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WO2011027994A2 - Appareil de traitement d'image et procédé de traitement d'image pour générer une image grand angle - Google Patents

Appareil de traitement d'image et procédé de traitement d'image pour générer une image grand angle Download PDF

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Publication number
WO2011027994A2
WO2011027994A2 PCT/KR2010/005750 KR2010005750W WO2011027994A2 WO 2011027994 A2 WO2011027994 A2 WO 2011027994A2 KR 2010005750 W KR2010005750 W KR 2010005750W WO 2011027994 A2 WO2011027994 A2 WO 2011027994A2
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WIPO (PCT)
Prior art keywords
image
angle
images
mirror
view
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Application number
PCT/KR2010/005750
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English (en)
Korean (ko)
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WO2011027994A3 (fr
Inventor
채장진
Original Assignee
씨엠아이텍주식회사
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Publication of WO2011027994A2 publication Critical patent/WO2011027994A2/fr
Publication of WO2011027994A3 publication Critical patent/WO2011027994A3/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images

Definitions

  • the present invention relates to an image processing apparatus and method for generating a wide-angle image.
  • a wide-angle camera device capable of acquiring a wide range of images at present is largely mechanically a system using a PTZ (Pan / Tilt / Zoom) camera, a system using a camera with a fisheye lens, and a linear image sensor.
  • PTZ Pan / Tilt / Zoom
  • a panoramic camera system to obtain a 360 ° image.
  • the fisheye lens intentionally creates a cylindrical shape, and maintains uniform brightness and sharpness over the entire angle of view of 180 degrees or more.
  • the subject of the lens center point is extremely large and the surroundings are very small. That is, the fisheye lens can acquire a wide range of images, but the acquired image at this time has a severe distortion.
  • a wide-angle camera device for acquiring such wide-area images is also used for a vehicle rearview device.
  • the rear view device of the car is a camera installed at the rear of the car, and the driver checks the rear of the picture through the monitor.
  • the field of view seen through the objective lens of a camera depends on the angle of the lens. In general, when the angle of view of the lens exceeds about 120 degrees, the distortion of the image is severe, and more lenses are required to correct this, which increases the cost.
  • An object of the present invention is to provide an image processing apparatus and method capable of acquiring a high resolution video image without distortion with a low cost configuration while securing a wide range of field of view.
  • An image processing apparatus is an image processing apparatus that receives images from a plurality of cameras and generates a wide-angle image covering a wide range of angles of view, and receives a plurality of images captured by the plurality of cameras.
  • a memory unit for storing a lookup table for converting the plurality of images into a single wide-angle image; A correction process of correcting distortion included in the plurality of received images, a projection process of spreading an image of a subject included in the plurality of received images on a plane, and the plurality of received images using the lookup table; An image processor configured to process an image to collectively perform a bonding process of bonding the single wide-angle image to generate an output image; And an output unit configured to output the output image to be displayed on a predetermined display.
  • an image processing method for generating a wide-angle image covering a wide field of view by receiving images from a plurality of cameras comprising: receiving a plurality of images captured by the plurality of cameras ; A correction process for correcting distortion included in the plurality of received images using a lookup table stored in a memory, a projection process of spreading images of a subject included in the plurality of received images on a plane, and the received plurality of images Generating an output image by collectively performing a bonding process of joining images into the single wide-angle image; And outputting the output image to be displayed on a predetermined display.
  • the image processing method according to an embodiment of the present invention described above can be recorded on a computer-readable recording medium having a program for realizing each step.
  • image distortion is achieved by correcting distortion caused by a lens included in an image, a projection of spreading an image captured by an image sensor on a plane, and combining a plurality of images received from a plurality of cameras to obtain a single wide-angle image.
  • a single lookup table By using a single lookup table, a single image processing process can be performed at a time, so that images can be output more quickly.
  • FIG. 1 is a block diagram of an image processing apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram illustrating a structure of a plurality of cameras according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram illustrating an arrangement structure between a center of an angle of view and a mirror according to an embodiment of the present invention.
