柱面全景图像拼接方法的仿真分析

doi:10.11947/j.AGCS.2017.20160456

摘要/Abstract

摘要： 随着虚拟现实（VR）技术的兴起，全景图像得到了更为广泛的应用，目前多通过求解单应矩阵对图像进行变换，由多相机拼接获取全景图像，但该方法会破坏成像中的共线条件，使拼接后的全景图像难以精确进行摄影测量中的三维重建等工作。本文提出了一种柱面全景图像拼接方法并对其进行仿真分析，该方法基于摄影测量共线方程，设定拼接相机的数目、成像焦距、成像位置和成像姿态，模拟多拼相机的成图过程，构建从三维点云到二维图像的柱面成像方程，通过成像方程不仅可以实现各图像的全景拼接，而且可对影响全景图像拼接精度的各参数进行定量分析，试验结果表明:①本文提出的柱面成像方程和全景拼接方法可用于不同数目相机及倾斜成像下的全景拼接；②利用成像方程推导的误差方程可知，全景图像拼接的精度受焦距误差、中心误差和旋角误差的影响，其中，焦距误差可通过图像重采样的方法校正，中心误差与摄影物距密切相关，而旋角误差主要受拼接相机数目的影响。

关键词: 全景图像拼接, 柱面投影, 成像方程, 适用性分析, 精度分析

Abstract: With the rise of virtual reality (VR) technology, panoramic images are used more widely, which obtained by multi-camera stitching and take advantage of homography matrix and image transformation, however, this method will destroy the collinear condition, make it's difficult to 3D reconstruction and other work. This paper proposes a new method for cylindrical panoramic image mosaic, which set the number of mosaic camera, imaging focal length, imaging position and imaging attitude, simulate the mapping process of multi-camera and construct cylindrical imaging equation from 3D points to 2D image based on photogrammetric collinearity equations. This cylindrical imaging equation can not only be used for panoramic stitching, but also be used for precision analysis, test results show: ①this method can be used for panoramic stitching under the condition of multi-camera and incline imaging; ②the accuracy of panoramic stitching is affected by 3 kinds of parameter errors including focus, displacement and rotation angle, in which focus error can be corrected by image resampling, displacement error is closely related to object distance and rotation angle error is affected mainly by the number of cameras.

Key words: panoramic image mosaic, cylindrical projection, imaging equation, applicability analysis, precision analysis

中图分类号:

P237

朱宁宁. 柱面全景图像拼接方法的仿真分析[J]. 测绘学报, 2017, 46(4): 487-497.

ZHU Ningning. Simulation Analysis of Cylindrical Panoramic Image Mosaic[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(4): 487-497.

