CN104796618B - Method based on ball-shaped camera automatic collection crops panoramic image sequence - Google Patents
Method based on ball-shaped camera automatic collection crops panoramic image sequence Download PDFInfo
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Abstract
The present invention relates to a kind of method based on ball-shaped camera automatic collection crops panoramic image sequence, it includes the following steps：Step 1, initial zenith angle and the initial orientation angle for setting ball-shaped camera；Step 2, the horizontal field of view angle and vertical field of view angle for determining ball-shaped camera；Step 3, determine ball-shaped camera in the horizontal direction every time rotating angle, in vertical direction rotating angle every time；Step 4, control ball-shaped camera carry out 360 ° of rotations of movement in vertical direction and horizontal direction, with the still image sequence of shooting, collecting position；Step 5, control ball-shaped camera repeat the shooting of above-mentioned collection still image sequence, until ball-shaped camera moves to restraining position point in vertical direction, to obtain still image sequence all in a scan period.The present invention improves the precision of the automatic Observation result of crops, reproduce crop growth variable condition.
Description
Technical field
It is especially a kind of to be based on ball-shaped camera automatic collection crops panorama the present invention relates to a kind of image-pickup method
The method of image sequence, belongs to the technical field of crops Image Acquisition.
Background technology
China is a large agricultural country, and crops observation is that agricultural prevents and reduces natural disasters, is essential in farming production activity
Demand.With the fast development of agricultural cience and farming techniques, China's agricultural have been enter into high yield, it is high-quality, efficient, precisely for the new of target
Stage, agricultural propose observation service the requirement of higher, and there is an urgent need to precision higher, abundant in content, frequency is high, continuous in time
Observed result.
There are problem for the observation procedure of crops at present：
1), crops observation technology falls behind, based on artificial observation；
China crops observation technology relatively lags behind at present, and automation is low with the level of informatization.Artificial observation not only consumes people
Take time and effort, not economical enough, easy test leakage lacks survey, and observed result is larger by being got sth into one's head property of Observation personnel, no standard measure
The important growth parameter(s)s such as crop growing state, coverage are observed, have no idea to ensure accuracy；Can only hourly observation numerical value, can not
Reproduce the image at scene；The major developmental phase of plant growth cannot in real time, continuous observation；Data information statistics is cumbersome.So mesh
Preceding agrometeorological observation far from meet modern agriculture weather service development needs, there is an urgent need to improve it is agrometeorological from
Dynamicization observing capacity.
2), the problems such as complicated, of high cost, is realized in existing panoramic picture acquisition technique or presence, or there are pattern distortion etc.
Problem.
Existing panoramic picture acquisition technique includes more camera lens acquisition techniques and single fish eye lens acquisition technique.Wherein more mirrors
Head acquisition technique uses more camera lens multi-angle capturing panoramic view images, and which realizes technical sophistication, and cost is higher.Single flake mirror
Head acquisition technique adds fish-eye form using dome-type camera, and realization is the most simple and economical, but image presence is compared
Big distortion is, it is necessary to which special processing software is corrected.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided one kind is based on ball-shaped camera automatic collection
The method of crops panoramic image sequence, it utilizes ball-shaped camera automatic collection crops panoramic picture, is conducive to improve agriculture
The precision of the automatic Observation result of crop, reduces working time, expense and the labor intensity of Observation personnel, reproduce crops life
Long variable condition, reduces test leakage, lacks the defects of survey, getting sth into one's head property of observation person.