  • FIG. 4 is a view comparing an image loss range according to an arrangement between a view angle center and a mirror of a camera according to an embodiment of the present invention.
  • FIG. 5 is a view illustrating a process of combining images acquired from two cameras according to an embodiment of the present invention.
  • FIG. 6 is a diagram illustrating a configuration of a lookup table according to an embodiment of the present invention.
  • FIG. 7 is a schematic view illustrating a structure of a camera unit according to another embodiment of the present invention.
  • FIG 8 to 10 are views illustrating a process of generating an output image by combining images obtained from three cameras according to an embodiment of the present invention.
  • 11 to 16 are diagrams illustrating a board and its arrangement used in three projection schemes according to an embodiment of the present invention.
  • 17 is a flowchart illustrating an image processing method according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of an image processing apparatus 1 according to an embodiment of the present invention.
  • an image processing apparatus 1 receives an image from a plurality of cameras 111, 112, and 113 and generates a wide-angle image covering a wide field of view.
  • the receiver 12 receives a plurality of images captured by the plurality of cameras 111, 112, and 113, and a memory unit 13 stores a look up table for converting the plurality of images into a single wide-angle image.
  • a correction process of correcting distortion included in the plurality of received images by using the lookup table, a projection process of spreading an image of a subject included in the plurality of received images on a plane, and the plurality of received images An image processing unit 14 for processing an image to collectively perform a bonding process for bonding a single wide-angle image into an output image, and the output image And an output unit 15 for outputting to be displayed on a predetermined display.
  • the image processing apparatus 1 includes a plurality of mirrors 114 and 115, which are reflection surfaces on which one surface receives light, and a center of the angle of view is symmetrically disposed with respect to the mirrors 114 and 115.
  • the cameras 111, 112, and 113 may further include.
  • the image processing apparatus 1 of the present invention may be integrally provided with an image processor which processes the plurality of images to generate a wide-angle image, and a plurality of cameras that capture the images.
  • the present invention is not limited thereto, and the plurality of cameras 111, 112, and 113 and the image processing module may not be integrally formed, but may be configured and used as individual modules.
  • the display unit 16 for displaying the generated wide-angle image may also be formed integrally with the image processing apparatus 1 of the present invention, but is not limited thereto. 16 may be provided as separate modules to be assembled and used with each other.
  • the plurality of cameras 111, 112, and 113 capture images at different angles of view.
  • FIG. 2 is a schematic diagram showing a structure of a camera unit according to an embodiment of the present invention.
  • the camera unit illustrated in FIG. 2 includes two cameras 111 and 112 and one mirror 114 to cover a wide angle of view.
  • FIG. 2 a plurality of cameras 111 and 112 in which the centers of the angles of view are symmetrically arranged with respect to the mirror 114 and the mirror 114, which are reflection surfaces on which one surface receives and reflects light, are illustrated in FIG. It may include.
  • the center 201 of the field of view covered by the first camera 111 and the center 202 of the field of view covered by the second camera 112 are disposed symmetrically with respect to the mirror 114.
  • the distances from the centers 201 and 202 of the respective angles of view to the mirror 114 are the same.
  • the first camera 111 includes a lens 211 and an image sensor 212.
  • the second camera 112 also includes a lens and an image sensor to collect the light reflected from the subject to capture the image.
  • the image processing apparatus 1 acquires an image having a wide angle of view by using two cameras 111 and 112. For example, the image processing apparatus 1 may secure an angle of view of about 150 ° by using two cameras 111 and 112. The image processing apparatus 1 may generate a single image having a wide angle of view by processing two images acquired from the two cameras 111 and 112.
  • the centers 201 and 202 of the angles of view of the two cameras 111 and 112 are symmetrically positioned with respect to the mirror 114.
  • the second camera 112 obtains the reflected image according to the angle of the mirror 114. This image is the same as the image viewed from the center 201 of the angle of view of the first camera 111.
  • the centers 201 and 202 of the angles of view of each of the cameras 111 and 112 are symmetrical with respect to the mirror 114, the first image acquired, that is, the image captured by the first camera 111 and the first Using the second image, that is, the image acquired by the second camera 112, an angle of view of 150 ° horizontally can be easily secured without a separate image bonding algorithm.
