摘要
开发了一种车载全景视觉实时系统,可实现四路视频的实时采集、变换、拼接和显示.利用广角摄像机采集车辆前、后、左、右4个方向上的实时视频图像;采用张氏标定法求取摄像头的内外参数,并对广角畸变图像进行校正;利用逆透视变换方法,建立图像坐标到世界坐标系下的坐标映射关系,并转换到查表显式模式下,以大幅提高系统逆透视变换的处理速度;将车辆的四周图像进行无缝拼接并显示.实验结果表明,本系统干扰较小,并能很好的满足实时性要求.
A real-time on-board omni-vision system is developed,which is able to realize the realtime acquisition,transformation,stitching and display of four channels’video.Firstly,the wide-angle camera is used to acquire real-time videos from the front,rear,right and the left of the vehicle.Then,the internal and external parameters of the camera are obtained by using Zhang’s calibration method,and the wide-angle distorted image is corrected.By means of the inverse perspective transformation,the coordinate mapping relationship between the image coordinate and the world coordinate is established,and the processing speed of the inverse perspective transformation is improved significantly by transferring it into the explicit mode of lookup table.At last,the omni-direction videos are stitched and displayed.Experimental results show that the system has less interference and can meet real-time requirements.
作者
高虹
罗文广
王召杰
刘德成
宾洋
GAO Hong;LUO Wenguang;WANG Zhaojie;LIU Decheng;BIN Yang(School of Electrical and Information Engineering,Guangxi University of Science and Technology,Liuzhou 545006,China;Engineering Research Center of Mechanical Testing Technology and Equipment(Ministry of Education),Chongqing University of Technology,Chongqing 400054,China)
出处
《广西科技大学学报》
2019年第1期84-89,95,共7页
Journal of Guangxi University of Science and Technology
基金
重庆市科学技术委员会重点专项资助项目(cstc2017jcyjBX0029)
广西汽车零部件与整车技术重点实验室(广西科技大学)项目(2013KFZD03)资助
关键词
全景视觉实时系统
广角摄像机
张氏标定法
逆透视变换法
图像拼接
omni-vision real-time system
wide-angle camera
Zhang’s calibration method
inverse perspective transformation
image mosaic
