CN105530431A - Reflective panoramic imaging system and method - Google Patents
Reflective panoramic imaging system and method Download PDFInfo
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- CN105530431A CN105530431A CN201510955818.3A CN201510955818A CN105530431A CN 105530431 A CN105530431 A CN 105530431A CN 201510955818 A CN201510955818 A CN 201510955818A CN 105530431 A CN105530431 A CN 105530431A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 39
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- 230000003287 optical effect Effects 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000012216 screening Methods 0.000 claims abstract description 7
- 230000004927 fusion Effects 0.000 claims abstract description 6
- 241000251468 Actinopterygii Species 0.000 claims description 68
- 238000001514 detection method Methods 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 10
- 230000011218 segmentation Effects 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 7
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
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- 238000010168 coupling process Methods 0.000 claims description 6
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- 230000019552 anatomical structure morphogenesis Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
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- 239000011159 matrix material Substances 0.000 description 2
- 238000004091 panning Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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Abstract
The invention discloses a reflective panoramic imaging system and method. The reflective panoramic imaging method comprises the following steps: directly mounting an optical system on an image sensor or an existing camera optical system, and respectively locating image planes of two groups of fisheye lenses on the image sensor through a reflection element in a non-overlapped manner; selecting a camera to enter a shooting mode; dividing images formed by light on the image sensor after passing by the first fisheye lens and the second fisheye lens; respectively processing the divided images, comprising image correction, color adjustment, noise elimination, exposure and contrast adjustment; extracting, screening and matching feature points of the images; carrying out image registration, splicing and fusion; selecting the shooting mode, and compressing and storing a panoramic image and a panoramic video; and selecting a preview mode, rendering the spliced panoramic image, and displaying the panoramic image on a device connected to the camera. The reflective panoramic imaging method disclosed by the invention can be used for shooting a complete panoramic image, guaranteeing the synchronism of video steam and obtaining the panoramic video more easily.
Description
Technical field
The invention belongs to shooting, technical field of imaging, particularly relate to a kind of reflective omnidirectional imaging system and method.
Background technology
User has the demand of the content that pans always, by splicing the picture taken from different perspectives and merging thus the picture obtained with great visual angle or panorama.Current most of algorithm is all by finding the point matched in picture overlapping region between two, then by overlapping region registration, and the most multiple picture splicing being fused together.The difference of most variations mainly concentrates on the acquisition and processing aspect of data, as:
1, panorama photographing mode in camera or mobile phone: by user's translation camera or mobile phone, all pictures in shooting translation motion, between two after splicing, obtain the picture of whole scene;
2, photograph or the video of different visual angles is taken respectively by multiple camera, between the visual field requiring camera between two, be different from the scheme of a camera, multiple camera can have been taken at short notice, then by the mode of post-processed, captured picture splicing is become a panorama;
3, by special integral panoramic camera, disposable output panorama.
But this several scheme has its corresponding problem respectively:
1, by the panning mode shooting of camera or mobile phone, shooting time is long, often occurs splicing mistake or " ghost " of generation because there are objects moving in shooting process, and the problems such as video that cannot pan;
2, taken by multiple camera, then can there is apparatus expensive, cannot the panorama that spliced of real time inspection, complicated operation and multichannel data are difficult to the problems such as synchronous;
3, taken by special integral panoramic camera, owing to being independently capture apparatus, can there is system complexity, price is high, carries the problems such as constant.In addition, current most equipment does not support the function such as live preview panorama and panoramic video shooting.
Summary of the invention
The object of the present invention is to provide a kind of reflective omnidirectional imaging system and method, be intended to solve the problem that shooting cost is high, shooting process is loaded down with trivial details, need special independent capture apparatus, cannot record the problems such as panoramic video.