  • the centers 201 and 202 of the angles of view of the plurality of cameras 111 and 112 may be symmetrical with respect to the center line of the mirror 114 located between one surface and the other surface of the mirror.
  • the centers of the angles of view 201 and 202 are centerlines of the mirrors positioned between one surface 302 of the mirror 114, for example, the reflective surface and the other surface 303 opposite thereto. 301 may be arranged symmetrically.
  • the centers 201 and 202 of the angle of view are arranged based on the center line 301 positioned at the center of the one surface 302 and the other surface 303 without reference to any one surface of the mirror 114.
  • FIG. 4 is a view comparing an image loss range according to an arrangement between a view angle center and a mirror of a camera according to an embodiment of the present invention.
  • the angle of view centers 201 and 202 of the camera may be symmetrically disposed with respect to the centerline 301 of the mirror 114.
  • the loss of an image due to the thickness of the mirror 114 is the same width as the thickness of the mirror 114.
  • the missing portion may be less than one pixel.
  • the angle of view centers 201 and 202 of the camera may be symmetrically disposed with respect to the reflective surface 302 of the mirror 114. have.
  • the missing portion of the image due to the thickness of the mirror 114 is shown in FIG. Is greater than the missing part of the.
  • the angle of view centers 201 and 202 of the camera may be the reflection surface 302 of the mirror 114 or the centerline of the mirror 114. 301 may be arranged asymmetrically rather than symmetrically.
  • the distance d1 from the centerline 301 of the mirror 114 to the first angle of view center 202 located on the reflective surface 302 side of the mirror 114 and The distance d2 from the center line 301 of the mirror 114 to the second view angle center 201 located on the other surface 303 which is the opposite surface of the reflective surface 302 of the mirror 114 may be different.
  • the second angle of view center 201 located on the other surface 303 side of the mirror 114 is compared to the first angle of view center 202 located on the reflective surface 302 side of the mirror 114. It is disposed farther away from the centerline 301 of 114, that is, d2 may be configured larger than d1.
  • the cameras 111 and 112 are arranged because the angles of view center 201 and 202 collect light passing through the corner portions 1141 and 1142 of the mirror 114.
  • an area corresponding to the edges 1141 and 1142 of the mirror 114 may be dark or poor in image quality due to blurring.
  • a camera positioned on the reflective surface 302 side of the mirror 114 that is, a camera having a first angle of view center 202, is reflected on all of the reflective surfaces 302 of the mirror 114.
  • 4 (a) and 4 (b), which use the captured image only the image reflected on a part of the reflective surface 302 of the mirror 114 is used as the output image.
  • the camera located on the reflective surface 302 has a predetermined distance from the edge 1142 of the mirror among the images acquired from the entire reflective surface 302 of the mirror 114.
  • An output image is generated by excluding an image corresponding to a part of the reflective surface, that is, an image portion in which light blurring occurs due to an edge.
  • FIGS. 4 (a) and 4 (b) which generate an image obtained from the entire reflection surface 302 of the mirror 114 as an output image.
  • the camera located on the other surface 303 side of the mirror 114 that is, the camera whose center of view is the second view angle center 201, is output to a portion adjacent to the edge 1141 of the mirror 114.
  • 4 (a) and 4 (b), which generate the L the area corresponding to the predetermined distance from the edge 1141 of the mirror 114 is excluded from the output image without generating the image as the mirror 114 Deterioration of image quality due to light bleeding caused by the edges of
  • the structure of FIG. 4 (c) may have a larger loss area than the structure of FIG. 4 (a).
  • the loss area is less than 1 pixel, and the corner 1141, The light bleeding caused by 1142 may be eliminated and as a result, a better image may be provided.
  • FIG. 5 is a view illustrating a process of combining images acquired from two cameras according to an embodiment of the present invention.
  • FIG. 5 is an embodiment for generating one wide-angle image by acquiring image data from two image sensors provided in the two cameras 111 and 112 shown in FIG.
  • the receiver 12 of the image processing apparatus 1 receives original image data from two image sensors.
  • the received original image is distorted due to lens distortion.
  • a subject that is actually straight may appear as a curve in the original image.
  • This is a distortion of the lens of the camera is made of a spherical shape rather than an elliptical shape, the present invention uses a look-up table to correct the distortion included in the image.
  • the image processing apparatus 1 of the present invention performs a conversion process of combining the plurality of received images into a single wide-angle image.
