CN112801880A - Vehicle-mounted panoramic image imaging and target detection fusion display method - Google Patents
Vehicle-mounted panoramic image imaging and target detection fusion display method Download PDFInfo
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Abstract
The invention discloses a method for vehicle-mounted panoramic image imaging and target detection fusion display, which comprises the steps of detecting an image acquired by a camera of a vehicle-mounted imaging system, extracting a concerned target and a corresponding pixel area in the image, acquiring a bottom boundary midpoint of the area, setting the bottommost of the target to be in contact with the ground, enabling the bottom boundary midpoint of the pixel area to be on a ground plane, acquiring a real coordinate position of the concerned target in a world coordinate system according to internal reference and external reference of the camera and the fact that the bottom boundary midpoint of the pixel area is on the ground plane, and carrying out identification fusion display in the panoramic image according to the real coordinate position of the concerned target in the world coordinate system.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted panoramic image imaging, in particular to a method for fusion display of vehicle-mounted panoramic image imaging and target detection.
Background
At present, a panoramic image stitching algorithm based on multiple cameras and a related scheme are mature. A large number of small and medium-sized vehicles are generally provided with panoramic image generation equipment, so that a driver is assisted to observe all blind areas and environments around the vehicles, and the probability of various safety accidents is finally reduced.
No matter the 3D 360 panoramic image generation equipment or the 2D 360 panoramic image generation equipment displays, the phenomenon that a small part of three-dimensional object blind areas are formed at the joint of splicing of multiple paths of images cannot be avoided. Compared with 2D 360 panoramic image equipment, the 3D 360 panoramic image equipment has better effect on a three-dimensional object; however, due to the perspective problem of the 3D view, some pedestrians may be blocked by the human animated car model on the 3D 360 panoramic image.
In addition, 3D 360 panorama generation, a virtual and true 3D view; in fact, the method only projects multiple paths of videos onto the bowl body imaging surface and then carries out splicing imaging. This means that around the body, a large amount of ground plane projection area will be contained. If the 3D view is viewed from a perspective where the ground plane is nearly parallel (or nearly parallel) when displayed, what information is projected onto the ground plane is completely ignored. Even if not viewed from such a 3D perspective, more solid objects, such as pedestrians, may be deformed to a greater extent in the ground plane projection area near the vehicle. The height of the camera shooting installation position is different, different situations can occur, for example, imaging of pedestrians can be greatly lengthened, or a projection area is very small, and in addition, still due to the problem of the observation angle of the 3D view, if the projection area on the ground plane is small, and the included angle between the 3D display observation angle and the ground is small, the problem that a target is more difficult to be found by an observer can occur.
Disclosure of Invention
The invention aims to provide a vehicle-mounted panoramic image imaging and target detection fusion display method for improving the actual display effect of panoramic imaging.
The method for fusing and displaying the imaging of the vehicle-mounted panoramic image and the target detection comprises the following steps:
detecting an image acquired by a camera of a vehicle-mounted imaging system, extracting a target of interest and a pixel region corresponding to the target of interest in the image, and acquiring a bottom boundary midpoint of the region;
if the bottommost part of the target is in contact with the ground, the middle point of the bottom boundary of the pixel region is located on the ground plane, and the real coordinate position of the concerned target in the world coordinate system is obtained according to the internal reference and the external reference of the camera and the middle point of the bottom boundary of the pixel region;
and carrying out identification fusion display in the panoramic image according to the real coordinate position of the concerned target in the world coordinate system.
The method for vehicle-mounted panoramic image imaging and target detection fusion display comprises the steps of detecting an image acquired by a camera of a vehicle-mounted imaging system, extracting a target of interest and a pixel region corresponding to the target of interest in the image, acquiring a bottom boundary midpoint of the region, setting the bottommost part of the target to be in contact with the ground, enabling the bottom boundary midpoint of the pixel region to be on the ground plane, acquiring the real coordinate position of the target of interest in a world coordinate system according to the internal reference and the external reference of the camera and the bottom boundary midpoint of the pixel region on the ground plane, and carrying out identification fusion display in a panoramic image according to the real coordinate position of the target of interest in the world coordinate system, so that the problems that pedestrians or other objects are possibly not clearly seen and pedestrians or objects close to a vehicle body in a blind area of the vehicle-mounted panoramic image can be solved, large distortion may occur or the projection surface is small and difficult to observe and detect. And the positions of pedestrians or objects which are possibly generated are marked by adopting a 2D circle mark or a mode of placing a 3D stereo model to remind a driver, so that the adverse effect on a user caused by the blind area of the panoramic generation splicing and sewing area can be effectively solved.
