CN107995421A - A panoramic camera and its image generation method, system, device, and storage medium - Google Patents

Abstract

This application discloses a kind of panorama camera and its image generating method, system, equipment, storage medium, this method to include：Gather the real-time lighting intensity of current outside environment；Judge whether real-time lighting intensity is less than default intensity of illumination threshold value, if it is, gathering one group of original fish eye images corresponding with each fish eye lens respectively, obtain the corresponding original fish eye images of N groups；Wherein, the original fish eye images of multiframe are included in every group of original fish eye images；Fusion treatment is carried out to every group of original fish eye images respectively, is correspondingly made available N blending images；Splicing is carried out to the N blending images, obtains spliced panoramic picture.The application is in light environment than in the case of dark, the original fish eye images of corresponding multiframe are obtained for each fish eye lens, by the way that the original fish eye images of multiframe in every group of original fish eye images are merged, noise in image can be effectively inhibited, so as to effectively improve the picture quality of the panoramic picture of shooting at night.

Description

A panoramic camera and its image generation method, system, device, and storage medium

technical field

The present invention relates to the technical field of panoramic cameras, in particular to a panoramic camera and an image generation method, system, device, and storage medium thereof.

Background technique

VR (Virtual Reality) technology allows users to enter a three-dimensional immersive virtual world, just like being there. With the advancement of technology, the application range of three-dimensional panoramic image technology is becoming wider and wider. Panoramic shooting technology refers to the use of science and technology and professional equipment to map the entire real scene into a panoramic image, thereby simulating a two-dimensional plan into a three-dimensional space to realize virtual reality browsing. At the same time, viewers can switch in the panoramic space and watch "everything in the world" freely. Panoramic photography has become an emerging growth field, and panoramic cameras are the core equipment of panoramic photography.

A panoramic camera is a photographic device capable of panoramic shooting. In addition to taking pictures, it can also be applied to the shooting of dynamic images, also known as panoramic cameras. Since the viewing angle range of a single camera lens is less than 360°, the panoramic camera is equipped with at least two lenses. Different from the horizontal rotation shooting of traditional cameras/smart phones, the panoramic camera can shoot at the same time in the horizontal and vertical directions, and then process it through the panoramic stitching software to generate a 360°×180° panoramic picture.

At present, a typical panoramic camera is a device that uses a fisheye optical lens to shoot panoramic images. It captures images with a large enough field of view at one time. The principle is based on bionics (fisheye structure), through the transmission and refraction of the spherical mirror of physical optics. , to image information of 360 degrees horizontally and 180 degrees vertically at one time.

However, the current panoramic camera panorama generation algorithm cannot guarantee the quality of the captured panoramic images in some cases, especially when shooting at night, it is difficult to meet the conditions of sufficient light, and the captured low-brightness panoramic images generally have very low Contrast, mixed with a lot of noise, the visual experience of the human eye is poor. Although the camera sensor hardware has been developed and improved rapidly, due to the limitation of hardware size and cost, the quality of night photos of most panoramic camera equipment is still difficult. Meet user needs and expectations.

From the above, it can be seen that how to improve the image quality of panoramic images taken at night is an urgent problem to be solved.

Contents of the invention

In view of this, the object of the present invention is to provide a panoramic camera and its image generation method, system, device, and storage medium, which can effectively improve the image quality of panoramic images taken at night. The specific plan is as follows:

In the first aspect, the present invention discloses a method for generating a VR panoramic image, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein, the method includes:

Collect the real-time light intensity of the current external environment;

Determine whether the real-time light intensity is less than the preset light intensity threshold, and if so, collect a group of original fisheye images corresponding to each fisheye lens to obtain corresponding N groups of original fisheye images; wherein, each group of original fisheye The images all include multiple frames of original fisheye images;

Perform fusion processing on each group of original fisheye images respectively, and obtain N fusion images accordingly;

Stitching is performed on the N fusion images to obtain a stitched panoramic image.

