WO2016192297A1 - 一种图像采集系统和图像采集方法 - Google Patents

一种图像采集系统和图像采集方法 Download PDF

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Publication number
WO2016192297A1
WO2016192297A1 PCT/CN2015/093618 CN2015093618W WO2016192297A1 WO 2016192297 A1 WO2016192297 A1 WO 2016192297A1 CN 2015093618 W CN2015093618 W CN 2015093618W WO 2016192297 A1 WO2016192297 A1 WO 2016192297A1
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Prior art keywords
image
image capturing
image acquisition
vertical direction
horizontal
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English (en)
French (fr)
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陈硕
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BOE Technology Group Co Ltd
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BOE Technology Group Co Ltd
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Priority to EP15871309.9A priority Critical patent/EP3306908B1/en
Priority to JP2016563467A priority patent/JP6683306B2/ja
Priority to KR1020167029163A priority patent/KR101827494B1/ko
Priority to US15/109,227 priority patent/US9826151B2/en
Publication of WO2016192297A1 publication Critical patent/WO2016192297A1/zh
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • 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
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/48—Increasing resolution by shifting the sensor relative to the scene

Definitions

  • the present disclosure relates to the field of image acquisition technologies, and in particular, to an image acquisition system and an image acquisition method.
  • images taken by two low resolution (e.g., 1280 x 720) cameras can be stitched to obtain a high resolution (e.g., 1920 x 720) image.
  • the preparation steps before the image shooting include: first adopting two cameras to test the image, then extracting the test shot image to the computer, performing image stitching, and splicing to confirm whether the resolution of the image meets the requirement, if the requirement is not met, the adjustment is needed.
  • the above steps need to be performed multiple times, so that the stitched image satisfies the requirements, and the preparation work before the image is captured is complicated and time consuming.
  • the present disclosure provides an image acquisition system and an image acquisition method for solving the complicated and time consuming problem of preparation before photographing an image for splicing.
  • an image acquisition system including:
  • An image acquisition module configured to acquire an image, the acquired image is used for image stitching to obtain a target stitching image
  • the image capturing module includes at least two image capturing devices, and the at least two image capturing devices are fixed in the image capturing device.
  • the lenses of the at least two image capturing devices are fixed focus lenses, and the focal lengths are the same;
  • a distance acquisition module configured to acquire a distance L between the object and the image acquisition module
  • a processor configured to calculate, according to the distance L and a viewing angle ⁇ of the image capturing device that is currently in a horizontal or vertical direction, that the first image capturing device of the at least two image capturing devices is currently in a horizontal or vertical direction a width P1 of the subject that can be photographed; and, according to the width P1, calculating a relative rotation angle ⁇ of the at least two image capturing devices in a horizontal or vertical direction;
  • a controller configured to send a control signal to the driving support mechanism according to the relative rotation angle ⁇ to control the rotation of the image capturing device.
  • the number of the image collection devices is two, and the processor includes:
  • the controller includes:
  • a first controller configured to send a control signal to the driving support mechanism to control a second image capturing device of the two image capturing devices to rotate in a direction horizontally or vertically away from the first image capturing device. Angle; or
  • a second controller configured to send a control signal to the driving support mechanism to control the second image capturing device of the two image capturing devices to rotate ⁇ 1 in a direction horizontally or vertically away from the first image capturing device And rotating the first image acquisition device to rotate the ⁇ 2 angle in a direction horizontally or vertically away from the second image acquisition device, wherein a sum of ⁇ 1 and ⁇ 2 is ⁇ .
  • the image acquisition system further includes:
  • a reset module configured to determine whether a distance L between the object acquired by the distance acquiring module and the image capturing module changes, and when the distance L changes, generate a reset signal and send the signal to the Processor
  • the processor recalculates the relative rotation angle ⁇ of the at least two image acquisition devices in the horizontal or vertical direction after receiving the reset signal, and sends the relative rotation angle ⁇ to the controller.
  • the distance acquiring module is an electronic ranging device.
  • the image acquisition system further includes:
  • a shooting controller configured to control the at least two image capturing devices to collect images after the controller controls the rotation of the image capturing device.
  • the image acquisition system further includes:
  • the image processing device is configured to acquire images captured by the at least two image acquisition devices, and splicing the images collected by the at least two image acquisition devices to obtain a target mosaic image.
  • the present disclosure also provides an image acquisition method, which is applied to the image acquisition system described above, and the method includes:
  • Step S101 acquiring a distance L between the object and the image acquisition module
  • Step S102 Calculate that the first image capturing device of the at least two image capturing devices can be photographed in the horizontal or vertical direction according to the distance L and the viewing angle ⁇ of the image capturing device currently in the horizontal or vertical direction.