  • the image processor 14 of the present invention combines the first image received from the first camera 111 and the second image received from the second camera 112 to form a single image. Create a wide angle image.
  • all or part of the first image and the second image may be collected to generate a wide-angle image.
  • the first image includes all of the 480 ⁇ 600 images in the wide angle image, but the second image includes only 320 ⁇ 600 images corresponding to some of the original images in the wide angle image.
  • the image processor 14 may generate an 800 ⁇ 600 wide-angle image and output an 4: 3 ratio output image.
  • the size of the generated wide-angle image does not necessarily match the sum of the sizes of the input image, that is, the first image and the second image, and according to an embodiment, the size of the generated wide-angle image may be freely set.
  • the ratio of the image acquired by the image processing apparatus 1 of the present invention from the plurality of original images may be changed according to the embodiment, so that the output image is not a 4: 3 ratio but 16 It may have a ratio of 9: 9.
  • an image acquired from the first image covers an angle of view of 90 °
  • an image obtained from the second image covers an angle of view of 60 °, thereby obtaining a wide-angle image covering a total angle of view of 150 °. .
  • the present invention provides a distortion correction process for correcting distortion generated by a lens, a bonding process of bonding the plurality of received images to a single wide-angle image, and a projection of spreading the image captured by the image sensor on a plane. ) Process is performed in batch using one lookup table.
  • the present invention does not include a separate distortion correction lookup table for distortion correction, a separate projection lookup table for projection, and a separate lookup table for image bonding, and one lookup. It has the advantage of simplifying the image processing process into a single process by carrying out the above-described correction, projection and bonding processes all at once with only a table.
  • the image processing time required to output a single wide-angle image using a plurality of cameras is shortened, so that image processing is performed in real time.
  • FIG. 6 is a diagram illustrating the configuration of a lookup table according to an embodiment of the present invention.
  • one coordinate of a plurality of original images received from a plurality of cameras is mapped to one coordinate of a wide-angle image generated by image processing.
  • n is a component representing a camera
  • x is a component representing an x-axis coordinate value
  • y is a component representing a y-axis coordinate value
  • n of the coordinates of the input image is an integer
  • x and y are real numbers
  • X and Y of the coordinates of the output image are integers.
  • the present invention is not limited thereto, and x and y may be configured as integers, and X and Y may be configured as real numbers.
  • n 1 for the first camera 111
  • n 2 for the second camera 112
  • the coordinates (1,3.2,2.1) of the input image are the first received from the first camera.
  • a pixel value corresponding to the coordinate (3.2,2.1) of the image is shown, and according to the lookup table of FIG. 6, the pixel value is mapped to the coordinate (0,0) of the output image.
  • the coordinates (1,4.3,2.2) represent pixel values corresponding to the coordinates (4.3,2.2) of the first image received from the first camera, which are mapped to the coordinates (1,0) of the output image.
  • multiple images i.e. the first and second images
  • the present invention provides a correction process for correcting distortion by the lens and an image captured by the image sensor through the lookup table. Perform a projection process that develops on a plane all at once.
  • the look-up table described above is predetermined when the image processing apparatus 1 is manufactured and stored in the memory unit 13.
  • FIG. 7 is a schematic view illustrating a structure of a camera unit according to another embodiment of the present invention.
  • the camera unit illustrated in FIG. 7 includes three cameras 111, 112 and 113 and two mirrors 114 and 115, and each mirror 114 and 115 is disposed between the plurality of cameras 111, 112 and 113. It is provided.
  • An arrangement angle of the mirrors 114 and 115 may be adaptively disposed according to a distance from the centers 201, 202, and 203 of the angles of view of the cameras 111, 112, and 113 to cover a wider angle of view than the camera unit of FIG. 2.
  • one surface of the mirrors 114 and 115 is a reflective surface that receives light and reflects light.
  • the centers of the angles of view 201, 202, and 203 are symmetrical with respect to the mirrors 114 and 115. Is deployed.
  • the center 201 of the angle of view of the first camera 111 and the center 202 of the angle of view of the second camera 112 are symmetrically disposed with respect to the first mirror 114, and the first camera ( The center of view angle 201 of 111 and the center of view angle 203 of the third camera 113 are symmetrically disposed with respect to the second mirror 115.