Optionally, the step of collecting a group of original fisheye images corresponding to each fisheye lens to obtain corresponding N groups of original fisheye images includes:

Determine the intensity level of the real-time light intensity to obtain the target intensity level;

Using the mapping relationship between the preset intensity level and the acquisition quantity of each group of original fisheye images, determine the acquisition quantity corresponding to the target intensity level, and obtain the target acquisition quantity;

According to the number of target acquisitions, a group of original fisheye images corresponding to each fisheye lens are respectively collected to obtain corresponding N groups of original fisheye images; wherein, the number of image frames of each group of original fisheye images is the same as that of the target The number of collections is equal.

Optionally, the process of fusing each group of original fisheye images includes:

A frame of original fish-eye image is selected from the group of original fish-eye images as a reference frame image;

All other original fisheye images in the group of original fisheye images are coordinate-aligned with the reference frame image to obtain a corresponding aligned image sequence;

All the images in the aligned image sequence are weighted and fused to obtain a corresponding fused image.

Optionally, the step of selecting a frame of original fisheye image from the group of original fisheye images as a reference frame image includes:

The average gradient of each frame of the original fisheye image in the group of original fisheye images is calculated respectively, and then the frame of the original fisheye image with the largest average gradient is used as the reference frame image.

Optionally, the step of performing weighted fusion on all images in the aligned image sequence to obtain a corresponding fused image includes:

Determine the weight of each frame of image in the aligned image sequence according to the absolute value of the pixel grayscale difference between each frame of image in the aligned image sequence and the image coordinates corresponding to the reference frame image coefficient;

All the images in the aligned image sequence are weighted and fused according to the weight coefficient of each frame of image in the aligned image sequence to obtain a corresponding fused image.

Optionally, the step of stitching the N fusion images to obtain the stitched panoramic image includes:

Carry out planar expansion on each fused image respectively to obtain N expanded images;

performing registration processing on overlapping regions of the N expanded images to obtain corresponding registration results;

According to the registration result, fusion processing is performed on overlapping regions of the N expanded images to obtain the panoramic image.

In a second aspect, the present invention discloses a VR panoramic image generation system, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein, the system includes:

The light intensity acquisition module is used to collect the real-time light intensity of the current external environment;

The light intensity judging module is used to judge whether the real-time light intensity is less than the preset light intensity threshold;

The fisheye image acquisition module is used to collect a group of original fisheye images corresponding to each fisheye lens respectively to obtain corresponding N groups of original fisheye images; wherein, each group of original fisheye images includes Multi-frame original fisheye image;

The fisheye image fusion module is used to fuse each group of original fisheye images respectively, and obtain N pieces of fusion images accordingly;

An image splicing module, configured to splice the N fusion images to obtain a spliced panoramic image.

In a third aspect, the present invention discloses a VR panoramic image generation device, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein, the device includes an illumination sensor, a processor, and a memory; Wherein, the processor implements the VR panoramic image generation method disclosed above by executing the VR panoramic image generation program stored in the memory.

In a fourth aspect, the present invention discloses a panoramic camera, which includes N fisheye lenses, where N is an integer not less than 2, and also includes the VR panoramic image generation device disclosed above.

In a fifth aspect, the present invention discloses a computer-readable storage medium for storing a VR panoramic image generation program, wherein, when the VR panoramic image generation program is executed by a processor, the aforementioned disclosed VR panoramic image generation method is realized.

It can be seen that the panoramic camera in the present invention includes N fisheye lenses. When the real-time light intensity of the external environment is less than the preset light intensity threshold, the present invention will respectively collect a group of original fish corresponding to each fisheye lens. eye images, thereby obtaining N groups of original fish-eye images, and each group of original fish-eye images includes multiple frames of original fish-eye images. Then each group of original fisheye images is fused separately, and the fused N images are stitched together to obtain a stitched panoramic image. It can be seen that the present invention obtains corresponding multiple frames of original fish-eye images for each fish-eye lens when the lighting environment is relatively dark, and fuses the multiple frames of original fish-eye images in each group of original fish-eye images. , can effectively suppress the noise in the image, so as to obtain N fused images with less noise corresponding to the above N fisheye lenses, so that the noise of the panoramic image in the subsequent stitching process can be effectively suppressed, thus effectively Greatly improved the image quality of panoramic images captured at night.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a flow chart of a method for generating a VR panoramic image disclosed in an embodiment of the present invention;

FIG. 2 is a flow chart of a specific method for generating a VR panoramic image disclosed in an embodiment of the present invention;

FIG. 3 is a flow chart of a specific method for generating a VR panoramic image disclosed in an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a VR panoramic image generation system disclosed in an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the present invention discloses a method for generating a VR panoramic image, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; as shown in FIG. 1 , the method includes:

Step S11: Collect the real-time light intensity of the current external environment.

