JP-2022514321-A5 -

Dates

Publication Date

20221212

Application Date

20190930

Description

When a viewer of a panoramic image wants to view only the vertical and horizontal fields of view of the image, it is necessary to retain and stabilize the field of view that changes vertically and horizontally in the image. Therefore, it is necessary to consider a panoramic image stabilization method that retains only the vertical and horizontal motion states. Reference 1 is Chinese Utility Model Publication No. 206274111 (CN206274111U), and Reference 2 is Chinese Patent Application Publication No. 106594466 (CN106594466B). In the first aspect, the present application is: The system acquires the world coordinates of a reference point in the world coordinate system in real time, and simultaneously acquires the camera coordinates corresponding to the reference point on the mobile device, as well as the current angular velocity value of the gyroscope on the mobile device. Smoothing camera motion using an extended Kalman filter, The process involves decomposing the smoothed motion to generate a virtual lens motion in ePTZ mode, and calculating the amount of rotation of the virtual lens. The present invention provides a panoramic image stabilization method that includes generating a stable image by reprojecting the original image based on the amount of rotation of the virtual lens and a rotation matrix that converts camera coordinates to world coordinates. In this application, by decomposing the camera's movement and generating a virtual lens movement in ePTZ mode in which only vertical and horizontal movement is retained, when playing back a panoramic image, the lens focus always changes vertically and/or horizontally, filtering out changes in other directions in the original camera movement. Thus, this method keeps the rendering lens movement smooth, produces a stable image, retains the camera's original field of view, and has very strong robustness against noisy scenes and scenes with a lot of movement. In S103, the motion is decomposed into smoothed motion to generate virtual lens motion in ePTZ mode, and the amount of rotation of the virtual lens is calculated. The process of decomposing the smoothed motion, generating a virtual lens motion in ePTZ mode, and calculating the amount of rotation of the virtual lens is specifically as follows. In the embodiment of the present invention, by decomposing the camera movement and generating a virtual lens movement in ePTZ mode in which only vertical and horizontal movement is retained, when the user views the panoramic image, the lens focus always changes vertically and/or horizontally, and changes in other directions of the original camera movement are filtered out, so that only the horizontal movement of the panoramic image is retained. Thus, this method can keep the rendering lens movement smooth, produce a stable image, and retain the camera's original shooting field of view, and has very strong robustness against noisy scenes and scenes with a lot of movement.