CN101064780B - Method and apparatus for improving image stitching accuracy using lens distortion correction - Google Patents
Method and apparatus for improving image stitching accuracy using lens distortion correction Download PDFInfo
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Abstract
The invention provides a method and a device for improving the accuracy of image stitching of a multi-camera system for generating wide-angle images. Lens distortion can cause features in the overlapping regions of the images captured by the multi-eye camera to fail to fit, and therefore, the gap in the stitched wide-angle image is visible. The method and the device for improving the image joint accuracy of the invention correct the lens distortion of the images shot by the multi-eye camera before jointing the images, so that the characteristics in the overlapping area are matched and the joint engine can easily generate a seamless wide-angle image.
Description
Technical field
The present invention relates to improve the joint accuracy that produces wide-angle image from many camera systems.
Background technology
Disclose 2003/0235344A1 and 2005/0025313A1 number like the known United States Patent (USP) that produces wide-angle images from many camera systems, disclose the system that produces seamless wide-angle image with the image joining technique; Yet, wherein also not mentioned by image engagement problems that lens aberration produced.This wide-angle image system utilizes the characteristic in the image overlap area to search the junction point and calculates the video conversion parameter.Because the cause of lens aberration, the characteristic in the overlapping region can deform and can't coincide with the image of adjacency.In the wide-angle image behind joint, this misfits and can gap and can't be corrected easily.
With reference to Fig. 1, it representes known many camera systems 100, and these many camera systems 100 comprise camera array 101 and image engages engine 102.It is to obtain multiple video from camera array 101 that image engages engine 102, and with these video conversion to one common plane and mix, to produce seamless wide-angle image.Each camera of camera array 101 all is connected to aperture controller 103 via control bus.Image engages engine 102 can send exposure control signal to carry out FEEDBACK CONTROL to aperture controller 103 according to the image data brightness that is obtained.
Image by the camera array input has the overlapping region, and it is used for mixing, search and the video conversion calculation of parameter at the junction point.In general, known many camera systems are in the overlapping region, to utilize block coupling and find out the corresponding engagement point.
The lens of camera have barrel-shaped or pincushion distortion, and this can produce harmful effect to joint of image, and for example: inaccurate, the video conversion at the junction point that searches is inaccurate or the like.Fig. 2 is the example of expression lens aberration.When using the block of searching to the junction point and coincide method, the distortion characteristic in the image overlap area can make the junction point that searches produce deviation.
When the camera in the camera array 101 of Fig. 1 rotated, the image of being obtained must be converted to reference planes for joint.Transition matrix can via given four coordinates on the reference planes and with the conversion rotational plane on given four coordinates calculate.
With reference to Fig. 3, it has been represented because of four points of lens aberration from the ideal coordinates position deviation.
This depart from that the point that causes by distortion calculates and transition matrix inaccurate, rotational plane thereby can't be converted to reference planes exactly, therefore the characteristic of conversion image can't be coincide with the characteristic with reference to image in the overlapping region.This misfits and is difficult to compensate modification.
In view of the above problems, the present invention proposes the lens distortion correction method to this system, the problem that can't coincide with characteristic in the overlapping region that solves multiple video, and improve the accuracy that wide-angle image engages, to produce seamless wide-angle image.
Summary of the invention
An object of the present invention is to provide a kind of improving image joint accuracy device, it comprises: camera array, image engage engine, the aperture controller of selecting for use and lens distortion correction mechanism.The present invention also provides a kind of improving image joint accuracy method, and it makes that through correcting lens distortion before engaging image the characteristic in the overlapping region is able to identical and engages engine to be easy to produce seamless wide-angle image.
Other purposes of the present invention and advantage will have more detailed description hereinafter.
Description of drawings
Fig. 1 is the sketch map of known many camera systems.
Fig. 2 representes the example of lens aberration.
Fig. 3 representes the inaccurate example of video conversion that lens aberration causes.
Fig. 4 is the sketch map of many camera systems according to an embodiment of the invention.
Fig. 5 representes the example via many camera system correcting distortion images of the present invention.
Fig. 6 representes to utilize lens distortion correction to improve the example of video conversion accuracy.
The lens distortion correction mechanism of Fig. 7 presentation graphs 4 engages the details of engine with image.
Fig. 8 is optimized according to another embodiment of the present invention many camera system sketch mapes.