According to technical solution provided by the invention, one kind is based on ball-shaped camera automatic collection crops panoramic image sequence
Method, it is described collection crops panoramic image sequence method include the following steps：
Ball-shaped camera, is installed on required crops detection website by step 1, and sets the initial day of ball-shaped camera
Apex angle and initial orientation angle；
Step 2, according to the imaging sensor target surface size and lens parameters of ball-shaped camera determine that the ball-type images
The horizontal field of view angle and vertical field of view angle of machine；
Step 3, according to above-mentioned horizontal field of view angle, vertical field of view angle and required angle overlap, determine ball-shaped camera
In the horizontal direction every time rotating angle, in vertical direction rotating angle every time；
Step 4, according to above-mentioned definite horizontal direction rotating angle, vertical direction rotating angle every time every time, control
Ball-shaped camera processed carries out 360 ° of rotations of movement in vertical direction and horizontal direction, to pass through ball-shaped camera shooting, collecting institute
Still image sequence in position；
Step 5, control ball-shaped camera repeat the shooting of above-mentioned collection still image sequence, until ball-shaped camera
Restraining position point is moved in vertical direction, to obtain still image sequence all in a scan period.
Rotating angle is 0~90 ° to ball-shaped camera in vertical direction, and ball-shaped camera revolves every time in vertical direction
The angle turned is less than vertical field of view angle, and rotating angle is less than horizontal field of view angle to ball-shaped camera every time in the horizontal direction.
In step 2, horizontal field of view angle α is α=2arctan (h/2f), and vertical field of view angle beta is β=2arctan (w/2f),
Wherein, h is the height of imaging sensor target surface in ball-shaped camera, and w is the width of imaging sensor target surface in ball-shaped camera,
F is the focal length of camera lens.
Rotating angle is horizontal field of view angle α and the difference of angle overlap to ball-shaped camera every time in the horizontal direction, and ball-type is taken the photograph
In vertical direction, rotating angle is vertical field of view angle beta and the difference of angle overlap to camera every time.
The rotating range of ball-shaped camera in vertical direction is carried out by the vertical limited bolt on holder spacing；Ball-type
After video camera moves to restraining position point in vertical direction, control ball-type camera motion to initial position.
Advantages of the present invention：The crops image information of panorama is obtained using ball-shaped camera, is adopted more than conventional image
Simple economy, is beneficial to improve the precision of the automatic Observation result of crops, observation content is more rich, more in time, frequency more
Height, reduces working time, expense and the labor intensity of Observation personnel, reproduce crop growth variable condition, reduce test leakage,
The defects of lacking survey, getting sth into one's head property of observation person.
Brief description of the drawings
Fig. 1 is present invention determine that the schematic diagram at horizontal field of view angle and vertical field of view angle.
Fig. 2 is the schematic diagram present invention determine that scanning angle.
Fig. 3 is the flow chart of the present invention.
Embodiment
With reference to specific drawings and examples, the invention will be further described.
：In order to utilize ball-shaped camera automatic collection crops panoramic picture, agriculture is improved
The precision of the automatic Observation result of crop, reduces working time, expense and the labor intensity of Observation personnel, present invention collection farming
The method of thing panoramic image sequence includes the following steps：
Ball-shaped camera, is installed on required crops detection website by step 1, and sets the initial day of ball-shaped camera
Apex angle and initial orientation angle；
When it is implemented, ball-shaped camera is installed on required crops by stent detects website, ball-shaped camera position
In the top of crops, usually, the height of ball-shaped camera installation is at 5~6 meters.Ball-shaped camera is rack-mount, and
Can be by holder actuated camera in movement both vertically and horizontally, angular range of the ball-shaped camera in horizontal rotation
For 0~360 °, vertical rotation angle scope is 0~90 °.There is Horizontal limiting bolt and vertical limited bolt on holder, pass through
Horizontal limiting bolt, vertical limited bolt can to ball-shaped camera in the horizontal direction, the rotation of vertical direction carry out it is effectively spacing.
The angle of zenith angle, that is, incident ray and local zenith direction, and the angle between incident light source and ground normal.Side
Parallactic angle is to measure one of method of differential seat angle between object in the plane.
Define initial zenith angle, azimuthal purpose is to start setting up the initial position of video camera in each scan period,
It is consistent the view direction of the image sequence of different cycles.