In this embodiment, the real-time light intensity of the current external environment can be collected through an active collection method, that is, the collection function of the light intensity can be enabled all the time after the panoramic camera is turned on.

In addition, this embodiment can also use a semi-active collection method to collect the real-time light intensity of the current external environment, that is, judge whether it is necessary to enable the light intensity collection function according to other types of parameters obtained in real time, and if so, turn on the light intensity Intensity collection function to obtain real-time light intensity of the current external environment, wherein other types of parameters obtained in real time may include but not limited to time parameters of the current location area. For example, if the current time parameter obtained in real time is 8:00 p.m., it can be determined according to the time parameter that the collection function of light intensity needs to be enabled; It is determined that there is no need to enable the collection function of light intensity at present.

Of course, this embodiment can also adopt a passive collection method to collect the real-time light intensity of the current external environment, that is, when the trigger signal generated by the preset trigger button is obtained, the light intensity can be turned on. collection function.

Step S12: Determine whether the real-time light intensity is less than the preset light intensity threshold, and if so, collect a group of original fisheye images corresponding to each fisheye lens to obtain corresponding N groups of original fisheye images; wherein, each group Each original fisheye image includes multiple frames of original fisheye images.

In this embodiment, when the real-time light intensity is less than the preset light intensity threshold, it means that the current light intensity is not enough, which will cause noise in the image that will adversely affect the image quality. corresponding original fish-eye images, thereby obtaining N groups of original fish-eye images, wherein each group of original fish-eye images includes multiple frames of original fish-eye images. It can be understood that, in this embodiment, the number of frames of the original fish-eye images in any two groups of original fish-eye images may be equal or unequal.

It should be noted that, in this embodiment, the aforementioned preset light intensity threshold may be specifically set by the user according to actual needs. That is, before the above step S12, it is necessary to obtain the light intensity threshold input by the user through the preset threshold setting interface. Of course, in this embodiment, the aforementioned preset light intensity threshold may also be automatically set by the panoramic camera according to actual experience values.

Step S13: Carry out fusion processing on each group of original fisheye images respectively, and obtain N fusion images accordingly.

In this embodiment, after the multi-frame original fisheye images in each group of original fisheye images are fused, the image noise in the final fused image can be effectively suppressed, so that the image noise of the fused image corresponding to each group of original fisheye images Significantly less than each frame in the set of raw fisheye images.

Step S14: Perform splicing processing on the above N fusion images to obtain a spliced panoramic image.

In this embodiment, the step of splicing the above N fusion images to obtain the spliced panoramic image may specifically include:

Carry out planar expansion on each fused image respectively to obtain N expanded images; perform registration processing on overlapping areas of the above N expanded images to obtain corresponding registration results; according to the registration results, expand the above N images The overlapping areas of the subsequent images are fused to obtain a panoramic image.

It can be seen that the panoramic camera in the embodiment of the present invention includes N fisheye lenses. When the real-time light intensity of the external environment is less than the preset light intensity threshold, the embodiment of the present invention will respectively collect the light corresponding to each fisheye lens. A group of original fish-eye images, thereby obtaining N groups of original fish-eye images, and each group of original fish-eye images includes multiple frames of original fish-eye images. Then each group of original fisheye images is fused separately, and the fused N images are stitched together to obtain a stitched panoramic image. It can be seen that, in the embodiment of the present invention, when the lighting environment is relatively dark, corresponding multi-frame original fish-eye images are obtained for each fish-eye lens, by combining the multi-frame original fish-eye images in each group of original fish-eye images Fusion can effectively suppress the noise in the image, so as to obtain N fused images with less noise corresponding to the above N fisheye lenses, thereby effectively suppressing the noise of the panoramic image in the subsequent splicing process, Therefore, the image quality of the panoramic image captured at night is effectively improved.

