工程車輛全景環(huán)視影像系統(tǒng)的研究
發(fā)布時間：2018-09-18 11:57
【摘要】：隨著中國經(jīng)濟的快速發(fā)展,房地產(chǎn)市場熱度不減,各項基礎(chǔ)建設(shè)持續(xù)投入,對工程車輛的需求量也日益加大。工程車輛發(fā)揮舉足輕重作用的同時,也伴隨著很多安全問題。工程車輛作業(yè)環(huán)境復(fù)雜,車身龐大,僅僅依靠后視鏡很難確保安全。而現(xiàn)代科學(xué)技術(shù)日新月異,許多工程車輛電子產(chǎn)品應(yīng)運而生,將先進的前沿技術(shù)應(yīng)用于傳統(tǒng)的工程車行業(yè)已是必然趨勢。全景環(huán)視影像系統(tǒng)能夠?qū)崟r提供車身周圍的俯瞰圖像,有效消除視野盲區(qū),為駕駛者提供了十分有效的輔助作用,研究該系統(tǒng)并將其應(yīng)用在工程車輛上具有很大的實用價值。本文分析了全景環(huán)視影像系統(tǒng)的背景和研究現(xiàn)狀,深入研究了該系統(tǒng)的關(guān)鍵技術(shù),根據(jù)工程車輛的實際特點給出了具體的實施方案。系統(tǒng)采用六個魚眼攝像頭對工程車輛四周進行圖像采集,因采集的圖像帶有魚眼畸變,因此首先將圖像進行畸變矯正,然后將矯正后的圖像經(jīng)透視變換轉(zhuǎn)換為俯視圖,最后將六幅圖像進行拼接融合。在魚眼矯正算法中,本文分析了常用的幾種矯正算法,并通過仿真實驗進行效果對比,最終確定了使用標定法進行矯正。文中對標定原理和方法做了詳細的介紹,并逐步實現(xiàn)了攝像頭的標定,實驗證明了標定法矯正能夠滿足系統(tǒng)要求。圖像俯視變換階段,本文分析了其變換模型,確定了通過尋找角點來計算透視變換矩陣的方案,并給出了參考點選取的方法。在圖像匹配算法中,本文詳細介紹了匹配原理和SIFT算法的實現(xiàn)方法,并基于傳統(tǒng)的SIFT算法進行了研究改進,提出了基于部分特征提取的改進SIFT算法。該算法只在重合區(qū)域內(nèi)提取特征點,大大減少了特征點數(shù)量和運算時間,匹配成功率和效率都有所提升。文中給出了重合區(qū)域的確定方法,通過實驗對比驗證了改進算法的有效性。在圖像融合算法中,本文研究了常用的幾種基于像素級的融合算法,通過仿真比對,選取了漸入漸出的融合算法。漸入漸出融合算法在兩幅圖像亮度差別較大時無法完全消除拼接縫,圖像過渡不自然。本文針對此缺點對漸入漸出算法進行了改進,對重合區(qū)域的平均灰度值進行計算對比,將兩幅圖像灰度值調(diào)成相近后進行融合。實驗證明該改進算法能有效消除拼接痕跡,使融合后圖像更加自然。本文研究了全景環(huán)視影像系統(tǒng)各環(huán)節(jié)算法,并改進了魚眼矯正,圖像匹配和圖像融合算法,提升了全景圖的視覺效果,有效地減少了算法的復(fù)雜度,具有良好的應(yīng)用前景和價值。
[Abstract]:With the rapid development of Chinese economy, the heat of the real estate market is not decreasing, the investment of various infrastructure projects is continuing, and the demand for engineering vehicles is increasing day by day. Construction vehicles play a pivotal role, but also accompanied by a lot of safety problems. The working environment of engineering vehicles is complex and the body is huge. It is difficult to ensure safety only by rearview mirror. With the rapid development of modern science and technology, many electronic products of engineering vehicles emerge as the times require, and it is an inevitable trend to apply the advanced frontier technology to the traditional engineering vehicle industry. The panoramic circle view image system can provide the overlooking image around the car body in real time, effectively eliminate the blind area of the field of vision, and provide a very effective auxiliary function for the driver. It is of great practical value to study the system and apply it to the engineering vehicle. In this paper, the background and research status of panoramic circle view image system are analyzed, the key technology of the system is deeply studied, and the concrete implementation scheme is given according to the actual characteristics of engineering vehicles. The system uses six fish-eye cameras to collect images around the construction vehicle. Because the collected images have fish-eye distortion, the system first corrects the distortion of the images, and then converts the corrected images into the overlooking images by perspective transformation. Finally, the six images are stitched and fused. In the fish-eye correction algorithm, this paper analyzes several commonly used correction algorithms, and through simulation experiments to compare the results, finally determine the use of calibration method to correct. In this paper, the principle and method of calibration are introduced in detail, and the calibration of camera is realized step by step. The experimental results show that the calibration method can meet the requirements of the system. In the stage of image overhead transformation, this paper analyzes its transformation model, determines the scheme of calculating perspective transformation matrix by looking for corner points, and gives the method of selecting reference points. In the image matching algorithm, this paper introduces the matching principle and the realization method of SIFT algorithm in detail, studies and improves based on the traditional SIFT algorithm, and proposes an improved SIFT algorithm based on partial feature extraction. The algorithm only extracts feature points in the coincidence region, which greatly reduces the number of feature points and operation time, and improves the matching success rate and efficiency. In this paper, the method of determining the coincidence region is given, and the effectiveness of the improved algorithm is verified by experimental comparison. In the image fusion algorithm, this paper studies several commonly used fusion algorithms based on pixel level, and selects the gradually in and out fusion algorithm through simulation comparison. When the brightness difference between the two images is large, the image transition is not natural, and the splicing seam can not be completely eliminated. In order to solve this problem, this paper improves the incremental and gradual out algorithm, calculates and compares the average gray values of the coincidence region, and then adjusts the gray values of the two images to similar values and then fuses them together. Experiments show that the improved algorithm can effectively eliminate the stitching trace and make the fusion image more natural. In this paper, the algorithms of panoramic circle image system are studied, and the algorithms of fish-eye correction, image matching and image fusion are improved, the visual effect of panoramic image is improved, and the complexity of the algorithm is reduced effectively. It has good application prospect and value.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TU603;TP391.41