Step 2, according to the imaging sensor target surface size and lens parameters of ball-shaped camera determine that the ball-type images
The horizontal field of view angle and vertical field of view angle of machine；
Horizontal field of view angle α is α=2arctan (h/2f), and vertical field of view angle beta is β=2arctan (w/2f), wherein, h is
The height of imaging sensor target surface in ball-shaped camera, w are the width of imaging sensor target surface in ball-shaped camera, and f is camera lens
Focal length.For a definite ball-shaped camera, the height of imaging sensor target surface and width are true in ball-shaped camera
Definite value, the focal length of camera lens can be determined according to the requirement of Image Acquisition.
Step 3, according to above-mentioned horizontal field of view angle, vertical field of view angle and required angle overlap, determine ball-shaped camera
In the horizontal direction every time rotating angle, in vertical direction rotating angle every time；
Rotating angle is horizontal field of view angle α and the difference of angle overlap to ball-shaped camera every time in the horizontal direction, and ball-type is taken the photograph
In vertical direction, rotating angle is vertical field of view angle beta and the difference of angle overlap to camera every time.The angle overlap is neighboring static
The registration of image, can according to demand, the time arbitrarily sets.The purpose for setting overlapping angle is to protect adjacent still image
Hold certain overlapping region, when ensure crops panorama image information integrality, two be easy for Panorama Mosaic etc. its
His application demand.
Step 4, according to above-mentioned definite horizontal direction every time rotating angle, vertical direction every time rotating angle and
Sweep time, control ball-shaped camera carries out movement in vertical direction and horizontal direction rotation, to be shot by ball-shaped camera
Gather the still image sequence of position；
Rotating angular range is 0~90 ° to ball-shaped camera in vertical direction, and ball-shaped camera is every in vertical direction
Secondary rotating angle is less than vertical field of view angle, and rotating angle is less than horizontal field of view angle to ball-shaped camera every time in the horizontal direction.
When gathering still image sequence by ball-shaped camera, rotated every time according to vertical direction by cradle head control ball-shaped camera
Angle moved in vertical direction.
When ball-shaped camera according to vertical direction rotating angle is rotated in place every time after, then control ball-shaped camera to carry out
Horizontal rotation, wherein, in the horizontal direction, according to horizontal direction, rotating angle is rotated every time, according to level side
Carried out to rotating angle every time after repeatedly rotating, 360 ° in the horizontal direction of slewing area can be completed；Ball-shaped camera is hanging down
For Nogata to after rotating to designated position every time, the number that ball-shaped camera is rotated in the horizontal direction is each by horizontal direction
Rotating angle-determining, is specially known to those skilled in the art.Ball-shaped camera is according to horizontal direction rotating angle every time
, it is necessary to which crops are carried out with the collection of a still image sequence after degree rotates, adopting for multiple still image sequence can be carried out
Collection.
Step 5, control ball-shaped camera repeat the shooting of above-mentioned collection still image sequence, until ball-shaped camera
Restraining position point is moved in vertical direction, to obtain still image sequence all in a scan period.
The rotating range of ball-shaped camera in vertical direction is carried out by the vertical limited bolt on holder spacing；Ball-type
After video camera moves to restraining position point in vertical direction, control ball-type camera motion to initial position.When ball-type images
After machine moves to restraining position point in vertical direction, ball-shaped camera completes 360 ° of rotations in the horizontal direction.Ball-type is taken the photograph
Camera completes the rotating all still image combinations of 360 ° of level, can obtain the panoramic image sequence of crops.It can use
The common technological means of the art splices all still image sequences, to obtain required panoramic picture, tool
Body implementation process is known to those skilled in the art, and details are not described herein again.
The present invention obtains comprehensive crops image information using ball-shaped camera, than conventional image acquisition technology or dress
Precision that is more economical, more time saving, and improving the automatic Observation result of crops is put, observation content is more rich, more timely, frequency
Higher, reduces working time, expense and the labor intensity of Observation personnel, reproduce crop growth variable condition, reduces leakage
Survey, lack the defects of survey, getting sth into one's head property of observation person.