The present invention is achieved in that this reflective method for panoramic imaging comprises the following steps:
Optical system is directly installed on imageing sensor or existing camera optical system, make two groups fish-eye as plane respectively through reflecting element nonoverlapping fall on the image sensor, open camera;
Select camera to enter screening-mode, read picture or the video flowing of camera shooting; Select preview mode, then read the live preview video flowing of camera;
The picture that segmentation light becomes after the second fish eye lens on the image sensor respectively through the first fish eye lens;
Deal with respectively the image after segmentation, comprise image flame detection, color adjusts, and noise is eliminated, exposure and setting contrast; Image flame detection removes fractional distortion and LensShading, and colour correction is the adjustment for colour temperature, and noise is eliminated and related to imageing sensor intrinsic noise, and noise when view data reads is eliminated;
Carry out the extraction of characteristic point, screening and coupling to image, extraction algorithm detects the position of characteristic point, and by the description to characteristic point, finds this characteristic point corresponding in another width picture, morphogenesis characters Point matching pair;
Carry out image registration, splicing, fusion; Based on the Image Feature Point Matching pair obtained, calculate two groups of fish-eye relative position relations, and the overlapping region of two hemisphere pictures; I.e. I
1=K [R|T] K
-1i
2, wherein I
1with I
2represent the Feature Points Matching pair of picture corresponding to first and second fish eye lens of being found by Feature Points Matching, the inner parameter of what K represented is camera, comprise the focal length of camera, the side-play amount of the relative camera lens optical axis in camera sensor center and the distortion parameter of camera lens, [R|T] is then calculative camera relative position relation, and relative position relation is described as the Mathematical Modeling rotating R and translation T and form;
Stitching algorithm is then moved together picture overlapping region, finally by image co-registration by the overlapping region excess smoothness between two images based on the picture registration situation after determining;
Select screening-mode, then carry out compression and the storage of panoramic picture and video; Select preview mode, then spliced panoramic picture is played up, be shown on the device screen of connection camera.
Another object of the present invention is to the reflective omnidirectional imaging system providing a kind of described reflective method for panoramic imaging, this reflective omnidirectional imaging system comprises:
Installation module, for optical system being directly installed on imageing sensor or existing camera optical system, make two groups fish-eye as plane respectively through reflecting element nonoverlapping fall on the image sensor, open camera;
Read module, selects camera to enter screening-mode, reads picture or the video flowing of camera shooting; Select preview mode, then read the live preview video flowing of camera;
Image-forming module, for splitting the picture that light becomes after the second fish eye lens on the image sensor respectively through the first fish eye lens;
Image processing module, apply the image after to segmentation and deal with respectively, comprise image flame detection, color adjusts, and noise is eliminated, exposure and setting contrast;
Characteristic point processing module, for carrying out the extraction of characteristic point, screening and coupling to image, extraction algorithm detects the position of characteristic point, and by the description to characteristic point, finds this characteristic point corresponding in another width picture, morphogenesis characters Point matching pair;
Computing module, for carrying out image registration, splicing, fusion; Based on the Image Feature Point Matching pair obtained, calculate two groups of fish-eye relative position relations, and the overlapping region of two hemisphere pictures; I.e. I
1=K [R|T] K
-1i
2, wherein I
1with I
2represent the Feature Points Matching pair of picture corresponding to first and second fish eye lens of being found by Feature Points Matching, the inner parameter of what K represented is camera, comprise the focal length of camera, the side-play amount of the relative camera lens optical axis in camera sensor center and the distortion parameter of camera lens, [R|T] is then calculative camera relative position relation, and relative position relation is described as the Mathematical Modeling rotating R and translation T and form; Stitching algorithm is then moved together picture overlapping region, finally by image co-registration by the overlapping region excess smoothness between two images based on the picture registration situation after determining;
Memory module, selects screening-mode, then carries out compression and the storage of panoramic picture and video; Select preview mode, then spliced panoramic picture is played up, be shown on the device screen of connection camera.
Further, described image processing module comprises:
Image flame detection unit, for removing fractional distortion and LensShading;
Color correction unit, for the adjustment to colour temperature;
Noise eliminates unit, and for imageing sensor intrinsic noise, and noise when view data reads is eliminated.
Further, described reflective omnidirectional imaging system comprises further: the first fish eye lens, the second fish eye lens, the first reflecting element, the second reflecting element and imageing sensor imaging device;
First fish eye lens, the second fish-eye optical axis are on same straight line, the hypotenuse of the first reflecting element, the second reflecting element becomes 45 degree symmetrically to place respectively with optical axis, make to inject the first fish eye lens, the second fish-eye light is radiated at two of same imageing sensor not overlapping regions respectively through the first reflecting element, the second reflecting element 90 degree after reflecting.
Further, described first reflecting element and the second reflecting element are isosceles right-angle reflecting prism or level crossing.
Further, described first fish eye lens, the second fish-eye horizontal field of view angle, vertical field of view angle, diagonal field of view angle are all greater than 180 °.
