CN101064780A - Method and apparatus for improving image joint accuracy using lens distortion correction - Google Patents
Method and apparatus for improving image joint accuracy using lens distortion correction Download PDFInfo
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- CN101064780A CN101064780A CN 200610077324 CN200610077324A CN101064780A CN 101064780 A CN101064780 A CN 101064780A CN 200610077324 CN200610077324 CN 200610077324 CN 200610077324 A CN200610077324 A CN 200610077324A CN 101064780 A CN101064780 A CN 101064780A
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Abstract
The invention provides an image switching accuracy improving method and device which is used for multi-camera system which can produce wide-angle image. The distortion of lens will make the overlap area photographed by multi-camera not accord with the characteristics, so, the gap of combined wide-angle images can be seen. The image switching accuracy improving method and device provided by the invention proofreads the distortion of lens, and makes the characteristics in overlap area accord with it and jointing engine can produce the seamless wide-angle image easily.
Description
Technical field
The present invention relates to improve the joint accuracy that produces wide-angle image from many camera systems.
Background technology
From many camera systems produce U.S. Patent Publication the 2003/0235344th A1 of wide-angle images and 2005/0025313 A1 number, the system that produces seamless wide-angle image with the image joining technique is disclosed as is well known; Yet, wherein also not mentioned by image engagement problems that lens aberration produced.This wide-angle image system utilizes the feature in the image overlap area to search the junction point and calculates the video conversion parameter.Because the cause of lens aberration, the feature 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 represents 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-common plane and mixed, 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 obtained image data brightness.
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 to utilize block coupling and find out the corresponding engagement point in the overlapping region.
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 at 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, obtained image must be converted to reference planes for joint.Transition matrix can via given four coordinates on the reference planes and will the conversion rotational plane on given four coordinates calculated.
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 is calculated and transition matrix inaccurate, rotational plane thereby can't be converted to reference planes exactly, therefore the feature of conversion image can't be coincide with the feature of reference image in the overlapping region.This misfits and is difficult to be compensated modification.
In view of the above problems, the present invention proposes the lens distortion correction method at this system, the problem that can't coincide with feature 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 is by correcting lens distortion before engaging image, makes feature in the overlapping region be coincide and engage engine and can 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 schematic diagram of known many camera systems.
Fig. 2 represents the example of lens aberration.
Fig. 3 represents the inaccurate example of video conversion that lens aberration causes.
Fig. 4 is the schematic diagram of many camera systems according to an embodiment of the invention.
Fig. 5 represents the example via many camera system correcting distortion images of the present invention.
Fig. 6 represents 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 schematic diagrames.
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
Describe the present invention in detail below with reference to the drawings and specific embodiments.Wherein, obscure technical characterictic of the present invention, below repeat no more some specific detail in the narration in order not make known details.
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 be by multinomial being applied to each pixel with each pixel mapping to undistorted position.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 calculated 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, 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 feature in the image overlap area is to be corrected and to coincide with the feature in the adjacency image.
Fig. 6 utilizes lens distortion correction to improve the schematic diagram of video conversion accuracy, wherein, because of the point of distortion is corrected, transition matrix can be calculated exactly according to undistorted point, so can be converted to reference planes exactly by the obtained image of camera that rotates.
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 removed 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 for hardware, these extra image buffers can need more memory bank.For 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 mentioned above, 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 the interpolation that lens distortion correction had more.
The present invention is that the mode with preferred embodiment is illustrated, and it is easilier understood by the people, but described embodiment is not in order to limiting the present invention, and anyly knows this operator, without departing from the spirit and scope of the present invention, should make amendment and change the present invention.
Claims (14)
1. improving image joint accuracy device comprises:
Camera array is made up of a plurality of camera, in order to obtain image;
Lens distortion correction mechanism is in order to the correcting lens distortion; And
Image engages engine, is seamless wide-angle image in order to the image of obtaining is carried out video conversion and the image of changing is engaged.
2. device as claimed in claim 1, also comprise a plurality of aperture controllers of selecting for use, wherein, these aperture controllers are connected to each camera respectively, and this image engages engine and according to the brightness of the image of obtaining these aperture controllers is sent exposure control signal, to control the aperture of these cameras.
3. device as claimed in claim 2, wherein this lens distortion correction mechanism comprises coordinate mapping and interpolation method, the mapping of this coordinate is according to lens parameter and at the coordinate of the image calculation correction of obtaining, and these lens parameters change along with the aperture of these cameras.
4. device as claimed in claim 3, wherein this lens distortion correction mechanism uses the multinomial operation method, and these lens parameters are the mapping table of the coordinate of polynomial coefficient or these corrections.
5. device as claimed in claim 1, wherein this image joint engine comprises video conversion mechanism and image mixing and engaging mechanism, and wherein this video conversion mechanism comprises coordinate mapping and interpolation and cutting, and the coordinate of conversion calculates in this video conversion mechanism according to conversion parameter.
6. device as claimed in claim 5, wherein this lens distortion correction mechanism combines with this video conversion mechanism.
7. device as claimed in claim 6 is wherein only carried out interpolation one time.
8. improving image joint accuracy method comprises:
Obtain image by camera array;
The correcting lens distortion; And
The image of obtaining is carried out video conversion and the image of changing is engaged is seamless wide-angle image.
9. method as claimed in claim 8 also comprises according to the brightness of the image obtained the aperture controller that is connected to the camera in this camera array is sent exposure control signal, to control the aperture of these cameras.
10. method as claimed in claim 9, wherein the correction of this lens aberration comprises coordinate mapping and interpolation method, the mapping of this coordinate is according to lens parameter and at the coordinate of the image calculation correction of obtaining, and these lens parameters change along with the aperture of these cameras.
11. method as claimed in claim 10, wherein the multinomial operation method is used in the correction of this lens aberration, and these lens parameters are the mapping table of the coordinate of polynomial coefficient or these corrections.
12. method as claimed in claim 8, wherein this video conversion comprises coordinate mapping and interpolation and cutting, and this video conversion is calculated the coordinate of conversion according to conversion parameter.
13. method as claimed in claim 12, wherein the correction of this lens aberration combines with this video conversion.
14. method as claimed in claim 13 is wherein only carried out interpolation one time.
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