基于鱼眼镜头的全方位视觉及全景立体球视觉研究
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摘要
全方位视觉系统可一次拍摄获取水平方向360场景的全部图像信息，然而基于光的反射原理，它在垂直方向视场有限；全景视觉系统无须视觉机械回转或扫描即可将全部视场内的景物一眼看遍，但将三维信息投影至二维图像，损失一维景深信息；立体视觉系统根据视差原理来计算景物的深度，由于大多采用常规镜头构建，其立体信息重叠范围极其有限。论文通过对基于鱼眼镜头的全方位视觉及全景立体球视觉研究，探索全方位视觉测量新方法以及新型的机器视觉方案。研究内容主要包括：
1.鱼眼镜头视觉系统基础理论研究。采用鱼眼镜头建立全方位视觉系统，获得360×180的视场范围。建立鱼眼镜头全方位视觉系统几何模型，开展系统参数标定方法、鱼眼图像畸变矫正算法等基础理论研究。
2.鱼眼镜头视觉系统应用的关键技术研究。开展基于鱼眼图像的多机动目标识别、跟踪、定位等鱼眼镜头视觉系统应用的关键技术研究。将理论研究成果应用至移动机器人视觉自主导航和视频监控领域，实现了不同机器人平台的室内、室外自主导航和监控空间内的全局目标监测；
3.全景立体球视觉在全方位视觉研究取得成果的基础上，进一步发展全景视觉与立体视觉理论，揭示全景视觉与立体视觉是可以有机结合、优势互补的客观规律，最终提出一项新的机器视觉方案－“全景立体球视觉”。构建全景立体球视觉理论体系将其抽象为“球视觉”模型，建立几何及数学模型；搭建全景立体球视觉仿真系统，在立体标定空间内实现对“球视觉”内、外部参数的标定；
4.嵌入式全方位视觉系统平台及全景立体球视觉图像处理器硬件设计。依托嵌入式技术研发嵌入式全方位视觉系统平台，开展理论研究成果的嵌入式系统程序移植工作，实现了小型化、模块化、集成化的设计理念。在此基础上提出全景立体球视觉系统的基于四组成像芯片+FPGA+DSP硬件架构的集图像采集、处理、分析于一体的嵌入式图像处理器设计及功能模块分工方案。
Omnidirectional Vision system can acquire360°degrees horizontal Field of View (hFOV) image in formation with one times hooting. However, because the Omnidirectional Vision Sensor is based on the light reflection principle, the vertical Field of View (vFOV) of Omnidirectional Vision System is limited. In present, it is widely used to control the mobile robot automationa vigation. Panoramic Vision System is able to "see" the whole scenery of the observation space without using the machinery rotating and scanning. But, they project the surroundings cenery information to the two-dimensional images. In this way, one-dimensional information of object, depth, has been missed. Stereo Vision System acquires the depth information bye aptured the corresponding points from different images. Most of theses tudies used or dinaryl enses to build stereo vision system so the overlapped region of these cameras is very limited. In this paper, Omnidirectional Vision and Panoramic Stereo Sphere Vision have been studied to explor new measurement method for Ominidirectional Vision and new scheme for Machine Vision. Major work of this thesis can be included in four parts as follows:
1. The basic theory research for fish-eye lens vision system. In this paper, we started the basic theory research of fish-eye lens vision system firstly, including how to apply fish-eye lens to build Omnidirectional Vision System and to get360°×180°field of view, build geometric model for fish-eye lens Omnidirectional Vision System, research the calibration method for the vision system, study the distortion correction algorithm for fish-eye lens images.
2. The key technologies study for fish-eye lens vision system. Based on theoretical analysis, some of key technologies such as targets recognition, targets tracking and locating which based on fish-eye lens images have been researched. After that, these theories research achievements have been applied to mobiler obot automatic navigation. The technologies achieved to control different kind of Automatic Guided Vehicle (AGV) platform automatic navigation in different indoor and out door environment.
3. Panoramic Vision and Stereo Vision explor. Through the further development of the theories of Panoramic Vision and Stereo Vision, the objective laws of Panoramic Vision and Stereo Vision which can be combined efficiently to realize advantageous complementarities has been revealed in this paper. A new kind of Machine Vision System is proposed—“Panoramic Stereo Sphere Vision”. In theoretical research, buildthe theoretical system for Panoramic Stereo Sphere Vision, abstract a “Sphere Model”,establish the geometry model and mathematic model for this novel vision system,create a real-time simulation system for Panoramic Stereo Sphere Vision and calibratethe internal and external parameters in the stereo calibration space.
