CN105046647A - Full liquid crystal instrument 360 degree panorama vehicle monitoring system and working method - Google Patents
Full liquid crystal instrument 360 degree panorama vehicle monitoring system and working method Download PDFInfo
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Abstract
The invention relates to a full liquid crystal instrument 360 degree panorama vehicle monitoring system and a working method. The vehicle panorama monitoring system is characterized in that cameras installed on a periphery of a vehicle body are used to acquire image data of four directions of a vehicle and each image data is sent to a processor module; the processor module is used to splice the image data so as to form a panorama image which takes the vehicle as a center. By using the vehicle panorama monitoring system of the invention, 360 degree panorama images can be actively provided and there is no blind angle so that a driver can conveniently drive the vehicle on an obstacle road.
Description
Technical field
The present invention relates to a kind of full liquid crystal instrument 360 ° of overall view monitoring systems and method of work thereof.
Background technology
The product of current 360 ° of panoramas display is a lot, image data acquiring method and image data processing technique varied, but have panoramic effect unintelligible, picture is not smooth, and each width image mosaic is nature, the shortcomings such as driver's experience property is poor.
Summary of the invention
The object of this invention is to provide a kind of automobile-used overall view monitoring system and method for work thereof, to solve the technical matters of 360 ° of full-view image splicings.
In order to solve the problems of the technologies described above, the invention provides a kind of automobile-used overall view monitoring system, comprise: the image data being obtained automobile four direction by the camera being installed on vehicle body surrounding, and each image data is sent to processor module, this processor module is suitable for the full-view image be spliced into by each image data centered by this automobile.
Further, described automobile-used overall view monitoring system also comprises: the ultrasonic distance measuring module being positioned at vehicle body surrounding, this ultrasonic distance measuring module is connected with processor module, to judge the distance between automobile and surrounding barrier, when this distance is less than the safe distance of processor module setting time, described processor module starts each camera, and shows full-view image by automobile instrument panel.
Another aspect, present invention also offers a kind of method of work of automobile-used overall view monitoring system, comprises the steps:
Step S1, obtains the image data of automobile four direction;
Step S2, is spliced into the full-view image centered by this automobile by the image data of all directions.
Further, the method for the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 comprises:
Each image data is converted to plane scene image respectively by projective transformation matrix, and the border of each plane scene image is spliced, to obtain described full-view image.
Further, the method for the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 also comprises: correcting image data transmission, and in each image data, carrying out choosing some match points choose.
Further, described the method that each image data is converted to plane scene image respectively by projective transformation matrix to be comprised: the image data according to any camera shooting sets up projective transformation matrix, and each image data is converted to plane scene image by this projective transformation matrix.
Further, the method that described full-view image is spliced to obtain in the described border to each plane scene image comprises: image registration and image co-registration, wherein image registration, namely according to geometry motion model, by each plane scene image registration in same coordinate system; Image co-registration is complete full-view image by each plane scene Images uniting after registration.
Further, described geometry motion model its utilize a width plane scene image keeps at a certain distance away two row corresponding to partial pixel mate with two row pixels on another width plane scene image; Namely in the overlapping region of last width plane scene image, on two row, take out partial pixel respectively, calculate its difference as feature templates, in the second width plane scene image, then search for best coupling; Namely for the second width plane scene image, in hunting zone, take out partial pixel from two row that spacing is identical successively, and calculate the pixel value of its correspondence one by one; Then these differences compared with template successively, row corresponding to its minimum deviation value are exactly optimum matching, and geometry motion model is set up on the basis obtaining optimum matching.