  • Step S103 Calculate a relative rotation angle ⁇ of the at least two image acquisition devices in a horizontal or vertical direction according to the width P1;
  • Step S104 Send a control signal to the driving support mechanism according to the relative rotation angle ⁇ to control the image capturing device to rotate;
  • Step S105 After controlling the rotation of the image capturing device, control the at least two image capturing devices to collect images.
  • the number of the image collection devices is two, where
  • the image collection method further includes:
  • steps S102-S106 are re-executed.
  • the relative rotation angle ⁇ of at least two image acquisition devices in the horizontal or vertical direction can be automatically calculated, and the image acquisition device is controlled to rotate to an accurate position without performing a test.
  • the steps of taking and extracting images to the computer, image stitching, and confirming whether the resolution of the stitched image meets the requirements simplify the preparation process before the image for stitching, and improve the user experience.
  • the images acquired by at least two image acquisition devices can be used to splicing the images in two directions, horizontally or vertically, to meet different needs.
  • FIG. 1 is a schematic structural diagram of an image acquisition system according to Embodiment 1 of the present disclosure.
  • FIG. 2 is a schematic structural diagram of an image acquisition system according to Embodiment 2 of the present disclosure.
  • FIG. 3 is a schematic structural diagram of an image acquisition system according to Embodiment 3 of the present disclosure.
  • FIG. 4 is a schematic structural diagram of an image acquisition system according to Embodiment 4 of the present disclosure.
  • FIG. 5 is a schematic structural diagram of an image acquisition system according to Embodiment 5 of the present disclosure.
  • 6-7 are schematic diagrams of calculation methods of relative rotation angles of two image acquisition devices in a horizontal direction according to an embodiment of the present disclosure
  • FIG. 8 to FIG. 9 are schematic diagrams showing a method for calculating a relative rotation angle of two image acquisition devices in a vertical direction according to an embodiment of the present disclosure.
  • an image acquisition system including:
  • An image acquisition module configured to acquire an image, the acquired image is used for image stitching to obtain a target stitching image
  • the image capturing module includes at least two image capturing devices, and the at least two image capturing devices are fixed in the image capturing device.
  • the lenses of the at least two image capturing devices are fixed focus lenses, and the focal lengths are the same;
  • a distance acquisition module configured to acquire a distance L between the object and the image acquisition module
  • a controller configured to send a control signal to the driving support mechanism according to the relative rotation angle ⁇ to control the rotation of the image capturing device.
  • the image acquisition system provided by the above embodiment can automatically calculate the relative rotation angle ⁇ of at least two image acquisition devices in the horizontal or vertical direction according to the distance between the object and the image acquisition module, and control image acquisition.
  • the device rotates to the exact position, and does not need to perform test shooting, extracting images to the computer, image stitching, confirming whether the resolution of the stitched image meets the requirements, etc., simplifies the preparation process before photographing the image for stitching, and improves the user experience.
  • the images acquired by at least two image acquisition devices can be used to splicing the images in two directions, horizontally or vertically, to meet different needs.
  • the image capturing device in the embodiment of the present disclosure may be an image capturing device such as a camera, a camera, or a camera.
  • the number of image acquisition devices can be two or more.
  • the angle of view of the image capturing device in the horizontal direction and the angle of view in the vertical direction may be the same or different. Generally, the angle of view of the image capturing device in the horizontal direction and the angle of view in the vertical direction are different. In the following embodiments, the angle of view of the image capturing device in the horizontal direction and the angle of view in the vertical direction are different. Be explained.
  • FIG. 1 is a schematic structural diagram of an image acquisition system according to Embodiment 1 of the present disclosure.
  • an image acquisition system includes a cloud platform 10 having a driving support mechanism 11 and two image acquisition devices 20.
  • An image capture device 20 is disposed on the drive support mechanism 11.
  • the two image capture devices 20 are horizontally placed and arranged side by side in the horizontal direction.
  • the images can be stitched in the horizontal direction.
  • the resolution of the captured image in the horizontal direction is 8K
  • the resolution in the vertical direction is 5K (indicating the viewing angle of the image capturing device 20 in the horizontal direction)
  • the images captured by the two image capturing devices 20 can be spliced in the horizontal direction to obtain a target stitched image with a resolution of 12K.
  • FIG. 2 is a schematic structural diagram of an image acquisition system according to Embodiment 2 of the present disclosure.
  • the image acquisition system includes two image acquisition devices 20, and the two image acquisition devices 20 are horizontally placed, and Arranged side by side in the vertical direction, in this embodiment, the image can be stitched in the vertical direction.
  • the image capturing devices 20 are placed horizontally, the resolution of the captured image in the horizontal direction is 8K, and the resolution in the vertical direction is 5K. In this case, the two can be vertically oriented.
  • the images captured by the image capturing device 20 are spliced to obtain a target spliced image with a resolution of 10K.