4. Hardware o f t he embedded omnidirectional vision system a nd th e ima geprocessor of t he P anoramic V ision a nd S tereo V ision design. An e mbeddedomnidirectional vision system based on e mbedded technologies has been designed.The algorithms are transplanted to the embedded platform. In this way, the design ideaof min iaturization, mo dularity a nd in tegration a re r ealized. O n th at b asis, th ehardware structure of Panoramic Stereo Sphere Vision has been proposed, which isbased on f our vision sensors+FPGA+DSP. It is a new vision processor whichintegrates functions with image acquisition, analysis and processing.
1.鱼眼镜头视觉系统基础理论研究。采用鱼眼镜头建立全方位视觉系统，获得360×180的视场范围。建立鱼眼镜头全方位视觉系统几何模型，开展系统参数标定方法、鱼眼图像畸变矫正算法等基础理论研究。
2.鱼眼镜头视觉系统应用的关键技术研究。开展基于鱼眼图像的多机动目标识别、跟踪、定位等鱼眼镜头视觉系统应用的关键技术研究。将理论研究成果应用至移动机器人视觉自主导航和视频监控领域，实现了不同机器人平台的室内、室外自主导航和监控空间内的全局目标监测；
3.全景立体球视觉在全方位视觉研究取得成果的基础上，进一步发展全景视觉与立体视觉理论，揭示全景视觉与立体视觉是可以有机结合、优势互补的客观规律，最终提出一项新的机器视觉方案－“全景立体球视觉”。构建全景立体球视觉理论体系将其抽象为“球视觉”模型，建立几何及数学模型；搭建全景立体球视觉仿真系统，在立体标定空间内实现对“球视觉”内、外部参数的标定；
4.嵌入式全方位视觉系统平台及全景立体球视觉图像处理器硬件设计。依托嵌入式技术研发嵌入式全方位视觉系统平台，开展理论研究成果的嵌入式系统程序移植工作，实现了小型化、模块化、集成化的设计理念。在此基础上提出全景立体球视觉系统的基于四组成像芯片+FPGA+DSP硬件架构的集图像采集、处理、分析于一体的嵌入式图像处理器设计及功能模块分工方案。
Omnidirectional Vision system can acquire360°degrees horizontal Field of View (hFOV) image in formation with one times hooting. However, because the Omnidirectional Vision Sensor is based on the light reflection principle, the vertical Field of View (vFOV) of Omnidirectional Vision System is limited. In present, it is widely used to control the mobile robot automationa vigation. Panoramic Vision System is able to "see" the whole scenery of the observation space without using the machinery rotating and scanning. But, they project the surroundings cenery information to the two-dimensional images. In this way, one-dimensional information of object, depth, has been missed. Stereo Vision System acquires the depth information bye aptured the corresponding points from different images. Most of theses tudies used or dinaryl enses to build stereo vision system so the overlapped region of these cameras is very limited. In this paper, Omnidirectional Vision and Panoramic Stereo Sphere Vision have been studied to explor new measurement method for Ominidirectional Vision and new scheme for Machine Vision. Major work of this thesis can be included in four parts as follows:
1. The basic theory research for fish-eye lens vision system. In this paper, we started the basic theory research of fish-eye lens vision system firstly, including how to apply fish-eye lens to build Omnidirectional Vision System and to get360°×180°field of view, build geometric model for fish-eye lens Omnidirectional Vision System, research the calibration method for the vision system, study the distortion correction algorithm for fish-eye lens images.
2. The key technologies study for fish-eye lens vision system. Based on theoretical analysis, some of key technologies such as targets recognition, targets tracking and locating which based on fish-eye lens images have been researched. After that, these theories research achievements have been applied to mobiler obot automatic navigation. The technologies achieved to control different kind of Automatic Guided Vehicle (AGV) platform automatic navigation in different indoor and out door environment.
3. Panoramic Vision and Stereo Vision explor. Through the further development of the theories of Panoramic Vision and Stereo Vision, the objective laws of Panoramic Vision and Stereo Vision which can be combined efficiently to realize advantageous complementarities has been revealed in this paper. A new kind of Machine Vision System is proposed—“Panoramic Stereo Sphere Vision”. In theoretical research, buildthe theoretical system for Panoramic Stereo Sphere Vision, abstract a “Sphere Model”,establish the geometry model and mathematic model for this novel vision system,create a real-time simulation system for Panoramic Stereo Sphere Vision and calibratethe internal and external parameters in the stereo calibration space.
4. Hardware o f t he embedded omnidirectional vision system a nd th e ima geprocessor of t he P anoramic V ision a nd S tereo V ision design. An e mbeddedomnidirectional vision system based on e mbedded technologies has been designed.The algorithms are transplanted to the embedded platform. In this way, the design ideaof min iaturization, mo dularity a nd in tegration a re r ealized. O n th at b asis, th ehardware structure of Panoramic Stereo Sphere Vision has been proposed, which isbased on f our vision sensors+FPGA+DSP. It is a new vision processor whichintegrates functions with image acquisition, analysis and processing.
引文
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