around at vehicle, guarantee that the shooting function covers all field of view of vehicle periphery; Secondly, calibrating camera parameters and the image of gathering carried out distortion correction; Then, the image after correcting is carried out the aerial prospective conversion, obtain having the general view of the effect of overlooking; At last, set up the image mosaic look-up table, system accomplishes the splicing of panoramic picture fast through the method for tabling look-up.Concrete steps are following:
Step 1: set up four wide-angle imaging machines all around at vehicle, adjacent will have the overlapping region between the video camera in twos, guarantees to cover all field of view of vehicle periphery, do not have the vision blind area;
Step 2: the initial splice point of overlapping region internal labeling of adjacent video camera in twos in step 1, confirm the initial splicing slit between each image;
Step 3: the video camera in the step 1 is demarcated, and obtains the intrinsic parameter matrix M of video camera
iDistortion parameter matrix K with wide-angle lens
i, i=1 wherein, 2,3,4 is the numbering of video camera;
Step 4: according to the camera intrinsic parameter matrix M of step 3 acquisition
iWith the distortion parameter matrix K
i, to the original image P of four camera acquisitions
iCarry out distortion correction, obtain correcting the back image
I=1 wherein, 2,3,4 is the numbering of video camera;
Step 5: according to the corresponding relation of coordinate in world coordinate system and the image coordinate system; Carry out the aerial prospective conversion to correcting back image
, obtain having the general view
of the effect of overlooking
Step 6:, in general view to be spliced
, confirm the splicing gap position according to the initial splice point of mark in the step 2;
Step 7:, set up the image mosaic look-up table according to splicing slit and the locus of general view to be spliced
;
Step 8: the mode of system through tabling look-up, four image mosaics to be spliced are got up, generate 360 degree panorama general views.
Because video camera is once installation; Position and parameters can not change; And the splicing slit can not change along with moving of vehicle; Can not change yet, preserve so the computing parameter (comprising: camera intrinsic parameter, wide-angle lens distortion parameter, video camera level and vertical angle of view, the angle of pitch, setting height(from bottom), photographic images pixel size and image mosaic look-up table) after demarcating once with this method can be used as constant along with the change of shooting content.In real-time system, behind an image frame grabber, system generates the panorama birds-eye view fast based on above parameter, can reduce the processing time of system so greatly, satisfies the requirement of system real time.
Set up the image mosaic look-up table described in the present invention, concrete steps are following:
1) sets up form; If the panoramic picture size that generates is H*W, unit is a pixel, and wherein, H is the size of the vertical pixel of image, and W is the size of image pixels across; Classify size as with the capable W of H and set up the image mosaic look-up table, as shown in table 1; Like this, a pixel in the form in each corresponding panoramic picture, coordinate is (w, pixel h) in the corresponding panoramic picture of item that promptly the capable w of h is listed as in the form.
Table 1
The parameter that makes in the form each for (n, i, j), n=1 wherein, 2,3,4; Represent forward direction, back to, four images to be spliced in left side and right side respectively; On behalf of this, i and j belong to the horizontal ordinate and the ordinate of corresponding image to be spliced at each; (n, i j) are used for specifying panoramic picture to arrive the point-to-point corresponding relation of image to be spliced to parameter.
2) item in the filling form; According to the splicing slit and the locus of image to be spliced, for initial, insert the relevant parameters value from left to right, from top to bottom successively with first (being the pixel in the panoramic picture upper left corner) of image mosaic table.
The mode of passing through to table look-up described in the present invention is accomplished image mosaic, and its method is following:
According to the image mosaic look-up table of setting up, system is initial pixel with the upper left corner of panoramic picture, from left to right, successively the gray-scale value of the corresponding pixel points of image to be spliced is composed to the current pixel position from top to bottom, thereby accomplishes the splicing of panoramic picture.
The present invention can obtain following beneficial effect: a kind of 360 degree panoramas that are used for the service vehicle driving that the present invention proposes are got a bird's eye view drawing generating method, and are simple, require low to hardware device; System realizes the splicing of four width of cloth images through the mode of tabling look-up, fast and operand little; Utilize computing parameter after this method is demarcated once to can be used as constant and preserve, be used for the hardware system real-time working, can reduce the processing time of system greatly, can satisfy the requirement of system real time.