Drawings
FIG. 1 is a schematic flow chart of a method for fusion display of vehicle-mounted panoramic image imaging and target detection according to the present invention;
fig. 2 is a schematic diagram of a stitching area of a three-dimensional object blind area that may be generated due to image stitching according to the present invention.
Detailed Description
As shown in FIG. 1, a method for vehicle-mounted panoramic image imaging and target detection fusion display includes detecting an image acquired by a camera of a vehicle-mounted imaging system, detecting the image, detecting and identifying the image through a deep convolutional neural network, or detecting and identifying the image through a deep convolutional neural network operated in a panoramic imaging control box, or setting a corresponding processor in the camera and operating the deep convolutional neural network through the processor to detect and identify the image, extracting an object of interest and a corresponding pixel region thereof, wherein the object of interest can be a pedestrian or a stereoscopic or planar obstacle, and obtaining a bottom boundary midpoint of the region, and if the bottommost part of the object is in contact with the ground, the bottom boundary midpoint of the pixel region exists on the ground plane, and the bottom boundary midpoint of the pixel region exists on the ground plane according to internal reference of the camera, And the outer parameter and the middle point of the bottom boundary of the pixel region exist on the ground plane, the real coordinate position of the concerned target in the world coordinate system is obtained, and the identification fusion display is carried out in the panoramic image according to the real coordinate position of the concerned target in the world coordinate system.
Taking the concerned target as a pedestrian as an example, when the bottommost part of the pedestrian is in contact with the ground, the middle point of the bottom boundary of the pixel region is positioned on the ground plane, and the real coordinate position of the concerned target in the world coordinate system is obtained according to the internal reference and the external reference of the camera and the middle point of the bottom boundary of the pixel region positioned on the ground plane; namely, the coordinates of the bottom midpoint pixel point of the pedestrian in the image are set as
Then the coordinates of the pixel point are calculated
The additional condition of the camera being internal reference, external reference of the camera with respect to the center of the vehicle, and the coordinate point being in the ground plane, i.e. the world coordinate system coordinates with respect to the center of the vehicle
An additional condition of 0; reverse solving of the world coordinate system of the contact point of the pedestrian and the ground relative to the center of the vehicle
I.e. to solve
The value of (c).
The specific mapping relationship from the pixel point coordinate system to the camera coordinate system is as follows:
wherein dx and dy represent the size of the photosensitive element of the camera corresponding to the unit pixel point,
、
representing the coordinate value of the center point of the coordinate system of the pixel point, s is the distortion factor, f is the focal length of the camera,
coordinate data in a camera coordinate system.
The mapping of the camera coordinate system to the world coordinate system with the vehicle center as the origin is as follows (R stands for rotation matrix and T stands for translation):
thus, the entire mapping process can be abbreviated as:
since the pedestrian stands on the ground, the value Zw is 0, the camera internal reference and external reference K, R, T are known, the unknown variables Zc, Xw and Yw are given to the pixel coordinates u and v of the standing point of the pedestrian on the ground, and the values Xw, Yw and Zc can be solved by the three equations and the three unknowns, that is, the positions Xw and Yw where the pedestrian stands on the ground relative to the center of the vehicle can be obtained, and then the positions Xw and Yw are subjected to label fusion display in the panoramic image.
When the identification fusion display is carried out on the panoramic image at the real coordinate position of the concerned target in the world coordinate system, because the identification display possibly has an unobvious condition, the identification fusion display is carried out on the 3D vehicle-mounted panoramic image by adopting the 3D humanoid model, and the adverse effect on the user caused by the blind area of the three-dimensional object in the panoramic generation splicing and sewing area can be further effectively solved.
Since only the 3D humanoid model is used to identify the objects around the vehicle body on the 3D vehicle-mounted panoramic image, it may happen that the 3D humanoid model, i.e. the object of interest, is blocked by the 3D vehicle model. If the 3D humanoid model used for labeling the concerned target is shielded by the 3D vehicle model during 3D vehicle-mounted panoramic display, the transparency of the 3D vehicle model is improved, so that a driver can more easily see the concerned target behind the 3D humanoid model, and the problem is solved.
The 3D human-shaped model is specifically a 3D human-shaped model with color flicker change, can attract the attention of a driver, improves the safety, and can be used as a light source to be processed in the process of rendering, so that the surrounding area can be illuminated, the flicker of a certain area is formed, and the warning is further provided for the driver.