On the basis of the foregoing embodiments, the embodiment of the present invention discloses a specific method for generating a VR panoramic image, as shown in FIG. 2 , the method includes:

Step S21: Collect the real-time light intensity of the current external environment.

Step S22: judging whether the real-time light intensity is less than the preset light intensity threshold, and if so, determining the intensity level of the real-time light intensity to obtain the target intensity level.

In this embodiment, when the real-time light intensity is less than the preset light intensity threshold, the intensity level of the real-time light intensity is determined. It can be understood that, before the above step S22, it is necessary to determine the corresponding relationship between the numerical range of the light intensity and the intensity level, and according to the corresponding relationship and the numerical value range of the real-time light intensity, the corresponding power level. In this embodiment, the higher the intensity level, the greater the value of the corresponding real-time light intensity; on the contrary, the lower the intensity level, the smaller the value of the corresponding real-time light intensity.

Step S23: Using the mapping relationship between the preset intensity level and the acquisition quantity of each group of original fisheye images, determine the acquisition quantity corresponding to the target intensity level, and obtain the target acquisition quantity.

It can be seen that in this embodiment, when collecting the original fisheye image corresponding to any fisheye lens, the number of frames of the collected original fisheye image and the intensity level of the current real-time light intensity correspond to each other, that is, different intensity The levels correspond to different acquisition quantities. It can be understood that there is an inverse correlation between the intensity level of the real-time light intensity and the above-mentioned number of target acquisitions, that is, the lower the intensity level, the greater the image noise at this time, so the above-mentioned number of target acquisitions can be set to The larger the value. And it needs to be further explained that the above-mentioned number of target acquisitions is not less than 2.

Step S24: Collect a group of original fisheye images corresponding to each fisheye lens according to the number of target acquisitions, and obtain corresponding N groups of original fisheye images; wherein, the number of image frames of each group of original fisheye images is the same as that of the target acquisition The quantity is equal.

That is, after the above-mentioned number of target acquisitions is determined, for each fisheye lens, n frames of original fish-eye images are collected, wherein the value of n is equal to the above-mentioned number of target acquisitions.

Step S25: performing fusion processing on each group of original fisheye images respectively, and correspondingly obtaining N fusion images.

In this embodiment, the process of performing fusion processing on each group of original fisheye images may specifically include:

Select an original fisheye image from the group of original fisheye images as a reference frame image; coordinate alignment of other original fisheye images in the group of original fisheye images with the reference frame image, and obtain the corresponding aligned image sequence ; Perform weighted fusion on all the images in the aligned image sequence to obtain a corresponding fused image.

In addition, the above-mentioned step of selecting a frame of original fish-eye image from the group of original fish-eye images as a reference frame image may specifically include:

The average gradient of each frame of the original fisheye image in the group of original fisheye images is calculated respectively, and then the frame of the original fisheye image with the largest average gradient is used as the reference frame image.

Further, the above step of performing weighted fusion on all the images in the aligned image sequence to obtain a corresponding fused image may specifically include:

Determine the weighting coefficient of each frame image in the aligned image sequence according to the absolute value of the pixel grayscale difference between each frame image in the aligned image sequence and the image coordinates corresponding to the reference frame image; The weighting coefficient of each frame of image in the sequence is weighted and fused to all the images in the aligned image sequence to obtain a corresponding fused image.

Step S26: Perform splicing processing on the above N fusion images to obtain a spliced panoramic image.

In this embodiment, the step of splicing the above N fusion images to obtain the spliced panoramic image may specifically include:

Carry out planar expansion on each fused image respectively to obtain N expanded images; perform registration processing on overlapping areas of the above N expanded images to obtain corresponding registration results; according to the registration results, expand the above N images The overlapping areas of the subsequent images are fused to obtain a panoramic image.

On the basis of the foregoing embodiments, the embodiment of the present invention discloses a more specific method for generating a VR panoramic image, which is applied to a panoramic camera including two fisheye lenses; as shown in FIG. 3 , the method includes:

Step S301: Collect the real-time light intensity of the current external environment.

