一种车载多模式全景融合拼接算法  

Stitching algorithm of multi-mode fusional vehicle panorama

作　　者：刘畅[1] 徐美华[1] 郭爱英[2] LIU Chang;XU Meihua;GUO Aiying(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;Key Laboratory of Advanced Display and System Applications,Ministry of Education,Shanghai University,Shanghai 200444,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]上海大学新型显示与系统集成教育部重点实验室,上海200444

出　　处：《上海大学学报（自然科学版）》2020年第6期909-920,共12页Journal of Shanghai University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61376028,61674100)。

摘　　要：由于传统的辅助驾驶系统的视角呈现较为单一,故使用情况受限.提出了一种可自动切换的多模式(包含行车和倒车)全景拼接算法,为驾驶员提供了更灵活的观察视角.首先,将来自摄像头的输入图像进行畸变校正;然后,提取相邻帧图像的特征点,通过位移量判断行车方向;其次,根据行车方向进行视角变换,前进方向采用柱面投影,后退方向采用透视变换;最后,根据图像特征点进行配准,采用分段拼接的方法对传统拼接方法进行改进,并对重合区域采用图像融合算法,完成拼接.实验结果表明,车载多模式全景融合拼接模型可根据行车方向自动切换模式,对每个摄像头图像还原度更高,且柱面投影算法所耗时间减少了75%.As the traditional driver assistant system provides only one viewpoint,its usage is limited.A panoramic stitching algorithm,which can automatically switch between forward and backward modes,is proposed.This algorithm can provide a more flexible viewpoint for drivers.First,the distortion of images input by fish-eye cameras is corrected.Second,the driving direction is deduced by the displacements of the feature points detected between adjacent images.Third,the viewpoint transformation is chosen according to the driving direction,using cylindrical projection for the forward direction and perspective transformation for the backward direction.Finally,images are matched using piecewise stitching in place of the traditional stitching method and overlapped regions are fused.The model can automatically switch the mode according to the driving direction.The images of the cameras are highly reserved.The time cost for the cylindrical projection of this model is 75%lower than the traditional value.

关 键 词：透视变换 柱面投影 特征点配准 全景融合 多模式 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论]