The number of the vehicle-mounted imaging system cameras is at least four, and after the real coordinate position of a target concerned by each vehicle-mounted imaging system camera in a world coordinate system is obtained, identification fusion display is carried out in a panoramic image only aiming at a splicing area where a three-dimensional object blind area is predicted to possibly appear. The number of the vehicle-mounted imaging system cameras is at least four, and the visual coverage of each camera can cause an overlapping area. When image splicing is performed, the pictures of the two cameras need to be spliced and stitched in the overlapping area. Near the sewing line, a dead zone of a three-dimensional object may occur, and a ghost image may occur. When fusion display is performed, the prompt mark of the fusion related target can be covered only for the splicing area where the dead zone of the three-dimensional object is likely to appear, for example, some 3D human-shaped marks are placed. As shown in fig. 2, the overlapped region represents a region that can be seen by both cameras, and belongs to a spliced fusion region, wherein a partial region may have a dead zone or a ghost of a three-dimensional object.
Each vehicle-mounted imaging system camera has the calculation capability of target detection. Under the normal condition, the calculation power of the host of the panoramic image cannot sufficiently support the simultaneous identification of the targets of multiple channels, so the scheme places the calculation of target detection on each vehicle-mounted imaging system camera, thereby improving the fusion calculation capability of the panoramic image.
And the camera of the vehicle-mounted imaging system transmits image data and target detection result data through analog signals. Compared with the mode based on Ethernet and h264 and h265 video compression streams, the mode of transmitting image data such as an AHD bus through analog signals can reduce the front-end compression requirement and the rear-end video decompression requirement, reduce transmission delay and reduce the synchronism of multi-path transmission. In this case, the result of target detection can be encoded in the data of a plurality of pixels of the analog transmission image for transmission, and the receiving end only needs to read and decode corresponding pixel row information after receiving the image, so that the detection result can be read. If the receiving end needs to perform image splicing fusion, display and video recording, pixel lines for transmitting detection target result data can be abandoned, and subsequent image processing can be normally performed according to the original rule.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (7)
1. A method for vehicle-mounted panoramic image imaging and target detection fusion display is characterized by comprising the following steps:
detecting an image acquired by a camera of a vehicle-mounted imaging system, extracting a target of interest and a pixel region corresponding to the target of interest in the image, and acquiring a bottom boundary midpoint of the region;
if the bottommost part of the target is in contact with the ground, the middle point of the bottom boundary of the pixel region is located on the ground plane, and the real coordinate position of the concerned target in the world coordinate system is obtained according to the internal reference and the external reference of the camera and the middle point of the bottom boundary of the pixel region;
and carrying out identification fusion display in the panoramic image according to the real coordinate position of the concerned target in the world coordinate system.
2. The method for vehicle-mounted panoramic image imaging and target detection fusion display according to claim 1, wherein the identification fusion display of the real coordinate position of the target of interest in the world coordinate system in the panoramic image comprises the identification fusion display of a 3D vehicle-mounted panoramic image by using a 3D human-shaped model.
3. The method for fusion display of vehicle-mounted panoramic image imaging and target detection according to claim 2, wherein if the 3D humanoid model used for labeling the target of interest is shielded by the 3D humanoid model during 3D vehicle-mounted panoramic display, the transparency of the model of the 3D vehicle is improved, so that the driver can more easily see the target of interest behind the 3D humanoid model.
4. The method for fusion display of vehicle-mounted panoramic image imaging and target detection as claimed in claim 2, wherein the 3D humanoid model is a 3D humanoid model with color flicker variation.
5. The method for fusion display of vehicle-mounted panoramic image imaging and target detection according to claim 1, wherein the number of the vehicle-mounted imaging system cameras is at least four, and identification fusion display is performed in the panoramic image only for a spliced area where a dead zone of a three-dimensional object is predicted to possibly occur after a real coordinate position of a target concerned by each vehicle-mounted imaging system camera in a world coordinate system is obtained.
6. The method for fusion display of vehicle-mounted panoramic image imaging and target detection as claimed in claim 1, wherein each vehicle-mounted imaging system camera has the computing capability of target detection.
7. The method for fusion display of vehicle-mounted panoramic image imaging and target detection as claimed in claim 6, wherein a camera of a vehicle-mounted imaging system transmits image data and target detection result data through analog signals.
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