Further, the method for described image co-registration, namely
If adjacent plane scene image A and plane scene image B,
The region areaA of face scene image A distance splicing line 20 pixels of making even,
The region areaB of face scene image B distance splicing line 20 pixels of making even;
Get the pixel of middle splicing line both sides, use formula
R=(RA+RB)/2，G=(GA+GB)/2，
B=(BA+RB)/2，N=(NA+NB)/2，
To obtain the color of splicing line;
And seamlessly transitted by gray-scale value, to obtain plane scene image A, the plane scene image B field color apart from middle splicing line 20 pixels, namely make even the gray-scale value NA on scene image A border, face and the boundary gray value N that calculates, calculate gray scale difference, then splicing line is smoothly transitted into according to 20 steps, rgb value is constant, to obtain 20, the plane scene image A border spliced color distribution of pixel region; Adopt and use the same method to obtain 20, the plane scene image B border spliced color distribution of pixel region; And then complete the image obtaining merging.
Further, the method of work of described automobile-used overall view monitoring system also comprises: the equilibrium treatment of brightness and color, namely by the illumination model of camera, correct the even property of uneven illumination of a plane scene image, then by the relation between adjacent two width plane scene image overlapping regions, set up Histogram Mapping table between adjacent two width plane scene images, by mapping table, overall mapping transformation is done to two width plane scene images, finally reach overall brightness and consistency of colour.
The invention has the beneficial effects as follows, automobile-used overall view monitoring system of the present invention initiatively can provide 360 ° of full-view images, and without dead angle, driver is facilitated to drive a vehicle in barrier section, and provide 360 ° of full-view images without dead angle by the method for work of automobile-used overall view monitoring system, and there is image joint excess smoothness, nature, the advantage of imaging clearly.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the theory diagram of automobile-used overall view monitoring system of the present invention;
Fig. 2 is the process flow diagram of the method for work of automobile-used overall view monitoring system of the present invention.
Embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
Embodiment 1
As shown in Figure 1, the automobile-used overall view monitoring system of one of the present invention, comprise: the image data being obtained automobile four direction by the camera being installed on vehicle body surrounding, and each image data is sent to processor module, this processor module is suitable for the full-view image be spliced into by each image data centered by this automobile.
Further, described automobile-used overall view monitoring system also comprises: the ultrasonic distance measuring module being positioned at vehicle body surrounding, this ultrasonic distance measuring module is connected with processor module, to judge the distance between automobile and surrounding barrier, when this distance is less than the safe distance of processor module setting time, described processor module starts each camera, and shows full-view image by automobile instrument panel.
Embodiment 2
As shown in Figure 2, on embodiment 1 basis, present invention also offers a kind of method of work of automobile-used overall view monitoring system, comprise the steps:
Step S1, obtains the image data of automobile four direction; And step S2, the image data of all directions is spliced into the full-view image centered by this automobile.
Concrete, the method of the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 comprises: each image data is converted to plane scene image respectively by projective transformation matrix, and the border of each plane scene image is spliced, to obtain described full-view image.
Optionally, the method for the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 also comprises: correcting image data transmission, and in each image data, carrying out choosing some match points choose.
Correct image data transmission about described, namely due to reasons such as manufacture, installation, techniques, camera lens also exists various distortion.In order to improve the precision of camera image joint synthesis, the distortion of imaging lens must be considered when carrying out image mosaic synthesis.Distortion is divided into internal distortions and outside distortion, and internal distortions is due to the own distortion being configured to cause of photographing, and outside distortion is the distortion of the geometrical factor cause of projection pattern.Lens distortion belongs to internal distortions, and the distortion produced by camera lens generally can be divided into radial distortion and tangential distortion two class.Radial distortion is exactly the distortion aberration in aggregate optical, mainly because the radial buckling difference of camera lens causes, has barrel distortion and pincushion distortion two kinds.Tangential distortion usually by people be due to stationary lens group optical centre not conllinear cause, include various generation error and rigging error etc.Generally artificial, in the middle of optical system imaging process, radial distortion is the principal element causing pattern distortion.Radial distortion causes straight line in image to become bending picture, and this effect is more obvious the closer to edge.According to the mechanism that radial distortion produces, video image is corrected, namely first with calibration equipment measure camera to inside and outside lopsided angle [alpha], with left and right lopsided angle and upper and lower lopsided angle, pixel in the imagery zone collected also will according to trigonometric function sina, the formula such as cosa, tana, do corresponding coordinate to the pixel in the area image chosen and move.
