Chinese Journal of Lasers, Volume. 49, Issue 18, 1804004(2022)
Multicylinder Projection Stitching Method of Multicamera Panoramic System
Figures & Tables(9)
Fig. 1. Eight-combination panoramic camera system. (a) Top view of panoramic camera; (b) vector relation diagram;(c) strict cylindrical projection model figure
Fig. 2. Transformation diagram from panoramic plane coordinate system to panoramic cylindrical coordinate system
Fig. 5. Single-cylinder and multiple cylinders panoramic stitching methods. (a) r＝3989.4 mm; (b) r1＝1510 mm, r2＝2300 mm, r3＝2900 mm, r4＝2300 mm, r5＝1480 mm, r6＝2100 mm, r7＝2930 mm, r8＝2780 mm
Fig. 6. Panoramic images from direct and indirect methods. (a) Direct method; (b) indirect method
Table 1. Relative orientation elements of combined cameras
View tableTable 1. Relative orientation elements of combined cameras
Camera α /(°) β /(°) γ /(°) X /cm Y /cm Z /cm Camera 1 0 0 0 0.0238 4.0950 0.3325 Cameras 1－2 －0.0248 0.6691 －0.0285 3.2273 2.5220 1.1306 Cameras 2－3 0.0838 0.6387 0.0802 4.8675 －1.0091 1.6011 Cameras 3－4 －0.0210 0.8555 0.0715 3.0778 －4.3322 0.8516 Cameras 4－5 －0.0505 0.7016 0.0234 0.9727 －5.1819 －0.5938 Cameras 5－6 －0.0485 0.5106 0.0760 －4.8667 －1.5885 －1.2025 Cameras 6－7 0.1119 0.7537 －0.0580 －3.0730 1.3413 －1.7926 Cameras 7－8 0.0116 0.7006 0.0207 －2.2840 4.1536 0.6732
Table 2. Projection error of methods A and B
View tableTable 2. Projection error of methods A and B
Camera RMSE in x direction RMSE in y direction Total RMSE in x and y directions Max error in x direction Max error in y direction A (1－2) 1.86 0.22 1.87 3.0839844 0.8300781 B (1－2) 0.18 0.20 0.26 0.6301269 0.5999023 A (2－3) 1.53 0.20 1.54 2.8520203 0.6999512 B (2－3) 0.17 0.16 0.23 0.6000976 0.5998535 A (3－4) 1.21 0.16 1.22 2.8099976 0.7309875 B (3－4) 0.09 0.15 0.17 0.5400390 0.4454994 A (4－5) 1.47 0.19 1.48 2.0769958 0.8701172 B (4－5) 0.16 0.15 0.22 0.6599121 0.5300293 A (5－6) 1.97 0.21 1.98 4.2009890 0.9804687 B (5－6) 0.20 0.19 0.27 0.8798828 0.6479502 A (6－7) 1.62 0.17 1.63 3.0959778 0.9199219 B (6－7) 0.19 0.16 0.25 0.6880035 0.6389770 A (7－8) 1.14 0.13 1.15 1.7539978 0.7353958 B (7－8) 0.07 0.13 0.14 0.4942016 0.6752014 A (8－1) 1.19 0.15 1.20 1.9709778 0.7695312 B (8－1) 0.08 0.14 0.16 0.5745430 0.6852951
Table 3. Comparison of image mosaic efficiency
View tableTable 3. Comparison of image mosaic efficiency
Scene Method Time-consuming /s Cameras 1－2 Cameras 2－3 Cameras 3－4 Cameras 4－5 Cameras 5－6 Cameras 6－7 Cameras 7－8 Ⅰ SIFT 2.8327 3.2834 2.7098 3.2543 2.8534 3.1927 3.2734 OpenCV 0.5060 0.5109 0.5874 0.5647 0.5459 0.5774 0.5521 Ours 0.0538 0.0534 0.0572 0.0528 0.0532 0.0528 0.0542 Ⅱ SIFT 4.0127 4.5892 4.2384 4.2384 4.9203 4.1294 4.3038 OpenCV 0.7829 0.7968 0.7375 0.7283 0.7736 0.7205 0.7710 Ours 0.0593 0.0588 0.0541 0.0567 0.0502 0.0564 0.0512
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Hongxia Cui, Xueying Wang, Ziwei Zhao, Fangfei Zhang. Multicylinder Projection Stitching Method of Multicamera Panoramic System[J]. Chinese Journal of Lasers, 2022, 49(18): 1804004
Paper Information
Category: Measurement and metrology
Received: Jan. 7, 2022
Accepted: Feb. 18, 2022
Published Online: Sep. 5, 2022
The Author Email: Cui Hongxia (cuihongxia@bhu.edu.cn), Wang Xueying (839039734@qq.com)
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