Further, described first fish eye lens, the second fish eye lens adopt zoom lens or tight shot.
Further, described first reflecting element or the second reflecting element are the plane, concave surface or the convex refractive element that overturn.
Another object of the present invention is to provide a kind of intelligent terminal applying described reflective method for panoramic imaging.
The advantage that the present invention has and technique effect are:
1, mobile phone panorama photographing mode is contrasted, the present invention is simple to operate and quick, user does not need mobile camera, because the picture of a moment whole scene all by two fish eye lens complete documentations on a sensor, so user only needs to click once photo taking key, just a complete panorama can be taken, namely 360 ° (horizontal field of view angle FoV) x180 ° (vertical field of view angle FoV); Can be panned video and the real-time panorama of preview, because this imaging system obtains the scenic picture of whole two hemisphere simultaneously, and only use an imageing sensor, avoid in other schemes and need to solve the synchronous problem of multiple vision sensor data.
2, contrast the scheme by multiple camera, the present invention does not need extra camera apparatus, only needs replacing to install camera lens additional and just can realize; Low price; Splicing is simple, is spliced into power high; Can ensure that video flowing is synchronous, this imaging system only needs an imageing sensor just can record the image information of whole scene, so do not need the data syn-chronization inscribing different pictures when carrying out same, the picture namely captured by two fish eye lenses is synchronization.And multiple camera scheme, owing to using multiple autonomous device, cannot ensure that all devices starts simultaneously or closes, so the not corresponding same shooting time of video pictures of same frame number (such as the n-th frame), data syn-chronization must be carried out in the later stage, add the difficulty of the video that pans.
3, contrast special integral panoramic camera, cost of the present invention is low.Current integral panoramic camera scheme still uses multiple imageing sensor to take the picture of different visual angles, compared with the scheme of multiple camera, owing to adding hardware synchronization mechanism, avoids post-processed.But hardware synchronization needs additional devices to realize, so cost can increase thereupon, development difficulty is also larger; Easy to carry, do not need extra hardware device, such as, on the camera module directly receiving mobile phone or on existing camera apparatus, transform as panorama shooting device.
Accompanying drawing explanation
Fig. 1 is the structure chart of the reflective omnidirectional imaging system that the embodiment of the present invention provides;
The fundamental diagram of Fig. 2 to be the first reflecting element of providing of the embodiment of the present invention and the second reflecting element be fixed pan mirror;
Fig. 3 is the first reflecting element that the embodiment of the present invention provides is the fundamental diagram overturning level crossing;
Fig. 4 is the flow chart of the reflective method for panoramic imaging that the embodiment of the present invention provides;
Fig. 5 is the reflective panoramic imagery fundamental diagram installing camera lens additional that the embodiment of the present invention provides;
Fig. 6 is the reflective panoramic imagery fundamental diagram installing camera lens and the 3rd reflecting element additional that the embodiment of the present invention provides;
Fig. 7 is the first reflecting element of providing of the embodiment of the present invention and the second reflecting element is the fundamental diagram of concave mirror;
Fig. 8 is the first reflecting element of providing of the embodiment of the present invention and the second reflecting element is the fundamental diagram of convex mirror;
Fig. 9 is that the first fish eye lens of providing of the embodiment of the present invention and the second fish eye lens misplace the omnidirectional imaging system structural representation installed dorsad;
Figure 10 is that the first fish eye lens of providing of the embodiment of the present invention and the second flake rotate to misplacing the structural representation installed in the same way;
Figure 11 is the calculation flow chart of the 3D binocular pattern that the embodiment of the present invention provides;
In figure: 1, the first fish eye lens; 2, the second fish eye lens; 3, the first reflecting element; 4, the second reflecting element; 5, the 3rd reflector element, 6, imageing sensor; 7, existing camera optical system.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Below in conjunction with accompanying drawing 1 to accompanying drawing 11 and specific embodiment, application principle of the present invention is further described.
This reflective omnidirectional imaging system comprises: the first fish eye lens 1, second fish eye lens 2, first reflecting element 3, second reflecting element 4, the 3rd reflector element 5, imageing sensor 6.