Claims (1)
1. a kind of method based on ball-shaped camera automatic collection crops panoramic image sequence, it is characterized in that, the collection agriculture
The method of crop panoramic image sequence includes the following steps：
Ball-shaped camera, is installed on required crops detection website by step 1, and sets the initial zenith angle of ball-shaped camera
And initial orientation angle；
Step 2, according to the imaging sensor target surface size and lens parameters of ball-shaped camera determine the ball-shaped camera
Horizontal field of view angle and vertical field of view angle；
Step 3, according to above-mentioned horizontal field of view angle, vertical field of view angle and required angle overlap, determine ball-shaped camera in water
Square to each rotating angle, in vertical direction rotating angle every time；
Step 4, according to above-mentioned definite horizontal direction rotating angle, vertical direction rotating angle every time every time, control ball
Type video camera carries out 360 ° of rotations of movement in vertical direction and horizontal direction, with place by ball-shaped camera shooting, collecting institute
The still image sequence put；
Step 5, control ball-shaped camera repeat the shooting of above-mentioned collection still image sequence, until ball-shaped camera is hanging down
Nogata moves up to restraining position point, to obtain still image sequence all in a scan period；
Rotating angle is 0~90 ° to ball-shaped camera in vertical direction, and ball-shaped camera is rotating every time in vertical direction
Angle is less than vertical field of view angle, and rotating angle is less than horizontal field of view angle to ball-shaped camera every time in the horizontal direction；
In step 2, horizontal field of view angle α is α=2arctan (h/2f), and vertical field of view angle beta is β=2arctan (w/2f), wherein,
H is the height of imaging sensor target surface in ball-shaped camera, and w is the width of imaging sensor target surface in ball-shaped camera, and f is mirror
The focal length of head；
Rotating angle is the difference of horizontal field of view angle α and angle overlap to ball-shaped camera every time in the horizontal direction, ball-shaped camera
In vertical direction, rotating angle is vertical field of view angle beta and the difference of angle overlap every time；
The rotating range of ball-shaped camera in vertical direction is carried out by the vertical limited bolt on holder spacing；Ball-type images
After machine moves to restraining position point in vertical direction, control ball-type camera motion to initial position.
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| CN105487261B (en) | 2016-01-26 | 2016-09-07 | 京东方科技集团股份有限公司 | A kind of multi-angle photographing device in glasses and the glasses including this equipment |
| EP3443416A4 (en) * | 2016-04-28 | 2019-03-20 | SZ DJI Technology Co., Ltd. | SYSTEM AND METHOD FOR OBTAINING A SPHERICAL PANORAMIC IMAGE |
| CN107103641A (en) * | 2017-03-23 | 2017-08-29 | 微景天下（北京）科技有限公司 | Three dimensional reconstructive CT system and three dimensional reconstructive CT method |
| CN107238360B (en) * | 2017-04-21 | 2019-09-10 | 北京农业智能装备技术研究中心 | A kind of agricultural machinery working line-spacing acquisition methods and device |
| GB2582610B (en) * | 2019-03-27 | 2021-12-08 | Anuland Ltd | A system for crop management |
| CN110296687B (en) * | 2019-06-10 | 2021-03-16 | 东南大学 | Target positioning method based on optimal layout of preset points in fixed-point video monitoring |
| CN111901582A (en) * | 2020-08-20 | 2020-11-06 | 姜兴林 | Method and device for shooting virtual reality picture or virtual reality video and scanning driving device |
| CN118711385A (en) * | 2024-08-26 | 2024-09-27 | 每日互动股份有限公司 | A method, device, equipment and medium for obtaining traffic flow at an intersection |
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Effective date of registration: 20191217 Address after: 214000 28 Weiming Road, Binhu District, Wuxi City, Jiangsu Province Patentee after: Aerospace new weather Technology Co., Ltd Address before: Jinxi road Binhu District 214127 Jiangsu city of Wuxi province No. 100 Patentee before: Jiangsu Provincial Radio Inst Co., Ltd. |