Step S302: Determine whether the real-time light intensity is less than the preset light intensity threshold, and if so, collect a set of original fisheye images corresponding to each fisheye lens to obtain two corresponding sets of original fisheye images; wherein, each set Each original fisheye image includes multiple frames of original fisheye images.

Step S303: Calculate the average gradient of each frame of the original fisheye image in the first group of original fisheye images, and calculate the average gradient of each frame of the original fisheye image in the second group of original fisheye images.

Step S304: Take the frame of original fisheye image with the largest average gradient in the first group of original fisheye images as the first reference frame image, and use the frame of original fisheye image with the largest average gradient in the second group of original fisheye images as the second frame of original fisheye image Two reference frame images.

Step S305: Align other original fisheye images in the first group of original fisheye images with the first reference frame image to obtain the first aligned image sequence; align other original fisheye images in the second group of original fisheye images The eye images are coordinate-aligned with the second reference frame image to obtain a second aligned image sequence.

Step S306: According to the absolute value of the pixel grayscale difference between each frame image in the first aligned image sequence and the image coordinates corresponding to the first reference frame image, determine the alignment for each frame in the first aligned image sequence The weighting coefficient of the image; according to the absolute value of the pixel grayscale difference between each frame image in the second aligned image sequence and the corresponding image coordinates of the second reference frame image, it is determined for each frame image in the second aligned image sequence The weighting coefficient of an image frame.

Step S307: According to the weight coefficient of each frame image in the first aligned image sequence, perform weighted fusion on all the images in the first aligned image sequence to obtain the first fused image; The weighting coefficient of one frame of images is used to perform weighted fusion on all the images in the second aligned image sequence to obtain the second fused image.

Step S308: performing planar expansion on each fused image respectively to obtain two expanded images;

Step S309: Perform registration processing on the overlapping areas of the above two expanded images to obtain corresponding registration results;

Step S310: According to the registration result, fusion processing is performed on the overlapped regions of the two expanded images to obtain a panoramic image.

Correspondingly, the embodiment of the present invention also discloses a VR panoramic image generation system, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein, as shown in FIG. 4 , the system includes:

The light intensity acquisition module 11 is used to collect the real-time light intensity of the current external environment;

Illumination intensity judging module 12, for judging whether the real-time illumination intensity is less than the preset illumination intensity threshold;

Fisheye image acquisition module 13, for if yes, collect a group of original fisheye images corresponding to each fisheye lens respectively, obtain corresponding N groups of original fisheye images; Wherein, in each group of original fisheye images Including multiple frames of original fisheye images;

The fisheye image fusion module 14 is used to fuse each group of original fisheye images respectively, and obtain N pieces of fusion images accordingly;

The image stitching module 15 is configured to stitch the above N fusion images to obtain stitched panoramic images.

For the more specific working process of each of the above modules, reference may be made to the corresponding content disclosed in the foregoing embodiments, which will not be repeated here.

Correspondingly, the present invention also discloses a VR panoramic image generating device, which is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein, the device includes an illumination sensor, a processor, and a memory; wherein, The processor realizes the method for generating a VR panoramic image disclosed in the foregoing embodiments by executing the VR panoramic image generating program stored in the memory.

Regarding the more specific process of the aforementioned method for generating a VR panoramic image, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.

Further, the present invention also discloses a panoramic camera, which includes N fisheye lenses, where N is an integer not less than 2, and also includes the VR panoramic image generation device disclosed in the foregoing embodiments. For a more specific structure of the VR panoramic image generating device, reference may be made to the corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.

Further, the present invention also discloses a computer-readable storage medium for storing a VR panoramic image generation program, wherein the VR panoramic image generation program implements the VR panoramic image generation method disclosed in the foregoing embodiments when executed by a processor. Regarding the more specific process of the aforementioned method for generating a VR panoramic image, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

A panoramic camera provided by the present invention and its image generation method, system, equipment, and storage medium have been introduced in detail above. In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments It is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, The contents of this description should not be construed as limiting the present invention.