The optical axis of the first fish eye lens 1, second fish eye lens 2 ensures on same straight line, the hypotenuse of the first reflecting element 3, second reflecting element 4 (as reflecting prism or level crossing etc.) becomes 45 degree symmetrically to place respectively with optical axis, be radiated at two of same imageing sensor 6 not overlapping regions after the light injecting the first fish eye lens 1, second fish eye lens 2 is reflected respectively through 90 degree.Imaging system of the present invention from two hemisphere space-reception light, and forms two nonoverlapping pictures on imageing sensor 6.
The present invention also takes following technical measures:
The horizontal field of view angle of the first described fish eye lens 1, second fish eye lens 2, vertical field of view angle, diagonal field of view angle are all greater than 180 °, to ensure that all scenic picture can comprise to come in by the first fish eye lens 1, second flake mirror 2, and can ensure that the picture of the first fish eye lens 1 and the shooting of the second flake mirror 2 has certain overlapping region.
The first described fish eye lens 1, second fish eye lens 2 adopts zoom lens, and for different imageing sensors 5, by the focal length of adjustable lens, zoom lens guarantees that whole pictures in visual angle are in shooting area, thus can go on record.
The first described fish eye lens 1 and the second fish eye lens 2 misplace and install dorsad, and namely the optical axis of the first fish eye lens 1 and the second fish eye lens 2 is parallel to each other at same level height, but camera lens is towards the opposite.
Described i.e. two fish-eye optical axises are at same level height and be parallel to each other, Figure 10 is extension and the mutation of Fig. 9, namely a fish eye lens in Fig. 9 and reflecting element integral-rotation to another fish eye lens in the same way, optical axis still remains on same level height and is parallel to each other, and now defines 3D binocular pattern.
This reflective method for panoramic imaging comprises the following steps:
S101, open camera;
S102, selection camera enter screening-mode, read picture or the video flowing of camera shooting; Select preview mode, then read the real-time stream of camera;
S103, to deal with respectively image, comprise image flame detection, color adjusts, and noise is eliminated, exposure and setting contrast;
S104, the picture of segmentation light through becoming respectively after the second fish eye lens 2 the first fish eye lens 1;
S105, the characteristic point of image is extracted, screens and mated, the feature point pairs mated between two;
S106, carry out image registration, and splicing and merge the overlapping region of two pictures;
S107, selection screening-mode, then carry out compression and the storage of panoramic picture and video; Select preview mode, then to image rendering, be shown on connection device screen.
Preview mode is mobile phone, the equipment such as panel computer or PC is connected in this imaging system by wired or wireless mode, thus can Real-time Obtaining the picture of image sensor shooting, but picture does not need to be stored as photo or video under preview mode.
In step s 103, image flame detection removes fractional distortion and LensShading, and colour correction is the adjustment for colour temperature, and noise is eliminated and related to imageing sensor intrinsic noise, and noise when view data reads is eliminated;
In step s 106, i.e. I
1=K [R|T] K
-1i
2, wherein I
1with I
2represent the Feature Points Matching pair of picture corresponding to first and second fish eye lens of being found by Feature Points Matching, the inner parameter of what K represented is camera, comprise the focal length of camera, the side-play amount of the relative camera lens optical axis in camera sensor center and the distortion parameter etc. of camera lens, [R|T] is then calculative camera relative position relation, this relative position relation, can be described as the Mathematical Modeling rotating R and translation T and form.Because two fish-eye locus are fixing, so generally (such as camera lens does not loosen), relative transform matrix [R|T] is also fixing.This makes in actual product, only need to carry out measurement in first time to relative position of lens [R|T] to correct, use same transformation matrix to carry out registration afterwards always, do not need each run all to carry out the operation such as registration of the extraction of characteristic point, screening, coupling and image.
First fish eye lens 1 and the second fish eye lens 2 are according to shown in Fig. 2, place back-to-back, the requirement of the first fish eye lens 1 and the second fish eye lens 2: horizontal field of view angle, vertical field of view angle, diagonal field of view angle are all greater than 180 °, to ensure that all scenic picture can comprise to come in by the first fish eye lens 1, second flake mirror 2, and can ensure that the picture of the first fish eye lens 1 and the shooting of the second flake mirror 2 has certain overlapping region.
Also can be able to be zoom lens for tight shot: for specific imageing sensor 6 (ImageSensor), camera lens can be fixed focal length, zoom lens then can adaptive more imageing sensor 6 specification, because can guarantee that whole pictures in visual angle are in shooting area by the focal length of adjustable lens, thus can go on record.