Further, choose about match point, then adopt Corner Detection Algorithm.
Further, described the method that each image data is converted to plane scene image respectively by projective transformation matrix to be comprised: the image data according to any camera shooting sets up projective transformation matrix, and each image data is converted to plane scene image by this projective transformation matrix.
Further, the method that described full-view image is spliced to obtain in the described border to each plane scene image comprises: image registration and image co-registration, wherein image registration, namely according to geometry motion model, by each plane scene image registration in same coordinate system; Image co-registration is complete full-view image by each plane scene Images uniting after registration.
Further, described geometry motion model its utilize a width plane scene image keeps at a certain distance away two row corresponding to partial pixel mate with two row pixels on another width plane scene image; Namely in the overlapping region of last width plane scene image, on two row, take out partial pixel respectively, calculate its difference as feature templates, in the second width plane scene image, then search for best coupling; Namely for the second width plane scene image, in hunting zone, take out partial pixel from two row that spacing is identical successively, and calculate the pixel value of its correspondence one by one; Then these differences compared with template successively, row corresponding to its minimum deviation value are exactly optimum matching, and geometry motion model is set up on the basis obtaining optimum matching.
Concrete, if the staggered distance dis of vertical direction, then the deviate of correspondence be expressed as s [dis ］.Can determine the matching value of image thus, specific algorithm is as follows: (1) take out in the overlapping range of piece image spacing distance be d two row in partial pixel, structural attitude template baseM.(2) in the hunting zone of the second width image, suppose that a leftmost row location of pixels equals 0.(3) in the hunting zone of the second width image, take out the partial pixel of two row pixels of P and P ', wherein pixel count is K (K>M), calculates the difference of their respective pixel, obtain image [K ］.(4) set vertical interlaced distance for dis, to each dis, to calculate age [K ］ and template base [M ］ deviate, and then determine the matching value of image.
Further, the method for described image co-registration, namely
If adjacent plane scene image A and plane scene image B,
The region areaA of face scene image A distance splicing line 20 pixels of making even,
The region areaB of face scene image B distance splicing line 20 pixels of making even.
Get the pixel of middle splicing line both sides, use formula
R=(RA+RB)/2，G=(GA+GB)/2，
B=(BA+RB)/2，N=(NA+NB)/2，
To obtain the color of splicing line;
And seamlessly transitted by gray-scale value, to obtain plane scene image A, the plane scene image B field color apart from middle splicing line 20 pixels, namely
Make even the gray-scale value NA on scene image A border, face and the boundary gray value N that calculates, and calculate gray scale difference, be then smoothly transitted into splicing line according to 20 steps, rgb value is constant, to obtain 20, the plane scene image A border spliced color distribution of pixel region;
Adopt use the same method (method of image co-registration) to obtain 20, the plane scene image B border spliced color distribution of pixel region; And then complete the image obtaining merging.
Further, the method of work of described automobile-used overall view monitoring system also comprises: the equilibrium treatment of brightness and color, namely by the illumination model of camera, correct the even property of uneven illumination of a plane scene image, then by the relation between adjacent two width plane scene image overlapping regions, set up Histogram Mapping table between adjacent two width plane scene images, by mapping table, overall mapping transformation is done to two width plane scene images, finally reach overall brightness and consistency of colour.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on instructions, must determine its technical scope according to right.
Claims (10)
1. an automobile-used overall view monitoring system, it is characterized in that, comprise: the image data being obtained automobile four direction by the camera being installed on vehicle body surrounding, and each image data is sent to processor module, this processor module is suitable for the full-view image be spliced into by each image data centered by this automobile.