  • FIG. 3 is a schematic structural diagram of an image capture system according to Embodiment 3 of the present disclosure.
  • the image capture system includes two image capture devices 20, and the two image capture devices 20 are vertically placed, and Arranged side by side in the vertical direction, in this embodiment, the image can be stitched in the vertical direction.
  • the resolution of the captured image is 8K in the vertical direction and 5K in the horizontal direction.
  • the two images can be vertically oriented.
  • the images captured by the image capturing device 20 are spliced to obtain a target spliced image with a resolution of 12K.
  • FIG. 4 is a schematic structural diagram of an image capture system according to Embodiment 4 of the present disclosure.
  • the image capture system includes four image capture devices 20, wherein four image capture devices 20 are horizontally placed.
  • the two image capturing devices 20 are arranged side by side in the horizontal direction, and the two image capturing devices 20 are arranged side by side in the vertical direction.
  • the images can be stitched in both the horizontal and vertical directions.
  • the driving support mechanism in the embodiment of the present disclosure may adjust at least two image capturing devices to be arranged side by side in a horizontal or vertical direction as needed, for example, when it is required to acquire a stitched image in a horizontal direction, as shown in FIG. 1 .
  • the two image capturing devices 20 can be adjusted to be arranged side by side in the horizontal direction.
  • the two image capturing devices 20 can be adjusted side by side from the horizontal direction as shown in FIG. 2 or As shown in Figure 3, they are arranged side by side in the vertical direction.
  • the angle of view of the image capture device in the horizontal direction is different from that in the vertical direction, when the image capture device is placed differently (horizontally or vertically), its current viewing angle in the horizontal or vertical direction Not the same.
  • the current visual orientation in the horizontal direction is ⁇ 1
  • the visual in the vertical direction is ⁇ 2
  • the current visual in the horizontal direction is ⁇ 2
  • the visual in the vertical direction is ⁇ 1.
  • the viewing angle ⁇ of the image capturing device currently in the horizontal or vertical direction may be input by the user.
  • the image capturing system may provide a user input interface, and the viewing angle ⁇ is input by the user.
  • the user can directly input the focal length M of the image capturing device and the placement mode of the image capturing device.
  • the image capturing system also needs to store a correspondence table between the focal length and the viewing angle, and according to the focal length M input by the user and The placement mode of the image acquisition device, query the correspondence table, and determine the angle of view ⁇ of the image acquisition device currently in the horizontal or vertical direction.
  • the format of the correspondence table may be as shown in the following table, which is a correspondence table between the focal length and the horizontal angle of view when the image capturing device is horizontally placed.
  • the image capturing device may be input by the user or may be obtained according to the posture of the driving support structure.
  • the image capturing system in the embodiment of the present disclosure may further include a gesture acquiring module for acquiring the driving support structure. The posture is supported to obtain whether the image capturing device is placed horizontally or vertically.
  • the distance acquiring module in the embodiment of the present disclosure is configured to acquire a distance L between the object and the image capturing module, and the distance between the object and the image capturing module is generally an image in the image capturing module. The distance between the lens of the acquisition device and the subject.
  • the distance acquiring module may be an electronic ranging device capable of automatically measuring a distance L between the object and the image capturing module, and transmitting the measured distance L to the processor.
  • Electronic measurement can be disposed on the cloud platform 10 and arranged side by side with at least two image acquisition devices in a horizontal or vertical direction. Please refer to FIG. 5.
  • the image acquisition module in FIG. 5 includes two image acquisition devices 20, and electronic distance measurement.
  • the device 30 is located between the two image capturing devices 20, and the distance between the subject and the image capturing module refers to the distance between the subject and the electronic distance measuring device 30.
  • the electronic ranging device may be a laser ranging device, a GPS ranging device, etc., and the laser ranging device is generally applied to a scene of a close-up subject, and the GPS ranging device is generally applied to photographing a subject at a long distance. Scenes.
  • the distance L between the subject and the image acquisition module may also be manually measured.
  • the image acquisition system may provide a user input interface, which is manually measured by the user.
  • Distance L. Manual measurement can be measured with measuring tools such as a tape measure and an electronic distance measuring device.
  • both the processor and the controller in the embodiment of the present disclosure can be set independently of the pan/tilt. Of course, it can also be disposed in the pan/tilt. Please refer to FIG. 5.
  • the processor may calculate the at least two image acquisition devices according to the distance L between the object and the image acquisition module and the angle of view ⁇ of the image acquisition device currently in the horizontal or vertical direction. Calculating the width P1 of the subject that can be photographed in the horizontal or vertical direction by the first image capturing device; and calculating the relative rotation of the at least two image capturing devices in the horizontal or vertical direction according to the width P1 Angle ⁇ .