参考文献

[1] LAN Jinhui, LI Jian, HU Guangda, et al. Distance Estimation Using a Panoramic Sensor Based on a Novel Spherical Optical Flow Algorithm[J]. Optics & Laser Technology, 2013, 45: 168-176.
[2] TEHRANI M H, GARRATT M A, ANAVATTI S. Horizon-Based Attitude Estimation from a Panoramic Vision Sensor[J]. IFAC Proceedings Volumes, 2012, 45(1): 185-188.
[3] 李德仁. 论地球空间信息的3维可视化: 基于图形还是基于影像[J]. 测绘学报, 2010, 39(2): 111-114. LI Deren. 3D Visualization of Geospatial Information: Graphics Based or Imagery Based[J]. Acta Geodaetica et Cartographica Sinica, 2010, 39(2): 111-114.
[4] ALMARAZ-CABRAL C C, GONZALEZ-BARBOSA J J, VILLA J, et al. Fringe Projection Profilometry for Panoramic 3D Reconstruction[J]. Optics and Lasers in Engineering, 2016, 78: 106-112.
[5] BRENNAN P F, PONTO K, CASPER G, et al. Virtualizing Living and Working Spaces: Proof of Concept for a Biomedical Space-Replication Methodology[J]. Journal of Biomedical Informatics, 2015(57): 53-61.
[6] 杨化超, 张磊, 姚国标, 等. 局部单应约束的高精度图像自动配准方法[J]. 测绘学报, 2012, 41(3): 401-408. YANG Huachao, ZHANG Lei, YAO Guobiao, et al. An Automated Image Registration Method with High Accuracy Based on Local Homography Constrain[J]. Acta Geodaetica et Cartographica Sinica, 2012, 41(3): 401-408.
[7] LOWE D G. Object Recognition from Local Scale-invariant Features[C]//Proceedings of the 7th IEEE International Conference on Computer Vision. Kerkyra: IEEE, 1999(2): 1150-1157.
[8] LOWE D G. Distinctive Image Features from Scale-invariant Keypoints[J]. International Journal of Computer Vision, 2004, 60(2): 91-110.
[9] SINHA S N, FRAHM J M, POLLEFEYS M, et al. GPU-based Video Feature Tracking and Matching[R]. [S.l.]: UNC Chapel Hill, 2006.
[10] BAY H, ESS A, TUYTELAARS T, et al. Speeded-Up Robust Features (SURF)[J]. Computer Vision and Image Understanding, 2008, 110(3): 346-359.
[11] 吴凡路, 刘建军, 任鑫, 等. 嫦娥三号全景相机图像全景镶嵌方法的研究[J]. 光学学报, 2014, 34(9): 0915001. WU Fanlu, LIU Jianjun, REN Xin, et al. Research on Panoramic Mosaics Method of Chang'E-3 Pancam Images[J]. Acta Optica Sinica, 2014, 34(9): 0915001.
[12] 霍春宝, 童帅, 赵立辉, 等. SIFT特征匹配的显微全景图拼接[J]. 辽宁工程技术大学学报(自然科学版), 2015, 34(1): 93-96. HUO Chunbao, TONG Shuai, ZHAO Lihui, et al. Microscopic Panorama Splicing Based on Sift Features Matching[J]. Journal of Liaoning Technical University (Natural Science), 2015, 34(1): 93-96.
[13] 黄立勤, 陈财淦. 全景图拼接中图像融合算法的研究[J]. 电子与信息学报, 2014, 36(6): 1292-1298. HUANG Liqin, CHEN Caigan. Study on Image Fusion Algorithm of Panoramic Image Stitching[J]. Journal of Electronics & Information Technology, 2014, 36(6): 1292-1298.
[14] KIM D H, YOON Y I, CHOI J S. An Efficient Method to Build Panoramic Image Mosaics[J]. Pattern Recognition Letters, 2003, 24(14): 2421-2429.
[15] CHEN Haipeng, SHEN Xuanjing, LI Xiaofei, et al. Bionic Mosaic Method of Panoramic Image Based on Compound Eye of Fly[J]. Journal of Bionic Engineering, 2011, 8(4): 440-448.
[16] 季顺平, 史云. 车载全景相机的影像匹配和光束法平差[J]. 测绘学报, 2013, 42(1): 94-100, 107. JI Shunping, SHI Yun. Image Matching and Bundle Adjustment Using Vehicle-based Panoramic Camera[J]. Acta Geodaetica et Cartographica Sinica, 2013, 42(1): 94-100, 107.
[17] 张正鹏, 江万寿, 张靖. 自适应运动结构特征的车载全景序列影像匹配方法[J]. 测绘学报, 2015, 44(10): 1132-1141. DOI: 10.11947/j.AGCS.2015.20140622. ZHANG Zhengpeng, JIANG Wanshou, ZHANG Jing. An Matching Method for Vehicle-borne Panoramic Image Sequence Based on Adaptive Structure from Motion Feature[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(10): 1132-1141. DOI: 10.11947/j.AGCS.2015.20140622.
[18] 季顺平, 史云. 多镜头组合型全景相机两种成像模型的定位精度比较[J]. 测绘学报, 2014, 43(12): 1252-1258. DOI: 10.13485/j.cnki.11-2089.2014.0169. JI Shunping, SHI Yun. Comparison of Two Sensor Models for Multi-camera Rig System in Measurements[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(12): 1252-1258. DOI: 10.13485/j.cnki.11-2089.2014.0169.
[19] 张正鹏, 江万寿, 张靖. 光流特征聚类的车载全景序列影像匹配方法[J]. 测绘学报, 2014, 43(12): 1266-1273. DOI: 10.13485/j.cnki.11-2089.2014.0172. ZHANG Zhengpeng, JIANG Wanshou, ZHANG Jing. An Image Match Method Based on Optical Flow Feature Clustering for Vehicle-borne Panoramic Image Sequence[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(12): 1266-1273. DOI: 10.13485/j.cnki.11-2089.2014.0172.
[20] 季顺平, 史云. 高噪声环境下基于参考影像的车载序列影像定位方法[J]. 测绘学报, 2014, 43(11): 1174-1181. DOI: 10.13485/j.cnki.11-2089.2014.0181. JI Shunping, SHI Yun. Georegistration of Ground Sequential Imagery with Geo-referenced Aerial Images in High Noise Environments[J]. Acta Geodaetica et Cartographica Sinica, 2014, 43(11): 1174-1181. DOI: 10.13485/j.cnki.11-2089.2014.0181.
[21] URBAN S, LEITLOFF J, HINZ S. Improved Wide-angle, Fisheye and Omnidirectional Camera Calibration[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2015(108): 72-79.
[22] HUGHES C, MCFEELY R, DENNY P, et al. Equidistant (fθ) Fish-eye Perspective with Application in Distortion Centre Estimation[J]. Image and Vision Computing, 2010, 28(3): 538-551.
[23] 隆昌宇, 邾继贵, 郭寅, 等. 基于非参数测量模型的摄影测量方法研究[J]. 光学学报, 2014, 34(12): 1215004. LONG Changyu, ZHU Jigui, GUO Yin, et al. Study on Close-Range Photogrammetry Based on Nonparameteric Measurement Model[J]. Acta Optica Sinica, 2014, 34(12): 1215004.
[24] 赵嘉鑫, 张涛, 张景国, 等. 框幅式航测相机中像移量对直接地理定位精度影响的研究[J]. 红外与激光工程, 2015, 44(2): 632-638. ZHAO Jiaxin, ZHANG Tao, ZHANG Jingguo, et al. Study of the Effects on Frame Aerial Photography Direct-Georeferencing Accuracy Caused by Image Motion[J]. Infrared and Laser Engineering, 2015, 44(2): 632-638.
[25] RUPNIK E, NEX F, TOSCHI I, et al. Aerial Multi-camera Systems: Accuracy and Block Triangulation Issues[J]. ISPRS Journal of Photogrammetry and Remote Sensing, 2015, 101: 233-246.