For the varifocal fish-eye scheme of employing, adjustment lens focus, reach two fish-eye horizontal field of view angles and vertical field of view angle be all greater than the picture of 180 ° non-overlapping fall on the image sensor till, to guarantee whole scenic picture to record.
First reflecting element 3, second reflecting element 4, such as fixed pan mirror: the concrete modes of emplacement of the first reflecting element 3, second reflecting element 4 is as shone shown in Fig. 2.Namely through the refraction of two the first reflecting element 3, second reflecting elements 4, the picture that the first fish eye lens 1 and the second fish eye lens 2 comprise can by (ImageSensor) on the imageing sensor 6 that projects in Fig. 2 simultaneously.Left and right two parts of last imageing sensor 6 have recorded respectively and come from different fish-eye picture.The system only using first reflecting element 3 can also be extended to, as shown in Figure 3.Namely the first reflecting element 3 needs quick upset, to ensure that camera can photograph the picture of two fisheye cameras respectively when double exposure.
Reflective omnidirectional imaging system software kit system, the control of software systems primary responsibility camera, the acquisition of camera data (photo of real-time pictures, final shooting and video flowing), image flame detection, picture quality correction, exposure and setting contrast, the extraction of image characteristic point, screening and coupling, image registration, splicing, fusion, and the compression of panoramic picture and video and storage etc.Lens system of the present invention is installed on the camera of mobile phone or flat board, then live preview and shooting two kinds of patterns can be provided.If be installed on the traditional cameras such as DSLR, as shown in Figure 5, then there is no preview mode, only have screening-mode.If what camera lens adopted is single turning reflecting element, then skip the S104 step in flow chart.
At the first reflecting element 3 and the second reflecting element 4, the 3rd reflecting element 5 can be connect, as reflecting prism or level crossing etc., change light path, dock with transducer or existing camera lens to facilitate, as shown in Figure 6.The 3rd added reflecting element 5 can be put upside down with the order of camera lens in Fig. 5.
The perspective view of the first fish eye lens 1 and the second fish eye lens 2 has two kinds of panning modes at least: back-to-back or misplace opposing, respectively as illustrated in figs 1 and 9.As shown in Figure 1, in the same horizontal line, camera lens is towards the opposite for two fish-eye optical axises.System configuration shown in Fig. 9 is that two fish-eye optical axises are parallel to each other at same level height, but not on same straight line, camera lens is towards the opposite.When misplacing opposing, the first fish eye lens 1 and the second fish eye lens 2 can be made into rotary structure, and namely the first fish eye lens 1 can rotate to the second fish eye lens 2 towards same direction, thus realize " 3D binocular pattern ", as shown in Figure 9 and Figure 10.Under 3D binocular pattern, picture (non-panoramic) with great visual angle can be obtained by algorithm flow, and calculate by existing three-dimensional binocular depth the depth map (DepthMap) that (Stereo-BasedDepthEstimation) algorithm calculates scene.Protect corresponding software processing scheme and flow process, as shown in figure 11.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a reflective method for panoramic imaging, is characterized in that, this reflective method for panoramic imaging comprises the following steps:
Optical system is directly installed on imageing sensor or existing camera optical system, make two groups fish-eye as plane respectively through reflecting element nonoverlapping fall on the image sensor, open camera;
Select camera to enter screening-mode, read picture or the video flowing of camera shooting; Select preview mode, then read the live preview video flowing of camera;
The picture that segmentation light becomes after the second fish eye lens on the image sensor respectively through the first fish eye lens;
Deal with respectively the image after segmentation, comprise image flame detection, color adjusts, and noise is eliminated, exposure and setting contrast; Image flame detection removes fractional distortion and LensShading, and colour correction is the adjustment for colour temperature, and noise is eliminated and related to imageing sensor intrinsic noise, and noise when view data reads is eliminated;
Carry out the extraction of characteristic point, screening and coupling to image, extraction algorithm detects the position of characteristic point, and by the description to characteristic point, finds this characteristic point corresponding in another width picture, morphogenesis characters Point matching pair;
Carry out image registration, splicing, fusion; Based on the Image Feature Point Matching pair obtained, calculate two groups of fish-eye relative position relations, and the overlapping region of two hemisphere pictures; I.e. I
1=K [R|T] K
-1i
2, wherein I
1with I
2represent the Feature Points Matching pair of picture corresponding to first and second fish eye lens of being found by Feature Points Matching, the inner parameter of what K represented is camera, comprise the focal length of camera, the side-play amount of the relative camera lens optical axis in camera sensor center and the distortion parameter of camera lens, [R|T] is then calculative camera relative position relation, and relative position relation is described as the Mathematical Modeling rotating R and translation T and form;
Stitching algorithm is then moved together picture overlapping region, finally by image co-registration by the overlapping region excess smoothness between two images based on the picture registration situation after determining;
Select screening-mode, then carry out compression and the storage of panoramic picture and video; Select preview mode, then spliced panoramic picture is played up, be shown on the device screen of connection camera.