Description of drawings
A kind of 360 degree panorama general views that are used for the service vehicle driving of Fig. 1 generate method flow diagrams
Fig. 2 video camera installation site and shooting area synoptic diagram
Fig. 3 world coordinate system
Fig. 4 camera coordinate system and image coordinate system
Figure 53 60 degree panoramas are got a bird's eye view synoptic diagram
Embodiment
Get a bird's eye view the drawing generating method further explain below in conjunction with the disclosed a kind of 360 degree panoramas that are used for the service vehicle driving of 1 couple of the present invention of accompanying drawing:
Step 1: set up the wide-angle imaging machine at vehicle's surroundings: the place ahead video camera can be erected at vehicle car mark below; The rear video camera can be erected at the rear cover of vehicle below; Left and right video camera can be erected at left and right rearview mirror below.Adjacent will have the overlapping region between the video camera in twos, and guarantee to cover all field of view of vehicle periphery, do not have the vision blind area.Video camera installation site and shooting area shown in accompanying drawing 2, C wherein
1: C
4Be the video camera installation site; W
1: W
4For adjacent video camera is in twos taken the overlapping region.
Step 2: overlapping region internal labeling 2 points of adjacent video camera in twos in step 1, confirm that with 2 line the initial splicing slit between each image (is the l in the accompanying drawing 5
1: l
4);
Step 3: the video camera in the step 1 is demarcated, and obtains the intrinsic parameter matrix M of video camera
iWith the distortion parameter matrix K
i, wherein, i=1,2,3,4 is the label of video camera;
Utilize Zhang Z.Y, " A flexible new technique for camera calibration, " IEEE Transactions on Pattern Analysis and Machine Intelligence; Vol.22; No.11, pp.330-1334, disclosed lens parameters scaling method in 2000.; Video camera in the step 1 is demarcated, and obtains the intrinsic parameter matrix M of video camera
iWith the distortion parameter matrix K
i
Step 4: according to the camera intrinsic parameter and the wide-angle lens distortion parameter of step 3 acquisition, to the original image P of four camera acquisitions
iCarry out distortion correction, obtain correcting the back image
Wherein, i=1,2,3,4 is the label of video camera;
According to the plummet model that Blang proposed in 1966, the corresponding relation of fault image and orthoscopic image (promptly correcting the back image) coordinate points can be expressed as:
Wherein, r
2=x
2+ y
2K=[k
1, k
2, p
1, p
2, k
3] be wide-angle lens distortion parameter matrix, k
1, k
2, k
3Be radial distortion parameter, p
1, p
2Be the tangential distortion parameter;
Be the fault image coordinate,
For correcting the back image coordinate.
In correcting process, according to the above-mentioned relation formula, with fault image P
iEach pixel coordinate Mapping is to correcting in the image of back in (i=1,2,3,4), thereby obtains correcting the back image
Step 5: according to the relation between world coordinate system and the image coordinate system; Utilize parameters such as video camera visual angle, the angle of pitch, setting height(from bottom) and photographic images pixel size; Carry out the aerial prospective conversion to correcting back image
, obtain having the general view
of the effect of overlooking
For the ease of research, set up world coordinate system O according to the position of a certain moment video camera
W-X
WY
WZ
W, shown in accompanying drawing 3, its midplane O
WCD is the level ground, the ground region that the ABCD zone can photograph for camera; Y
WAxle is parallel to ground, points to the direction that vehicle moves; Camera position is the O point, and it is at surface level O
WThe last subpoint of CD is O
W, OI is the camera optical axis direction.
According to the pinhole imaging system principle, the relation of camera coordinate system and image coordinate system is shown in accompanying drawing 4, and wherein O-XYZ is a camera coordinate system, O
1-xy is an image coordinate system; The Z axle is the optical axis of video camera, and the intersection point of optical axis and imaging plane is the central point O of image
1
According to the relation between the coordinate system in accompanying drawing 3 and the accompanying drawing 4; With reference to Xu Youchun. based on the automobile active safety Study on Technology of machine vision. Tsing-Hua University's journal; 16:16-17; 2005. in be tied to the conversion method of world coordinate system from image coordinate, through the triangular transformation and the derivation of equation, draw 1 P in the world coordinate system
W(X
W, Y
W, Z
W) corresponding point p in the image coordinate system (x, transformational relation y) is:
Wherein, α is camera horizontal direction visual angle, and β is the vertical direction visual angle; γ is the angle of optical axis and level ground; H is the vertical height of camera; H and W are respectively the length of image and wide.
