Stitching Videos from a Fisheye Lens Camera and a Wide-Angle Lens Camera for Telepresence Robots
Stitching Videos from a Fisheye Lens Camera and a Wide-Angle Lens Camera for Telepresence Robots
复制标题
用于远程呈现机器人的鱼眼镜头相机和广角镜头相机的拼接视频
DOI：
10.1007/s12369-020-00744-8
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发表时间：
2019-03
影响因子：
4.7
通讯作者：
Yunde Jia
中科院分区：
文献类型：
--
作者：
Yanmei Dong;Mingtao Pei;Lijia Zhang;Bin Xu;Yuwei Wu;Yunde Jia
许多远程呈现机器人都配备了用于视频通信的前向摄像头和用于导航的下向摄像头。在本文中，我们建议将带有广角镜头的 FF 摄像机和带有鱼眼镜头的 DF 摄像机的视频拼接起来，用于远程呈现机器人。我们的目标是为远程呈现机器人提供紧凑、高效的用户界面，并提供用户友好的交互体验。为此，我们提出了一种基于多单应性的视频拼接方法，该方法拼接来自广角摄像机和鱼眼摄像机的视频。该方法包括视频图像对齐、接缝切割和图像混合。我们基于多单应性对齐直接对齐广角视频图像和鱼眼视频图像，无需校准、畸变校正和反扭曲过程。因此，我们可以获得在非重叠区域中保持形状并在重叠区域中对齐的拼接视频，以实现远程呈现。为了减轻远程呈现机器人驾驶期间由移动物体和/或移动摄像机引起的重影效应，为对齐的视频合成找到最佳接缝，并且考虑空间和时间相干性，最佳接缝将在后续帧中更新。最终的拼接视频是通过基于最佳接缝的图像混合创建的。我们进行了一项用户研究，以证明我们的方法的有效性以及拼接视频用户界面的优越性。
Many telepresence robots are equipped with a forward-facing camera for video communication and a downward-facing camera for navigation. In this paper, we propose to stitch videos from the FF-camera with a wide-angle lens and the DF-camera with a fisheye lens for telepresence robots. We aim at providing a compact and efficient user interface for telepresence robots with user-friendly interactive experiences. To this end, we present a multi-homography-based video stitching method which stitches videos from a wide-angle camera and a fisheye camera. The method consists of video image alignment, seam cutting, and image blending. We directly align the wide-angle video image and the fisheye video image based on the multi-homography alignment without calibration, distortion correction, and unwarping procedures. Thus, we can obtain a stitched video with shape preservation in the non-overlapping regions and alignment in the overlapping area for telepresence. To alleviate ghosting effects caused by moving objects and/or moving cameras during telepresence robot driving, an optimal seam is found for aligned video composition, and the optimal seam will be updated in subsequent frames, considering spatial and temporal coherence. The final stitched video is created by image blending based on the optimal seam. We conducted a user study to demonstrate the effectiveness of our method and the superiority of user interfaces with a stitched video.
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DOI：
10.1145/2733373.2806225
发表时间：
2015-10
期刊：
Proceedings of the 23rd ACM international conference on Multimedia
影响因子：
--
作者：
Xiangyun Meng;Wei Wang;B. Leong
通讯作者：
Xiangyun Meng;Wei Wang;B. Leong
DOI：
10.1017/cbo9780511811685.009
发表时间：
2001-04
期刊：
--
影响因子：
--
作者：
Richard Hartley;Andrew Zisserman
通讯作者：
Richard Hartley;Andrew Zisserman
通过抖动消除进行动态视频拼接
影响因子：
10.6
作者：
Nie, Yongwei;Su, Tan;Li, Guiqing
通讯作者：
Li, Guiqing
影响因子：
2.5
作者：
Lee, Wei-Tse;Chen, Hsin-I;Chen, Bing-Yu
通讯作者：
Chen, Bing-Yu
影响因子：
11.8
作者：
Li, Jing;Xu, Wei;Li, Xuelong
通讯作者：
Li, Xuelong