  • the distance L between the object and the image acquisition module is acquired by the distance acquisition module and transmitted to the processor. Since at least two image capturing devices in the image capturing module are arranged side by side, the distance L between the object and the image capturing module is the distance between each image capturing device and the object.
  • the image acquisition module includes two image acquisition devices (the first image acquisition device and the second image acquisition device), and the two image acquisition devices are arranged side by side as an example, and the relative orientation of the two image acquisition devices in the horizontal direction is as follows.
  • the calculation method of the rotation angle ⁇ will be described.
  • the width P1 of the subject that the first image capturing device is currently capable of photographing in the horizontal direction is obtained.
  • P2 is the width of the subject that the second image capturing device is currently capable of capturing in the horizontal direction
  • the number of the image collection devices is two, and the processor may include:
  • the controller in the embodiment of the present disclosure is configured to send a control signal to the driving support mechanism according to the relative rotation angle ⁇ to control the rotation of the image capturing device.
  • the controller may include:
  • a first controller configured to send a control signal to the driving support mechanism to control a second image capturing device of the two image capturing devices to rotate in a direction horizontally or vertically away from the first image capturing device. Angle; or
  • the second image capturing device in the image capturing device rotates the ⁇ 1 angle in a direction horizontally or vertically away from the first image capturing device, and drives the first image capturing device to be horizontally or vertically away from the second image capturing device.
  • the angle of ⁇ 2 is rotated in the direction in which the sum of ⁇ 1 and ⁇ 2 is ⁇ .
  • the controller can control the rotation of the image acquisition device in two ways, one is that the position of one image acquisition device is unchanged, the other image acquisition device is rotated, and the other is to rotate two image acquisition devices at the same time.
  • the relative rotation angle ⁇ of the at least two image acquisition devices in the horizontal or vertical direction needs to be recalculated, and at least the image acquisition is readjusted.
  • the image acquisition system further includes:
  • a reset module configured to determine whether a distance L between the object acquired by the distance acquiring module and the image capturing module changes, and when the distance L changes, generate a reset signal and send the signal to the Processor
  • the processor recalculates the relative rotation angle ⁇ of the at least two image acquisition devices in the horizontal or vertical direction after receiving the reset signal, and sends the relative rotation angle ⁇ to the controller.
  • the image acquisition system of the embodiment of the present disclosure may further include:
  • a shooting controller configured to control the at least two image capturing devices to collect images after the controller controls the rotation of the image capturing device.
  • the image capturing system of the embodiment of the present disclosure may further include:
  • the image processing device is configured to acquire images captured by the at least two image acquisition devices, and splicing the images collected by the at least two image acquisition devices to obtain a target mosaic image.
  • the image processing device can be a computer.
  • the present disclosure also provides an image acquisition method, which is applied to the image acquisition system in any of the above embodiments, the method comprising:
  • Step S101 acquiring a distance L between the object and the image acquisition module
  • Step S102 Calculate, according to the distance L and the viewing angle ⁇ of the image capturing device in the horizontal or vertical direction, the current image capturing device in the at least two image capturing devices.
  • Step S103 Calculate a relative rotation angle ⁇ of the at least two image acquisition devices in a horizontal or vertical direction according to the width P1;
  • Step S104 Send a control signal to the driving support mechanism according to the relative rotation angle ⁇ to control the image capturing device to rotate;
  • Step S105 After controlling the rotation of the image capturing device, control the at least two image capturing devices to collect images.
  • the number of the image collection devices is two, where
  • the image collection method further includes:
  • steps S102-S106 are re-executed.

