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Method and apparatus for generating panoramic image with rotation, translation and warping process

  • US 10,186,067 B2
  • Filed: 10/25/2016
  • Issued: 01/22/2019
  • Est. Priority Date: 10/25/2016
  • Status: Active Grant
First Claim
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1. A transform apparatus applied in an image processing system having an image capture module and an image processing apparatus, the image capture module capturing a 360-degree horizontal field of view and 180-degree vertical field of view to generate a plurality of camera images, the apparatus comprising:

  • a geometry information detector for measuring geometry information of the image capture module to determine whether the image capture module is moved;

    a parameter setup unit coupled to the geometry information detector for calculating geometry parameters according to the geometry information;

    a primitive assembly unit for receiving an original vertex list to generate a vertex/ID flow; and

    a geometry processing circuit for performing geometry transform operations over the vertex/ID flow according to the geometry parameters to generate a modified vertex list if the image capture module is moved;

    wherein the geometry processing circuit comprises;

    a geometry transform unit for sequentially performing the geometry transform operations over a current group of three first vertices with their data structures from the vertex/ID flow according to the geometry parameters to correct equirectangular coordinates of the three first vertices as three temporary vertices if the image capture module is moved; and

    a triangle assembly unit for measuring shortest distances along θ

    axis among the three temporary vertices and their imaginary points to determine a transformed triangle with three second vertices as a part of the modified vertex list, wherein a difference between each temporary vertex and its corresponding imaginary point is 2π

    radians along θ

    axis;

    wherein the geometry information comprises at least one of a displacement and rotation angles associated with the movement of the image capture module;

    wherein the vertex/ID flow comprises a plurality of groups of three first vertices with their data structures, and each group of three first vertices form a corresponding triangle in a polygon mesh modeling a panoramic image from the image processing apparatus;

    wherein the modified vertex list comprises a plurality of groups of second vertices with their data structures, and each group of three second vertices form a corresponding triangle in the polygon mesh;

    wherein the original vertex list comprises a plurality of third vertices with their data structures, and the original vertex list is obtained by conducting calibration between the plurality of camera images and the panoramic image for the plurality of third vertices;

    wherein each of the data structures defines a corresponding vertex mapping between the plurality of camera images and the panoramic image; and

    wherein the modified vertex list is inputted to the image processing apparatus and causes the image processing apparatus to generate a modified panoramic image.

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