	US 12,112,490 B2
	Method and apparatus for stitching dual-camera images and electronic device
Jiandong Si, Zhejiang (CN); Jian Yang, Zhejiang (CN); Chen Zhou, Zhejiang (CN); Jianhua Lv, Zhejiang (CN); Guode Ying, Zhejiang (CN); Qian Yu, Zhejiang (CN); Qian Zhang, Zhejiang (CN); Huang Zhang, Zhejiang (CN); Huanghao Ying, Zhejiang (CN); Xiaofei Wang, Zhejiang (CN); Xi Yang, Zhejiang (CN); Weizhong Chen, Zhejiang (CN); Dongqi Lu, Zhejiang (CN); Ge Zhou, Zhejiang (CN); Jieli Bao, Zhejiang (CN); and Huiyong Qiu, Zhejiang (CN)
Assigned to State Grid Zhejiang Electric Power Co., Ltd. Taizhou Power Supply Company, Zhejiang (CN); and Taizhou Economic Development Zone Transportation Inspection Branch of Taizhou Hongda Electric Power Construction Co., Ltd., Zhejiang (CN)
Appl. No. 17/277,657
Filed by STATE GRID ZHEJIANG ELECTRIC POWER CO., LTD. TAIZHOU POWER SUPPLY COMPANY, Zhejiang (CN); and TAIZHOU ECONOMIC DEVELOPMENT ZONE TRANSPORTATION INSPECTION BRANCH OF TAIZHOU HONGDA ELECTRIC POWER CONSTRUCTION CO., LTD., Zhejiang (CN)
PCT Filed May 11, 2020, PCT No. PCT/CN2020/089627 § 371(c)(1), (2) Date Dec. 21, 2021, PCT Pub. No. WO2020/228680, PCT Pub. Date Nov. 19, 2020.
Claims priority of application No. 201910390273.4 (CN), filed on May 10, 2019.
Prior Publication US 2022/0101542 A1, Mar. 31, 2022
Int. Cl. G06T 7/33 (2017.01); G06T 3/60 (2024.01); H04N 23/698 (2023.01); H04N 23/80 (2023.01)

CPC G06T 7/33 (2017.01) [G06T 3/60 (2013.01); H04N 23/80 (2023.01); G06T 2207/20221 (2013.01); H04N 23/698 (2023.01)]

13 Claims

6. An apparatus for stitching dual-camera images, comprising a processor and a memory, wherein the memory stores instructions executable by the processor, and the processor is configured to:

collect two images having overlapping photographic content;

extract and match feature points of the two images;

roughly align the two images by using a homography matrix; and

accurately align the two images by using a least squares method to complete stitching the two images,

wherein the processor is configured to:

assume that a feature point set of an image A of the two images is P, a feature point set of an image B of the two images is Q, N pairs of matching feature points exist between feature point set P and feature point set Q, and feature points p_i(x_i, y_i) and q_j(x_j, y_j) belong to feature point set P and feature point set Q respectively and match each other, then calculate an Euclidean distance between p_i(x_i, y_i) and q_j(x_j, y_j) by using the following formula:

dist_pq=∥p_i−q_j∥=√(x_i−x_j)²+(y_i−y_j)² (10),

wherein i is an integer and satisfies 0<i≤N, and j is an integer and satisfies 0<j≤K, wherein K denotes a number of feature points in the feature point set Q;

calculating an error by using the following formula:

error=Σ_i=1^N|(Rp_i+T)−q_j|² (11)

wherein R denotes a rotation matrix and T denotes a translation matrix; and

finding an optimal solution to the formula (11) by using the least squares method,

wherein the optimal solution is the rotation matrix R and the translation matrix T with a smallest value of the error, and mapping the image A onto the image B through the rotation matrix R and the translation matrix T with the smallest value of the error.