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Abstract

一种图像采集系统和图像采集方法，该系统包括：具有驱动支撑机构的云台；图像采集模组，采集图像用于图像拼接，包括至少两个图像采集设备，该至少两个图像采集设备固定于驱动支撑机构上，并在水平或垂直方向上并排设置，且镜头为定焦镜头，焦距相同；距离获取模块，获取被摄对象与图像采集模组之间的距离；处理器，根据该距离和图像采集设备在水平或垂直方向上的视角，计算该至少两个图像采集设备中的一图像采集设备在水平或垂直方向上能够拍摄的被摄对象的宽度；根据该宽度，计算该至少两个图像采集设备在水平或垂直方向上的相对转动角度；控制器，根据该相对转动角度，控制图像采集设备转动。

Description

一种图像采集系统和图像采集方法
相关申请的交叉引用
本申请主张在2015年5月29日在中国提交的中国专利申请号No.201510288980.4的优先权，其全部内容通过引用包含于此。
技术领域
本公开涉及图像采集技术领域，尤其涉及一种图像采集系统和图像采集方法。
背景技术
相关技术中，可以对两个低分辨率(如1280×720)的相机拍摄的图像进行拼接，以得到高分辨率(如1920×720)的图像。图像拍摄之前的准备步骤包括：先采用两个相机试拍图像，然后将试拍的图像提取至电脑上，进行图像拼接，拼接后确认图像的分辨率是否达到要求，如果未达到要求，需要调整两个相机的相对角度，并重复执行以下步骤：试拍图像；提取图像至电脑；图像拼接；确认拼接图像分辨率是否达到要求。有些情况下，需要多次执行上述步骤，以使得拼接后的图像满足要求，可见拍摄图像前的准备工作复杂、耗时。
发明内容
有鉴于此，本公开提供一种图像采集系统和图像采集方法，用以解决在拍摄用于拼接的图像之前的准备工作复杂、耗时的问题。
为解决上述技术问题，本公开提供一种图像采集系统，包括：
具有驱动支撑机构的云台；
图像采集模组，用于采集图像，所述采集的图像用于图像拼接以得到目标拼接图像，所述图像采集模组包括至少两个图像采集设备，所述至少两个图像采集设备固定于所述驱动支撑机构上，并在水平或垂直方向上并排设置，所述至少两个图像采集设备的镜头为定焦镜头，且焦距相同；
距离获取模块，用于获取被摄对象与所述图像采集模组之间的距离L；
处理器，用于根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；以及，根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
控制器，用于根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动。
可选地，所述图像采集设备的个数为两个，所述处理器包括：
第一计算单元，用于采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
第二计算单元，用于采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
可选地，所述图像采集设备的个数为两个，所述控制器包括：
第一控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β角度；或
第二控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β1角度，并驱动所述第一图像采集设备在水平或垂直远离所述第二图像采集设备的方向上转动β2角度，其中，β1与β2之和为β。
可选地，所述图像采集系统还包括：
重置模块，用于判断所述距离获取模块获取的被摄对象与所述图像采集模组之间的距离L是否发生变化，当所述距离L发生变化时，生成重置信号并发送给所述处理器；
其中，所述处理器在接收到所述重置信号后，重新计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并发送给所述控制器。
可选地，所述距离获取模块为电子测距设备。
可选地，所述图像采集系统还包括：
拍摄控制器，用于在所述控制器控制所述图像采集设备转动后，控制所述至少两个图像采集设备采集图像。
可选地，所述图像采集系统还包括：
图像处理设备，用于获取所述至少两个图像采集设备采集的图像，并对所述至少两个图像采集设备采集的图像进行拼接，得到目标拼接图像。
本公开还提供一种图像采集方法，应用于上述图像采集系统，所述方法包括：
步骤S101：获取被摄对象与所述图像采集模组之间的距离L；
步骤S102：根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
步骤S103：根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
步骤S104：根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动；
步骤S105：在控制所述图像采集设备转动后，控制所述至少两个图像采集设备采集图像。
可选地，所述图像采集设备的个数为两个，其中，
采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
可选地，所述图像采集方法还包括：
判断被摄对象与所述图像采集模组之间的距离L是否发生变化；
当所述距离L发生变化时，重新执行步骤S102-S106。
本公开的上述技术方案的有益效果如下：
能够根据被摄对象与图像采集模组之间的距离，自动计算出至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并控制图像采集设备转动到准确位置，不需要执行试拍、提取图像至电脑、图像拼接、确认拼接图像分辨率是否达到要求等步骤，简化了拍摄用于拼接的图像之前的准备流程，提高了用户体验。此外，可以采用至少两个图像采集设备采集的图像，在水平或垂直两个方向上对图像进行拼接，以满足不同的需求。
附图说明
图1为本公开实施例一的图像采集系统的结构示意图；
