US 12,002,248 B2
Image splicing method, computer-readable storage medium, and computer device
Tan Su, Shenzhen (CN); and Fei Gao, Shenzhen (CN)
Assigned to ARASHI VISION INC., Shenzhen (CN)
Appl. No. 18/267,505
Filed by ARASHI VISION INC., Shenzhen (CN)
PCT Filed Dec. 16, 2021, PCT No. PCT/CN2021/138909
§ 371(c)(1), (2) Date Jun. 15, 2023,
PCT Pub. No. WO2022/127875, PCT Pub. Date Jun. 23, 2022.
Claims priority of application No. 202011490499.0 (CN), filed on Dec. 16, 2020.
Prior Publication US 2024/0046596 A1, Feb. 8, 2024
Int. Cl. G06V 10/10 (2022.01); G06T 3/00 (2024.01); G06T 3/08 (2024.01); G06T 5/50 (2006.01); G06T 7/80 (2017.01); G06V 10/74 (2022.01); H04N 23/90 (2023.01)
CPC G06V 10/16 (2022.01) [G06T 3/08 (2024.01); G06T 5/50 (2013.01); G06T 7/80 (2017.01); G06V 10/761 (2022.01); H04N 23/90 (2023.01); G06T 2207/20221 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An image splicing method for panoramic spherical image, wherein the method comprises:
acquiring internal parameters and external parameters of lens of multiple cameras, a distance from a center of circle formed by an optical center of lens of the multiple cameras to a preset plane above or below the circle, and multiple images collected by the multiple cameras respectively, wherein the multiple images are images collected by the lens of the multiple cameras at the same time respectively;
according to the internal parameters of the lens of each camera, calculating a first mapping table corresponding to the lens of each camera; and according to the first mapping table corresponding to the lens of each camera, projecting images collected by the corresponding lens of each camera at the same time onto a unit sphere to obtain multiple first spherical images respectively corresponding to the lens of each camera; and
according to the external parameters of the lens of each camera and the distance from the center of circle formed by the optical center of the lens of the multiple cameras to a preset plane above or below the circle, calculating a second mapping table corresponding to the lens of each camera, and mapping the multiple first spherical images respectively corresponding to the lens of each camera to a unified unit sphere to obtain a panoramic spherical image by splicing, according to the second mapping table corresponding to the lens of each camera.