Systems, methods and media for generating a panoramic view

摘要

A method is provided for a surveillance system including a remote sensor apparatus a portable receiver. The method includes receiving, at the portable receiver, image data collected simultaneously from a plurality of image sensors installed in the remote sensor apparatus. The method also includes processing, at the portable receiver, the received image data by, for each of the first plurality of captured images, detecting image features and performing feature matches by matching control points across neighboring images based on a control-point assumption that the control points are relevant only in areas of field of view overlap. The areas of field of view are determined by positions of the plurality of image sensors and a field of view of a wide-angle lens fitted with each of the plurality of image sensors. The method further includes generating a panoramic view by blending the processed first plurality of captured images.

主权项

1. In a surveillance system including a remote sensor apparatus for collecting data and a portable receiver for receiving data collected by at least one sensor installed in the remote sensor apparatus, wherein the portable receiver is capable of running an application program for processing the received data and displaying the processed data on a display screen of the portable receiver, wherein the remote sensor apparatus has a spherical housing for containing a processing unit, a plurality of image sensors coupled to the processor, an inertial measurement unit, and a wireless transceiver and wherein each of the plurality of image sensors is fitted with a wide-angle fisheye lens, a method for generating a panoramic view of a scene external to the housing of the remote sensor apparatus, the method comprising:
receiving, at the portable receiver, first image data collected simultaneously from the plurality of image sensors installed in the remote sensor apparatus, wherein the received first image data includes a first plurality of images captured by the plurality of image sensors and associated inertial measurement data, and wherein the plurality of image sensors are located at fixed positions relative to one another and a physical center of the housing; computing, at the portable receiver, a spherical projection for each of the first plurality of captured images with respect to a reference sphere having a virtual center point, wherein the computation of the spherical projection incorporates relative position of the image sensor and respective lens and lens field of view and distortion parameters and includes translating mathematically a center of each spherical projection to the virtual center point; processing, at the portable receiver, the first received image data by, for each of the first plurality of captured images, calculating overlap areas from the computed spherical projections, detecting image features only in areas of field of view overlap and performing feature matches by generating and matching control points across neighboring images only in the areas of field of view overlap; and generating a panoramic view by blending the processed first plurality of captured images and using the intertial measurement data associated with each of the first plurality of images to relate a vertical and horizontal orientation of the panoramic view to a coordinate system defined by the virtual center point.