图2为本公开实施例二的图像采集系统的结构示意图；
图3为本公开实施例三的图像采集系统的结构示意图；
图4为本公开实施例四的图像采集系统的结构示意图；
图5为本公开实施例五的图像采集系统的结构示意图；
图6-图7为本公开实施例的两个图像采集设备在水平方向上的相对转动角度的计算方法示意图；
图8-图9为本公开实施例的两个图像采集设备在垂直方向上的相对转动角度的计算方法示意图。
具体实施方式
下面将结合附图和实施例，对本公开的具体实施方式作进一步详细描述。以下实施例用于说明本公开，但不用来限制本公开的范围。
为解决在拍摄用于拼接的图像之前的准备工作复杂、耗时的问题，本公开实施例提供了一种图像采集系统，包括：
具有驱动支撑机构的云台；
图像采集模组，用于采集图像，所述采集的图像用于图像拼接以得到目标拼接图像，所述图像采集模组包括至少两个图像采集设备，所述至少两个图像采集设备固定于所述驱动支撑机构上，并在水平或垂直方向上并排设置，所述至少两个图像采集设备的镜头为定焦镜头，且焦距相同；
距离获取模块，用于获取被摄对象与所述图像采集模组之间的距离L；
处理器，用于根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；以及，根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
控制器，用于根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动。
通过上述实施例提供的图像采集系统，能够根据被摄对象与图像采集模组之间的距离，自动计算出至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并控制图像采集设备转动到准确位置，不需要执行试拍、提取图像至电脑、图像拼接、确认拼接图像分辨率是否达到要求等步骤，简化了拍摄用于拼接的图像之前的准备流程，提高了用户体验。此外，可以采用至少两个图像采集设备采集的图像，在水平或垂直两个方向上对图像进行拼接，以满足不同的需求。
本公开实施例中的图像采集设备可以为相机、摄像机或摄像头等图像采集设备。图像采集设备的个数可以为两个，或者更多。所述图像采集设备在水平方向上的视角和在垂直方向上的视角可以相同，也可以不同。通常情况下，图像采集设备在水平方向上的视角和在垂直方向上的视角是不同的，下面的实施例中均以图像采集设备在水平方向上的视角和在垂直方向上的视角不同为例进行说明。
请参考图1，图1为本公开实施例一的图像采集系统的结构示意图，该实施例中，图像采集系统包括具有驱动支撑机构11的云台10和两个图像采集设备20。图像采集设备20设置在所述驱动支撑机构11上。两个图像采集设备20均水平摆放，且在水平方向上并排设置，该实施例中，可以在水平方向上对图像进行拼接。举例来说，假设两个图像采集设备20水平摆放时，拍摄的图像水平方向上的分辨率为8K，在垂直方向上的分辨率为5K(说明图像采集设备20在水平方向上的视角和在垂直方向上的视角不同)，该种情况下，可以在水平方向上对两个图像采集设备20拍摄的图像进行拼接，得到分辨率为12K的目标拼接图像。
请参考图2，图2为本公开实施例二的图像采集系统的结构示意图，该实施例中，图像采集系统包括两个图像采集设备20，两个图像采集设备20均水平摆放，且在垂直方向上并排设置，该实施例中，可以在垂直方向上对图像进行拼接。举例来说，假设两个图像采集设备20水平摆放时，拍摄的图像水平方向上的分辨率为8K，在垂直方向上的分辨率为5K，该种情况下，可以在垂直方向上对两个图像采集设备20拍摄的图像进行拼接，得到分辨率为10K的目标拼接图像。
请参考图3，图3为本公开实施例三的图像采集系统的结构示意图，该实施例中，图像采集系统包括两个图像采集设备20，两个图像采集设备20均竖直摆放，且在垂直方向上并排设置，该实施例中，可以在垂直方向上对图像进行拼接。举例来说，假设两个图像采集设备20竖直摆放时，拍摄的图像垂直上的分辨率为8K，在水平方向上的分辨率为5K，该种情况下，可以在垂直方向上对两个图像采集设备20拍摄的图像进行拼接，得到分辨率为12K的目标拼接图像。
请参考图4，图4为本公开实施例四的图像采集系统的结构示意图，该实施例中，图像采集系统包括四个图像采集设备20，其中，四个图像采集设备20均水平摆放，两个图像采集设备20在水平方向上并排设置，两个图像采集设备20在垂直方向上并排设置，该实施例中，可以在水平和垂直两个方向上对图像进行拼接。
可选地，本公开实施例中的驱动支撑机构，可以根据需要将至少两个图像采集设备调整至在水平或垂直方向并排设置，例如，当需要获取水平方向的拼接图像时，如图1所示，可以将两个图像采集设备20调整至在水平方向上并排设置，当需要获取垂直方向的拼接图像时，可以将两个图像采集设备20从水平方向并排设置调整至如图2所示或者如图3所示的在垂直方向并排设置。
如果图像采集设备在水平方向上的视角和在垂直方向上的视角不同，当图像采集设备的摆放方式不同时(水平摆放或竖直摆放)，其当前在水平或垂直方向上的视角也不相同。举例来说，图像采集设备水平放置时，当前在水平方向上的视觉为α1，在垂直方向上的视觉为α2，当该图像采集设备竖直 放置时，当前在水平方向上的视觉为α2，在垂直方向上的视觉为α1。
所述图像采集设备当前在水平或垂直方向上的视角α可以由用户进行输入，例如，所述图像采集系统可以提供一用户输入界面，由用户输入所述视角α。或者，用户也可以直接输入图像采集设备的焦距M以及图像采集设备的摆放方式，此时，所述图像采集系统中还需要存储焦距与视角的对应关系表，并根据用户输入的焦距M以及图像采集设备的摆放方式，查询对应关系表，确定图像采集设备当前在水平或垂直方向上的视角α。
该对应关系表的格式可以如下表所示，该表格为图像采集设备水平放置时，焦距与水平视角的对应关系表。
Figure PCTCN2015093618-appb-000001
图像采集设备的摆放方式可以由用户输入，也可以根据驱动支撑结构的姿势获取，可选地，本公开实施例中的图像采集系统还可以包括一姿势获取模块，用于获取驱动支撑结构的支撑姿势，以得到所述图像采集设备的摆放方式为水平摆放还是竖直摆放。