2. a reflective omnidirectional imaging system for reflective method for panoramic imaging as claimed in claim 1, it is characterized in that, this reflective omnidirectional imaging system comprises:
Installation module, for optical system being directly installed on imageing sensor or existing camera optical system, make two groups fish-eye as plane respectively through reflecting element nonoverlapping fall on the image sensor, open camera;
Read module, selects camera to enter screening-mode, reads picture or the video flowing of camera shooting; Select preview mode, then read the live preview video flowing of camera;
Image-forming module, for splitting the picture that light becomes after the second fish eye lens on the image sensor respectively through the first fish eye lens;
Image processing module, apply the image after to segmentation and deal with respectively, comprise image flame detection, color adjusts, and noise is eliminated, exposure and setting contrast;
Characteristic point processing module, for carrying out the extraction of characteristic point, screening and coupling to image, extraction algorithm detects the position of characteristic point, and by the description to characteristic point, finds this characteristic point corresponding in another width picture, morphogenesis characters Point matching pair;
Computing module, for carrying out image registration, splicing, fusion; Based on the Image Feature Point Matching pair obtained, calculate two groups of fish-eye relative position relations, and the overlapping region of two hemisphere pictures; I.e. I
1=K [R|T] K
-1i
2, wherein I
1with I
2represent the Feature Points Matching pair of picture corresponding to first and second fish eye lens of being found by Feature Points Matching, the inner parameter of what K represented is camera, comprise the focal length of camera, the side-play amount of the relative camera lens optical axis in camera sensor center and the distortion parameter of camera lens, [R|T] is then calculative camera relative position relation, and relative position relation is described as the Mathematical Modeling rotating R and translation T and form; Stitching algorithm is then moved together picture overlapping region, finally by image co-registration by the overlapping region excess smoothness between two images based on the picture registration situation after determining;
Memory module, selects screening-mode, then carries out compression and the storage of panoramic picture and video; Select preview mode, then spliced panoramic picture is played up, be shown on the device screen of connection camera.
3. reflective omnidirectional imaging system as claimed in claim 2, is characterized in that, described image processing module comprises:
Image flame detection unit, for removing fractional distortion and LensShading;
Color correction unit, for the adjustment to colour temperature;
Noise eliminates unit, and for imageing sensor intrinsic noise, and noise when view data reads is eliminated.
4. reflective omnidirectional imaging system as claimed in claim 2, is characterized in that, described reflective omnidirectional imaging system comprises further: the first fish eye lens, the second fish eye lens, the first reflecting element, the second reflecting element and imageing sensor imaging device;
First fish eye lens, the second fish-eye optical axis are on same straight line, the hypotenuse of the first reflecting element, the second reflecting element becomes 45 degree symmetrically to place respectively with optical axis, make to inject the first fish eye lens, the second fish-eye light is radiated at two of same imageing sensor not overlapping regions respectively through the first reflecting element, the second reflecting element 90 degree after reflecting.
5. reflective omnidirectional imaging system as claimed in claim 4, is characterized in that, described first reflecting element and the second reflecting element are isosceles right-angle reflecting prism or level crossing.
6. reflective omnidirectional imaging system according to claim 4, is characterized in that, described first fish eye lens, the second fish-eye horizontal field of view angle, vertical field of view angle, diagonal field of view angle are all greater than 180 °.
7. reflective omnidirectional imaging system according to claim 4, is characterized in that, described first fish eye lens, the second fish eye lens adopt zoom lens or tight shot.
8. reflective omnidirectional imaging system according to claim 4, is characterized in that, described first reflecting element or the second reflecting element are the plane, concave surface or the convex refractive element that overturn.
9. the intelligent terminal of reflective method for panoramic imaging described in an application rights requirement 1.
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