Symbol description
100,400,800: many camera systems
101,401: camera array
102,402: image engages engine
103: the aperture controller
403: the aperture controller of selecting for use
404: lens distortion correction mechanism
Embodiment
Below will combine accompanying drawing and specific embodiment to specify the present invention.Wherein, obscure technical characterictic of the present invention in order not make known details, some specific detail below repeats no more in the narration.
With reference to Fig. 4, it is represented according to many camera systems 400 of the present invention.These many camera systems 400 comprise camera array 401, image engages engine 402, the aperture controller of selecting for use 403 and lens distortion correction mechanism 404, and wherein, this lens distortion correction mechanism 404 can use any available lens distortion correction operation method.With the polynomial method is example, and the coefficient that is evaluator is to meet the curve of lens data.These coefficients are stored and are lens parameter, and distortion correction is with each pixel mapping to undistorted position through multinomial being applied to each pixel.The correction position of each pixel is stored in mapping table method in the mapping table applicable to all lens distortion correction operation methods.This mapping table is to calculate according to the applied mathematics formula.In this mapping table method, lens parameter is the data that are used for this mapping table, and the mapping point after proofreading and correct can be decimal.Can use different interpolation methods to calculate the image data of each pixel according to the cost and the quality demand of system.
If many camera systems 400 do not comprise aperture controller 403, that is to say that the camera in the camera array 401 has fixed aperture, then lens parameter is not influenced by image brilliance and keeps constant.Otherwise; If many camera systems 400 comprise aperture controller 403; That is to say; Camera in the camera array 401 has adjustable aperture, and then image engages engine 402 and can send exposure control signal to aperture controller 403 according to image brilliance, so that the camera aperture in the camera array 401 is carried out FEEDBACK CONTROL.The employed lens parameter of lens distortion correction can change along with the diameter of camera aperture, so these lens parameters are that control is calculated according to aperture.
With respect to barrel-shaped distortion example shown in Figure 2, Fig. 5 is the example of expression via many camera system correct for both pincushion scrambled images of the present invention.As shown in the figure, the characteristic in the image overlap area is to be corrected and to coincide with characteristic in image.
Fig. 6 utilizes lens distortion correction to improve the sketch map of video conversion accuracy; Wherein, Because of the point of distortion is corrected, transition matrix can calculate according to undistorted point exactly, so the image of being obtained by the camera that rotates can be converted to reference planes exactly.
The lens distortion correction mechanism 404 of Fig. 7 presentation graphs 4 engages the detailed process mode of engine 402 with image, wherein image engages engine 402 and comprises " video conversion " and reach " image mixes and joint " two main processing modules.Be the coordinate that calculates conversion according to conversion parameter in the processing module of " video conversion ", the coordinate of this calculating can be decimal.Then calculate image data with interpolation method again.(for example: plane conversion) can make image expansion, some conversion then can compressing image and is stayed the part of black at image boundary in some conversion.The part of these black and the redundance that conversion produced are to remove from the image of conversion via cutting.The processing module of " image mixes and engages " then can be according to producing wide-angle image from the resulting image data of the processing module of " video conversion ".
In addition, lens distortion correction mechanism 404 is the coordinates according to the lens parameter calculation correction.As discussed previously, need use interpolation method at lens distortion correction, therefore, in many camera systems 400 of the present invention, should be provided with extra image buffer, with the image data behind the storage lens distortion correction.When using software to carry out the image joint, these extra image buffers can't throw into question; But as far as hardware, these extra image buffers can need more memory bank.As far as many camera systems of high-resolution and high frame-rate video, memory bank access frequency range and memory bank density are all very high, therefore, and the restriction that these extra image buffers may exceed memory bank access frequency range.In view of this, the present invention further proposes another optimized many camera systems that comprise lens distortion correction, and it is that lens distortion correction mechanism is combined with video conversion, to save extra image buffer.
With reference to Fig. 8, many camera systems of the optimization with lens distortion correction 800 of its expression another embodiment of the present invention.As stated, in many camera systems 800, lens distortion correction mechanism combines with video conversion.As shown in the figure, the coordinate behind the lens distortion correction is in the processing module of input " video conversion ", further to carry out the coordinate mapping according to conversion parameter.Afterwards, only carry out interpolation method once, to calculate final image data.Therefore, do not need extra image buffer in many camera systems 800, and image quality can not reduce because of interior the inserting that lens distortion correction had more.
The present invention explains with the mode of preferred embodiment; And make it more be prone to understood by the people, but said embodiment is not in order to qualification the present invention, and anyly knows this operator; Do not breaking away from the spirit and scope of the present invention, should make amendment and change the present invention.
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