本公开实施例中的距离获取模块用于获取被摄对象与图像采集模组之间的距离L，所谓被摄对象与图像采集模组之间的距离，通常是指图像采集模组中的图像采集设备的镜头与被摄对象之间的距离。
可选地，所述距离获取模块可以为电子测距设备，能够自动测量被摄对象与图像采集模组之间的距离L，并将测量的距离L传送给处理器。电子测 距设备可以设置于云台10上，并与至少两个图像采集设备在水平或垂直方向上并排设置，请参考图5，图5中图像采集模组包括两个图像采集设备20，电子测距设备30位于两图像采集设备20之间，此时，被摄对象与图像采集模组之间的距离是指被摄对象与电子测距设备30之间的距离。电子测距设备可以为激光测距设备、GPS测距设备等，激光测距设备通常应用于拍摄近距离的被摄对象的场景，而GPS测距设备通常应用于拍摄远距离的被摄对象的场景。
当然，在本公开的其他实施例中，也可以由人工测量被摄对象与图像采集模组之间的距离L，同时，所述图像采集系统可以提供一用户输入界面，由用户输入人工测量的距离L。人工测量可以采用皮尺、电子测距设备等测量工具测量。
如图1-4所示，本公开实施例中的处理器和控制器均可以独立于云台设置，当然，也可以设置于所述云台中，请参考图5。
本公开实施例中的，处理器可以根据被摄对象与所述图像采集模组之间的距离L以及图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；以及，根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β。
其中，被摄对象与所述图像采集模组之间的距离L由距离获取模块获取，并传送给所述处理器。由于图像采集模组中的至少两个图像采集设备并排设置，因此，被摄对象与所述图像采集模组之间的距离L也就是每一图像采集设备与被摄对象之间的距离。
下面以图像采集模组包括两个图像采集设备(第一图像采集设备和第二图像采集设备)，且两个图像采集设备水平并排设置为例，对两个图像采集设备在水平方向上的相对转动角度β的计算方法进行说明。
请参考图6，在获知被摄对象与所述图像采集模组之间的距离L以及图像采集设备当前在水平方向上的视角α之后，可以得到以下公式：
(P1/2)/L＝tan(α/2)
从而得到P1的计算公式：P1＝2tan(α/2)*L。
即，得到第一图像采集设备当前在水平方向上能够拍摄的被摄对象的宽度P1。
请参考图7，当将第一图像采集设备和第二图像采集设备抽象为一个点时，可以得到如下计算公式：
tan(α/2+β)＝(P1/2+P2)/L
其中，P2为第二图像采集设备当前在水平方向上能够拍摄的被摄对象的宽度，而P2＝k*P1，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平方向上的宽度，w1为所述第一图像采集设备采集的图像在水平方向上的宽度。
举例来说，目标拼接图像在水平方向上的宽度为10K(分辨率)，而，第一图像采集设备采集的图像在水平方向上的宽度为8K，则，k＝(10-8)/8＝0.25。
从而，得到β的计算公式：tan(α/2+β)＝(P1/2+k*P1)/L。
当两个图像采集设备垂直并排设置时，计算方法与水平设置时的计算方法类似，请参考图8-9。
综上，所述图像采集设备的个数为两个，所述处理器可以包括：
第一计算单元，用于采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
第二计算单元，用于采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
本公开实施例中的控制器用于根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动。
当所述图像采集设备的个数为两个，所述控制器可以包括：
第一控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β角度；或
第二控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个 图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β1角度，并驱动所述第一图像采集设备在水平或垂直远离所述第二图像采集设备的方向上转动β2角度，其中，β1与β2之和为β。
即，所述控制器可以采用两种方式控制图像采集设备的转动，一种是其中一个图像采集设备的位置不变，转动另一图像采集设备，另一种是同时转动两个图像采集设备。
本公开实施例中，当被摄对象与图像采集模组之间的距离发生变化时，需要重新计算至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并重新调整至少图像采集设备的位置，以满足要求。
可选地，所述图像采集系统还包括：
重置模块，用于判断所述距离获取模块获取的被摄对象与所述图像采集模组之间的距离L是否发生变化，当所述距离L发生变化时，生成重置信号并发送给所述处理器；
其中，所述处理器在接收到所述重置信号后，重新计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并发送给所述控制器。
为了能够自动控制图像采集设备的拍摄，本公开实施例的图像采集系统还可以包括：
拍摄控制器，用于在所述控制器控制所述图像采集设备转动后，控制所述至少两个图像采集设备采集图像。
为了能够对图像采集设备采集到的图像进行拼接处理，本公开实施例的图像采集系统还可以包括：
图像处理设备，用于获取所述至少两个图像采集设备采集的图像，并对所述至少两个图像采集设备采集的图像进行拼接，得到目标拼接图像。
所述图像处理设备可以为一电脑。
本公开还提供一种图像采集方法，应用于上述任一实施例中的图像采集系统，所述方法包括：
步骤S101：获取被摄对象与所述图像采集模组之间的距离L；
步骤S102：根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前 在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