[Abstract]:With the rapid development of Chinese economy, the heat of the real estate market is not decreasing, the investment of various infrastructure projects is continuing, and the demand for engineering vehicles is increasing day by day. Construction vehicles play a pivotal role, but also accompanied by a lot of safety problems. The working environment of engineering vehicles is complex and the body is huge. It is difficult to ensure safety only by rearview mirror. With the rapid development of modern science and technology, many electronic products of engineering vehicles emerge as the times require, and it is an inevitable trend to apply the advanced frontier technology to the traditional engineering vehicle industry. The panoramic circle view image system can provide the overlooking image around the car body in real time, effectively eliminate the blind area of the field of vision, and provide a very effective auxiliary function for the driver. It is of great practical value to study the system and apply it to the engineering vehicle. In this paper, the background and research status of panoramic circle view image system are analyzed, the key technology of the system is deeply studied, and the concrete implementation scheme is given according to the actual characteristics of engineering vehicles. The system uses six fish-eye cameras to collect images around the construction vehicle. Because the collected images have fish-eye distortion, the system first corrects the distortion of the images, and then converts the corrected images into the overlooking images by perspective transformation. Finally, the six images are stitched and fused. In the fish-eye correction algorithm, this paper analyzes several commonly used correction algorithms, and through simulation experiments to compare the results, finally determine the use of calibration method to correct. In this paper, the principle and method of calibration are introduced in detail, and the calibration of camera is realized step by step. The experimental results show that the calibration method can meet the requirements of the system. In the stage of image overhead transformation, this paper analyzes its transformation model, determines the scheme of calculating perspective transformation matrix by looking for corner points, and gives the method of selecting reference points. In the image matching algorithm, this paper introduces the matching principle and the realization method of SIFT algorithm in detail, studies and improves based on the traditional SIFT algorithm, and proposes an improved SIFT algorithm based on partial feature extraction. The algorithm only extracts feature points in the coincidence region, which greatly reduces the number of feature points and operation time, and improves the matching success rate and efficiency. In this paper, the method of determining the coincidence region is given, and the effectiveness of the improved algorithm is verified by experimental comparison. In the image fusion algorithm, this paper studies several commonly used fusion algorithms based on pixel level, and selects the gradually in and out fusion algorithm through simulation comparison. When the brightness difference between the two images is large, the image transition is not natural, and the splicing seam can not be completely eliminated. In order to solve this problem, this paper improves the incremental and gradual out algorithm, calculates and compares the average gray values of the coincidence region, and then adjusts the gray values of the two images to similar values and then fuses them together. Experiments show that the improved algorithm can effectively eliminate the stitching trace and make the fusion image more natural. In this paper, the algorithms of panoramic circle image system are studied, and the algorithms of fish-eye correction, image matching and image fusion are improved, the visual effect of panoramic image is improved, and the complexity of the algorithm is reduced effectively. It has good application prospect and value.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TU603;TP391.41
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