According to top formula; Image
to after correcting carries out the aerial prospective conversion, obtains general view
Step 6:, in general view to be spliced
, confirm the splicing gap position according to the initial splice point of mark in the step 2;
Accompanying drawing 5 is that 360 degree panoramas are got a bird's eye view synoptic diagram, and wherein L and S are respectively length of wagon and width, H
1And W
1Be respectively the length and the width of forward direction image.With the vehicle body center O is true origin, and the right-hand horizontal direction of vehicle body is an X axle positive dirction, and vehicle forward direction is that Y axle positive dirction is set up panoramic coordinates system, l
1: l
4Be the splicing slit of image in twos in the panoramic coordinates system.With forward direction picture centre O
1Be true origin, level direction to the right is an x axle square, vertically forwards to setting up the forward direction image coordinate system for y axle positive dirction.
Be example with forward direction image to be spliced below, introduce the process of confirming the splicing slit by the initial splice point of mark in the step 2.
In the step 2, at the overlapping region W of forward direction and the shooting of left side camera
1Middle 2 P of mark
1And P
2, shown in accompanying drawing 5,2 coordinates in panoramic coordinates system are respectively P
1(X
1, Y
1) and P
2(X
2, Y
2), the corresponding point in the forward direction image coordinate system are p
1(x
1, y
1) and p
2(x
2, y
2).By the relation of panoramic coordinates system and forward direction image coordinate system can get in the panoramic coordinates system 1 P (X, Y) with the forward direction image coordinate system in corresponding point p (x, coordinate y) concern:
Wherein, H
1Length for the forward direction image; L is a length of wagon.
Therefore, by a P
1(X
1, Y
1) and P
2(X
2, Y
2But) invocation point p
1(x
1, y
1) and p
2(x
2, y
2) coordinate be:
P sets up an office
1And P
2Line l
1For initial splicing slit, can know some p according to the linear mapping principle of invariance
1And p
2Also should be conllinear, and 2 line l
1' be in the forward direction image coordinate system splicing slit of forward direction image to be spliced and left-side images.In like manner can confirm to splice slit l
2', l
3' and l
4'.
Step 7:, set up the image mosaic look-up table according to splicing slit and the locus of general view to be spliced
;
360 degree panorama general views similarly are by four images to be spliced all around; The process of image mosaic can be regarded as the spatial alternation of pixel; Irrelevant with this gray values of pixel points, each pixel in the panoramic picture that promptly generates is all corresponding to certain point in certain image to be spliced.We can set up a form, preserve the point-to-point corresponding relation of image to be spliced to panoramic picture, and system accomplishes image mosaic fast through the mode of tabling look-up like this.Concrete steps are following:
1) sets up form.
If the panoramic picture that generates size is H*W (unit is a pixel), wherein, H is the size of the vertical pixel of image, and W is the size of image pixels across.Classify size as with the capable W of H and set up the image mosaic look-up table, form is as shown in table 1.Like this, a pixel in the form in each corresponding panoramic picture, coordinate is (w, pixel h) in the corresponding panoramic picture of item that promptly the capable w of h is listed as in the form.
The parameter that makes in the form each for (n, i, j), n=1 wherein, 2,3,4; Represent forward direction, back to, four images to be spliced in left side and right side respectively; On behalf of this, i and j belong to the horizontal ordinate and the ordinate of corresponding image to be spliced at each.This parameter is used for specifying panoramic picture to arrive the point-to-point corresponding relation of image to be spliced.For example, suppose that the parameter of the item of the capable w row of h in the form is (1,100,200), coordinate is that (w, pixel h) are that 100 ordinates are 200 pixel corresponding to horizontal ordinate in the forward direction image to be spliced in the panoramic picture that expression generates.
2) item in the filling form.
According to the method for confirming the splicing slit described in the step 6 by initial splice point, obtain all around four images to be spliced and the splicing slit of adjacent image separately respectively.According to the splicing slit and the locus of image to be spliced, be initial with first (corresponding to the pixel in the panoramic picture upper left corner) of image mosaic table, insert the relevant parameters value from left to right, from top to bottom successively.