步骤S103：根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
步骤S104：根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动；
步骤S105：在控制所述图像采集设备转动后，控制所述至少两个图像采集设备采集图像。
可选地，所述图像采集设备的个数为两个，其中，
采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
可选地，所述图像采集方法还包括：
判断被摄对象与所述图像采集模组之间的距离L是否发生变化；
当所述距离L发生变化时，重新执行步骤S102-S106。
以上所述是本公开的可选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开所述原理的前提下，还可以作出若干改进和润饰，这些改进和润饰也应视为本公开的保护范围。

Claims (10)

  1. 一种图像采集系统，包括：
    具有驱动支撑机构的云台；
    图像采集模组，用于采集图像，所述采集的图像用于图像拼接以得到目标拼接图像，所述图像采集模组包括至少两个图像采集设备，所述至少两个图像采集设备固定于所述驱动支撑机构上，并在水平或垂直方向上并排设置，所述至少两个图像采集设备的镜头为定焦镜头，且焦距相同；
    距离获取模块，用于获取被摄对象与所述图像采集模组之间的距离L；
    处理器，用于根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；以及，根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
    控制器，用于根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动。
  2. 根据权利要求1所述的图像采集系统，其中，所述图像采集设备的个数为两个，所述处理器包括：
    第一计算单元，用于采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
    第二计算单元，用于采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
  3. 根据权利要求1所述的图像采集系统，其中，所述图像采集设备的个数为两个，所述控制器包括：
    第一控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β角度；或
    第二控制器，用于向所述驱动支撑机构发送控制信号，以控制所述两个图像采集设备中的第二图像采集设备在水平或垂直远离所述第一图像采集设备的方向上转动β1角度，并驱动所述第一图像采集设备在水平或垂直远离所述第二图像采集设备的方向上转动β2角度，其中，β1与β2之和为β。
  4. 根据权利要求1所述的图像采集系统，其中，还包括：
    重置模块，用于判断所述距离获取模块获取的被摄对象与所述图像采集模组之间的距离L是否发生变化，当所述距离L发生变化时，生成重置信号并发送给所述处理器；
    其中，所述处理器在接收到所述重置信号后，重新计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，并发送给所述控制器。
  5. 根据权利要求1所述的图像采集系统，其中，所述距离获取模块为电子测距设备。
  6. 根据权利要求1所述的图像采集系统，其中，还包括：
    拍摄控制器，用于在所述控制器控制所述图像采集设备转动后，控制所述至少两个图像采集设备采集图像。
  7. 根据权利要求1所述的图像采集系统，其中，还包括：
    图像处理设备，用于获取所述至少两个图像采集设备采集的图像，并对所述至少两个图像采集设备采集的图像进行拼接，得到目标拼接图像。
  8. 一种图像采集方法，应用于如权利要求1-7任一项所述的图像采集系统，所述方法包括：
    步骤S101：获取被摄对象与所述图像采集模组之间的距离L；
    步骤S102：根据所述距离L以及所述图像采集设备当前在水平或垂直方向上的视角α，计算所述至少两个图像采集设备中的第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
    步骤S103：根据所述宽度P1，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β；
    步骤S104：根据所述相对转动角度β，向所述驱动支撑机构发送控制信号，以控制所述图像采集设备转动；
    步骤S105：在控制所述图像采集设备转动后，控制所述至少两个图像采 集设备采集图像。
  9. 根据权利要求8所述的图像采集方法，其中，所述图像采集设备的个数为两个，其中，
    采用公式P1＝2tan(α/2)*L，计算所述第一图像采集设备当前在水平或垂直方向上能够拍摄的被摄对象的宽度P1；
    采用公式tan(α/2+β)＝(P1/2+k*P1)/L，计算所述至少两个图像采集设备在水平或垂直方向上的相对转动角度β，其中，k采用如下公式计算：(w-w1)/w1，其中，w为所述目标拼接图像在水平或垂直方向上的宽度，w1为所述第一图像采集设备采集的图像在水平或垂直方向上的宽度。
  10. 根据权利要求8所述的图像采集方法，其中，还包括：
    判断被摄对象与所述图像采集模组之间的距离L是否发生变化；
    当所述距离L发生变化时，重新执行步骤S102-S106。
PCT/CN2015/093618 2015-05-29 2015-11-03 一种图像采集系统和图像采集方法 Ceased WO2016192297A1 (zh)

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