  • the reflective surfaces of the mirrors 114 and 115 are disposed to face outwards, and similarly to FIG. 3, the centers 201, 202, and 203 of the angles of view of the plurality of cameras 111, 112, and 113 are one surface and the other surface of the mirrors 114 and 115. It may be arranged to be symmetrical with respect to the centerline of the mirror located between.
  • the centers of the angles of view of the cameras 111, 112, and 113 are not symmetrical with respect to any one side of the mirrors 114, 115, but are symmetrical with respect to the centerline of the mirror positioned at the center of one side and the other side of the mirror.
  • the center of the angle of view may be asymmetrically disposed with respect to the center line of the mirror to remove light bleeding caused by the edge of the mirror, thereby obtaining a good image.
  • the camera unit illustrated in FIG. 7 may secure an angle of view of about 180 ° by using three cameras.
  • FIG 8 to 10 are views illustrating a process of generating an output image by combining images obtained from three cameras according to an embodiment of the present invention.
  • the receiver 12 receives three original images, namely, first, second and third images, from the three cameras 111, 112, and 113.
  • the image processor 14 corrects the distortions included in the three original images by using the lookup table stored in the memory 13, and performs a projection process of spreading the images on a plane. Convert the original image into one wide-angle image.
  • the image processor 14 may acquire all or part of the original image and combine it into an output image.
  • the image processor 14 may extract only an image corresponding to some of the first, second and third images, and combine the same to generate an output image having a predetermined size.
  • the size of the output image may coincide with the sum of the sizes of the input image, but the present invention is not limited thereto, and the size of the output image may be arbitrarily set and output.
  • an image corresponding to an angle of view of 60 degrees from each original image is combined so that the output image can cover a total angle of view of 180 degrees.
  • the size of the image extracted from the original image may be changed according to the size or aspect ratio of the output image.
  • the image processor 14 extracts only a part of a predetermined size image from an image of 480 ⁇ 752 to generate one output image, and as a result, the output image is a predetermined size. It has a 16: 9 aspect ratio.
  • the image processor 14 of the present invention generates a single wide-angle image as an output image, and the output unit 15 outputs the single wide-angle image to be displayed on the display unit 16.
  • the image processor 14 may generate the output image by dividing the single wide-angle image into a plurality of divided images. Then, the output unit 15 may output the plurality of divided images to be displayed on the display unit 16 as an output image.
  • FIG. 10 is a diagram illustrating a process of generating a plurality of divided images according to another exemplary embodiment of the present invention.
  • the image processor 14 receives a plurality of original images, that is, first, second, and third images from the plurality of cameras 111, 112, and 113.
  • the image processor 14 corrects distortions included in the plurality of original images by using a lookup table stored in the memory unit 13, and spreads the original images on a plane by a predetermined projection method.
  • a plurality of images are converted into wide-angle images to generate one wide-angle image.
  • the image processor 14 divides the generated wide-angle image into a plurality of divided images and outputs the divided images as an output image to be displayed on the display unit 16. Can be.
  • the image displayed on the display unit 16 in FIG. 10 may be a plurality of divided images in which the wide-angle image is divided into a predetermined size, rather than one wide-angle image as shown in FIGS. 8 and 9.
  • the plurality of divided images may be displayed in a line on the display unit 16 to cover an angle of view of 180 ° like the one wide-angle image.
  • the plurality of divided images may be generated by dividing the wide-angle image into equal sizes, but the present disclosure is not limited thereto, and the plurality of divided images may be configured such that their sizes are not equal.
  • a projection process performed by using the lookup table may include a perspective projection of developing an image of a subject projected on a plane onto a plane, and an image of the subject projected on a cylindrical plane on a plane It may be one of a developing cylindrical projection and a spherical projection that develops an image of a subject projected on a spherical surface in a plane.
  • the image projected by the perspective projection method may express the perspective of the subject, but the range of the image covered in the horizontal and vertical directions may be limited.
  • the image projected by the cylindrical projection method has a wider range of images covered in the horizontal direction than the perspective projection method, but the range of the images covered in the vertical direction is limited.
  • the image projected by the spherical projection method has a wide range of images covering the horizontal and vertical direction compared to the perspective projection method.