Claims (10)

1. A method for generating a VR panoramic image, characterized in that it is applied to a panoramic camera comprising N fisheye lenses, and N is an integer not less than 2; wherein the method comprises: Collect the real-time light intensity of the current external environment; Determine whether the real-time light intensity is less than the preset light intensity threshold, and if so, collect a group of original fisheye images corresponding to each fisheye lens to obtain corresponding N groups of original fisheye images; wherein, each group of original fisheye The images all include multiple frames of original fisheye images; Perform fusion processing on each group of original fisheye images respectively, and obtain N fusion images accordingly; Stitching is performed on the N fusion images to obtain a stitched panoramic image. 2. VR panorama image generation method according to claim 1, is characterized in that, described respectively collects one group of original fish-eye images corresponding to each fish-eye lens, obtains the step of corresponding N groups of original fish-eye images, include: Determine the intensity level of the real-time light intensity to obtain the target intensity level; Using the mapping relationship between the preset intensity level and the acquisition quantity of each group of original fisheye images, determine the acquisition quantity corresponding to the target intensity level, and obtain the target acquisition quantity; According to the number of target acquisitions, a group of original fisheye images corresponding to each fisheye lens are respectively collected to obtain corresponding N groups of original fisheye images; wherein, the number of image frames of each group of original fisheye images is the same as that of the target The number of collections is equal. 3. VR panorama image generating method according to claim 1, is characterized in that, the process of fusion processing is carried out to each group of original fisheye images, comprising: A frame of original fish-eye image is selected from the group of original fish-eye images as a reference frame image; All other original fisheye images in the group of original fisheye images are coordinate-aligned with the reference frame image to obtain a corresponding aligned image sequence; All the images in the aligned image sequence are weighted and fused to obtain a corresponding fused image. 4. VR panorama image generating method according to claim 3, is characterized in that, the described step of screening out a frame of original fish-eye image as reference frame image from this group of original fish-eye images, comprises: The average gradient of each frame of the original fisheye image in the group of original fisheye images is calculated respectively, and then the frame of the original fisheye image with the largest average gradient is used as the reference frame image. 5. The method for generating a VR panoramic image according to claim 3, wherein the step of carrying out weighted fusion to all images in the aligned image sequence to obtain a corresponding fusion image comprises: Determine the weight of each frame of image in the aligned image sequence according to the absolute value of the pixel grayscale difference between each frame of image in the aligned image sequence and the image coordinates corresponding to the reference frame image coefficient; All the images in the aligned image sequence are weighted and fused according to the weight coefficient of each frame of image in the aligned image sequence to obtain a corresponding fused image. 6. The VR panoramic image generation method according to any one of claims 1 to 5, wherein the step of splicing the N fusion images to obtain the spliced panoramic image includes: Carry out planar expansion on each fused image respectively to obtain N expanded images; performing registration processing on overlapping regions of the N expanded images to obtain corresponding registration results; According to the registration result, fusion processing is performed on overlapping regions of the N expanded images to obtain the panoramic image. 7. A VR panoramic image generation system, characterized in that it is applied to a panoramic camera comprising N fisheye lenses, where N is an integer not less than 2; wherein the system comprises: The light intensity acquisition module is used to collect the real-time light intensity of the current external environment; The light intensity judging module is used to judge whether the real-time light intensity is less than the preset light intensity threshold; The fisheye image acquisition module is used to collect a group of original fisheye images corresponding to each fisheye lens respectively to obtain corresponding N groups of original fisheye images; wherein, each group of original fisheye images includes Multi-frame original fisheye image; The fisheye image fusion module is used to fuse each group of original fisheye images respectively, and obtain N pieces of fusion images accordingly; An image splicing module, configured to splice the N fusion images to obtain a spliced panoramic image. 8. A VR panoramic image generation device, characterized in that it is applied to a panoramic camera including N fisheye lenses, where N is an integer not less than 2; wherein the device includes an illumination sensor, a processor and a memory; wherein, The processor implements the VR panoramic image generation method according to any one of claims 1 to 6 by executing the VR panoramic image generation program stored in the memory. 9. A panoramic camera, characterized in that it comprises N fisheye lenses, wherein N is an integer not less than 2, and also comprises the VR panoramic image generating device as claimed in claim 8. 10. A computer-readable storage medium, characterized in that it is used to store a VR panoramic image generation program, wherein, when the VR panoramic image generation program is executed by a processor, the method according to any one of claims 1 to 6 is realized. A VR panorama image generation method.