The form of being set up is following:
Table 1
Step 8: the mode of system through tabling look-up, four image mosaics to be spliced are got up, generate the panorama general view.
According to the image mosaic look-up table of setting up, system is initial pixel with the upper left corner of panoramic picture, from left to right, successively the gray-scale value of the corresponding pixel points of image to be spliced is composed to the current pixel position from top to bottom, thereby accomplishes the splicing of panoramic picture.
Among the present invention, realize that with additive method camera calibration, image distortion correction, the conversion of visual angle, space and panoramic picture splicing among the present invention do not influence the protection domains such as implementation procedure and concrete steps that 360 degree panoramas proposed by the invention are got a bird's eye view drawing generating method.
Claims (3)
1. 360 degree panoramas that are used for the service vehicle driving are got a bird's eye view drawing generating method, and it is characterized in that: this method may further comprise the steps:
Step 1: set up four wide-angle imaging machines all around at vehicle, between the coverage of adjacent video camera in twos the overlapping region will be arranged, guarantee to cover all field of view of vehicle periphery, do not have the vision blind area;
Step 2: the initial splice point of coverage overlapping region internal labeling of adjacent video camera in twos in step 1, confirm the initial splicing slit between each image;
Step 3: the video camera in the step 1 is demarcated, and obtains the intrinsic parameter matrix M of video camera
iDistortion parameter matrix K with wide-angle lens
i, i=1 wherein, 2,3,4 is the numbering of video camera;
Step 4: according to the camera intrinsic parameter matrix M of step 3 acquisition
iWith the distortion parameter matrix K
i, to the original image P of four camera acquisitions
iCarry out distortion correction, obtain correcting the back image
I=1 wherein, 2,3,4 is the numbering of video camera;
Step 5: according to the corresponding relation of coordinate in world coordinate system and the image coordinate system; Carry out the aerial prospective conversion to correcting back image
, obtain having the general view
of the effect of overlooking
Step 6:, in general view to be spliced
, confirm the splicing gap position according to the initial splice point of mark in the step 2;
Step 7:, set up the image mosaic look-up table according to splicing slit and the locus of general view to be spliced
;
Step 8: the mode of system through tabling look-up, four image mosaics to be spliced are got up, generate 360 degree panorama general views.
2. get a bird's eye view drawing generating method according to claims 1 described a kind of 360 degree panoramas that are used for the service vehicle driving; It is characterized in that: according to splicing slit and the locus of general view to be spliced
, the concrete steps of setting up the image mosaic look-up table are in the said step 7:
1) sets up form; If the panoramic picture size that generates is H*W, unit is a pixel, and wherein, H is the size of the vertical pixel of image, and W is the size of image pixels across; Classify size as with the capable W of H and set up the image mosaic look-up table, as shown in table 1; Like this, a pixel in the form in each corresponding panoramic picture, coordinate is (w, pixel h) in the corresponding panoramic picture of item that promptly the capable w of h is listed as in the form;
Table 1
The parameter that makes in the form each for (n, i, j), n=1 wherein, 2,3,4; Represent forward direction, back to, four images to be spliced in left side and right side respectively; On behalf of this, i and j belong to the horizontal ordinate and the ordinate of corresponding image to be spliced at each; (n, i j) are used for specifying panoramic picture to arrive the point-to-point corresponding relation of image to be spliced to parameter.
2) item in the filling form; According to the splicing slit and the locus of image to be spliced, be that the pixel in the panoramic picture upper left corner is initial with first of image mosaic table, insert the relevant parameters value from left to right, from top to bottom successively.
3. get a bird's eye view drawing generating method according to claims 1 described a kind of 360 degree panoramas that are used for the service vehicle driving; It is characterized in that: the mode of system through tabling look-up in the said step 8; The concrete grammar that four image mosaics to be spliced are got up is: according to the image mosaic look-up table of setting up; System is initial pixel with the upper left corner of panoramic picture; From left to right, successively the gray-scale value of image corresponding pixel points to be spliced is composed to the current pixel position from top to bottom, thus accomplish the splicing of panoramic picture.
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