  • the lookup table used in the present invention is configured such that the image is projected onto a plane according to any one of the three projections described above.
  • the lookup table used in the present invention may be configured to project an image according to other projection methods in addition to the three projection methods described above.
  • 11 to 16 are diagrams illustrating a board and its arrangement used in three projection schemes according to an embodiment of the present invention.
  • the lookup table is configured such that the subject of FIG. 11 is displayed in the image of FIG. 12 using a perspective projection method.
  • planar board of FIG. 11 has P011, P111, P018, P118 and P065 as each corner and center point.
  • P011 of the flat board of FIG. 11 corresponds to (50,50) which is the X and Y coordinates of P011 of FIG. 12, and P111 of the flat board of FIG. 11 is (590,50) which is the X and Y coordinates of P111 of FIG.
  • the lookup table may be configured to correspond to.
  • the lookup table is configured such that the subject of FIG. 13 becomes an image as shown in FIG. 12 using a cylindrical projection method.
  • the cylindrical board of FIG. 13 may be located in front of the image processing apparatus 1 having three cameras and two mirrors.
  • the three cameras may capture a calibration image as shown in FIG. 15.
  • N is a component meaning any one of the first to third cameras.
  • the image processing apparatus 1 of the present invention obtains image values for (n, x, y) points in a lookup table in real time when images are input from three cameras. And store it in the output buffer (X, Y) point. Once the image values for all (X, Y) points are found, they are output in the next frame.
  • the present invention enables distortion correction, projection, and image bonding at once. Through this calibration step, it is possible to output the image of the wide-angle camera in real time.
  • the lookup table may be configured such that the subject of FIG. 16 becomes the image of FIG. 12 using a spherical projection method.
  • 16A and 16B are front and side views, respectively, of a spherical board.
  • the spherical board as shown in FIG. 16 is located in front of the camera unit, and after extracting a part of the image captured by each camera, the coordinates of the respective points constituting the extracted image are coordinates of the planar image of FIG.
  • the lookup table can be configured.
  • 17 is a flowchart of an image processing method according to an embodiment of the present invention.
  • an image processing method receives images from a plurality of cameras to generate a wide-angle image covering a wide range of view angles, and captures a plurality of images captured by the plurality of cameras.
  • Receiving step (S11) by using a look-up table stored in the memory, a correction process for correcting the distortion included in the plurality of received images, the projection of spreading the image of the subject included in the plurality of received images on a plane Performing a process and a bonding process of joining the plurality of received images into the single wide-angle image in a batch to generate an output image (S12), and outputting the output image to be displayed on a predetermined display ( S15).
  • the receiver 12 receives a plurality of images from the plurality of cameras 111, 112, and 113. Each camera captures images corresponding to different ranges of view.
  • the image processor 14 performs image processing to receive a captured image of each camera to generate a wide-angle image.
  • a projection process for developing an image onto a plane and a bonding process for joining the received plurality of images into the single wide angle image are collectively performed.
  • the image processor 14 generates a single wide-angle image from the plurality of received images, and the generated wide-angle image covers a wide range of field of view.
  • Step S13 determines whether the image processing apparatus 1 of the present invention outputs a single wide-angle image as an output image and displays it on the display.
  • the output unit 15 when outputting a single wide-angle image as an output image and displaying it on the display, the output unit 15 outputs the generated wide-angle image in step S15 and processes it to be displayed on the display unit 16.
  • the image processor 14 divides the single wide-angle image into a plurality of images (S14).
  • the output unit 15 outputs the plurality of divided images and processes them to be displayed on the display unit 16.
  • the divided plurality of divided images may be displayed in a line on the display unit to provide an image covering a wide field of view to a user.
  • the image processing method of the present invention described above can be created by a computer program. And the code and code segments constituting the program can be easily inferred by a computer programmer in the art.
  • the written program is stored in a computer-readable recording medium (information storage medium), and read and executed by a computer to implement the method of the present invention.
  • the recording medium may include any type of computer readable recording medium.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Image Processing (AREA)