2. automobile-used overall view monitoring system according to claim 1, it is characterized in that, described automobile-used overall view monitoring system also comprises: the ultrasonic distance measuring module being positioned at vehicle body surrounding, this ultrasonic distance measuring module is connected with processor module, to judge the distance between automobile and surrounding barrier, when this distance is less than the safe distance of processor module setting time, described processor module starts each camera, and shows full-view image by automobile instrument panel.
3. a method of work for automobile-used overall view monitoring system, comprises the steps:
Step S1, obtains the image data of automobile four direction;
Step S2, is spliced into the full-view image centered by this automobile by the image data of all directions.
4. the method for work of automobile-used overall view monitoring system according to claim 3, is characterized in that,
The method of the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 comprises:
Each image data is converted to plane scene image respectively by projective transformation matrix, and the border of each plane scene image is spliced, to obtain described full-view image.
5. the method for work of automobile-used overall view monitoring system according to claim 4, is characterized in that,
The method of the full-view image be spliced into centered by automobile by the image data of all directions in described step S2 also comprises: correcting image data transmission, and in each image data, carrying out choosing some match points choose.
6. the method for work of automobile-used overall view monitoring system according to claim 5, is characterized in that, describedly the method that each image data is converted to plane scene image respectively by projective transformation matrix is comprised:
Image data according to any camera shooting sets up projective transformation matrix, and each image data is converted to plane scene image by this projective transformation matrix.
7. the method for work of automobile-used overall view monitoring system according to claim 6, is characterized in that, the method that described full-view image is spliced to obtain in the described border to each plane scene image comprises: image registration and image co-registration, wherein
Image registration, namely according to geometry motion model, by each plane scene image registration in same coordinate system;
Image co-registration is complete full-view image by each plane scene Images uniting after registration.
8. the method for work of automobile-used overall view monitoring system according to claim 7, it is characterized in that, described geometry motion model its utilize a width plane scene image keeps at a certain distance away two row corresponding to partial pixel mate with two row pixels on another width plane scene image; Namely in the overlapping region of last width plane scene image, on two row, take out partial pixel respectively, calculate its difference as feature templates, in the second width plane scene image, then search for best coupling; Namely for the second width plane scene image, in hunting zone, take out partial pixel from two row that spacing is identical successively, and calculate the pixel value of its correspondence one by one; Then these differences compared with template successively, row corresponding to its minimum deviation value are exactly optimum matching, and geometry motion model is set up on the basis obtaining optimum matching.
9. the method for work of automobile-used overall view monitoring system according to claim 8, is characterized in that, the method for described image co-registration, namely
If adjacent plane scene image A and plane scene image B,
The region areaA of face scene image A distance splicing line 20 pixels of making even,
The region areaB of face scene image B distance splicing line 20 pixels of making even;
Get the pixel of middle splicing line both sides, use formula
R=(R
A+R
B)/2，G=(G
A+G
B)/2，
B=(B
A+R
B)/2，N=(N
A+N
B)/2，
To obtain the color of splicing line;
And seamlessly transitted by gray-scale value, to obtain plane scene image A, the plane scene image B field color apart from middle splicing line 20 pixels, namely
Make even the gray-scale value N on scene image A border, face
aboundary gray value N with calculating, calculates gray scale difference, and be then smoothly transitted into splicing line according to 20 steps, rgb value is constant, to obtain 20, the plane scene image A border spliced color distribution of pixel region;
Adopt and use the same method to obtain 20, the plane scene image B border spliced color distribution of pixel region, and then complete the image obtaining merging.
10. the method for work of automobile-used overall view monitoring system according to claim 9, it is characterized in that, the method of work of described automobile-used overall view monitoring system also comprises: the equilibrium treatment of brightness and color, namely by the illumination model of camera, correct the even property of uneven illumination of a plane scene image, then by the relation between adjacent two width plane scene image overlapping regions, set up Histogram Mapping table between adjacent two width plane scene images, by mapping table, overall mapping transformation is done to two width plane scene images, finally reach overall brightness and consistency of colour.
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