Abstract

La présente invention porte sur un appareil de traitement d'image et sur un procédé de traitement d'image pour générer une image grand angle. Selon la présente invention, une image grand angle, qui couvre un champ de vision à grand angle, peut être obtenue à un coût relativement bas. Selon la présente invention, un processus de correction de distorsions d'images dues à une lentille, un processus de projection, sur un plan, d'une image d'un sujet contenu dans des images, et un processus de conversion d'image consistant à combiner une pluralité d'images reçues d'une pluralité de caméras de façon à obtenir une image grand angle unique, peuvent tous être exécutés immédiatement par un seul traitement d'image utilisant une seule table de conversion, ce qui permet la sortie plus rapide d'images.
PCT/KR2010/005750 2009-09-04 2010-08-26 Appareil de traitement d'image et procédé de traitement d'image pour générer une image grand angle WO2011027994A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2009-0083584 2009-09-04
KR20090083584 2009-09-04
KR1020100043197A KR101011704B1 (ko) 2009-09-04 2010-05-07 광각의 이미지를 생성하는 영상 처리 장치 및 방법
KR10-2010-0043197 2010-05-07

Publications (2)

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WO2011027994A2 true WO2011027994A2 (fr) 2011-03-10
WO2011027994A3 WO2011027994A3 (fr) 2011-05-26

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015056927A1 (fr) * 2013-10-14 2015-04-23 동우화인켐 주식회사 Dispositif pour inspecter une section de substrat de fenêtre

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101493946B1 (ko) * 2014-04-16 2015-02-17 하이네트(주) 광각 렌즈 이미지 보정 방법 및 그 장치

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Publication number Priority date Publication date Assignee Title
US6195204B1 (en) * 1998-08-28 2001-02-27 Lucent Technologies Inc. Compact high resolution panoramic viewing system
KR100882011B1 (ko) * 2007-07-29 2009-02-04 주식회사 나노포토닉스 회전 대칭형의 광각 렌즈를 이용하여 전방위 영상을 얻는 방법 및 장치

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015056927A1 (fr) * 2013-10-14 2015-04-23 동우화인켐 주식회사 Dispositif pour inspecter une section de substrat de fenêtre

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WO2011027994A3 (fr) 2011-05-26

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