为满足作战机器人实时全景侦察的需要,通过分析现有全景图像展开方法的特点及作战机器人侦察系统的成像映射关系,提出了一种快速低失真全景图像展开算法。该算法以同心圆环近似展开法为基础,采用光路跟踪映射法对圆环状全景图进行径向展开以保证展开精度,运用查表法和坐标旋转数字计算机CORDIC算法以提高展开速度,为避免展开后图像纵向和横向比例失真,给出了纵横约束关系式。仿真试验表明了该方法的有效性。

To meet the demand of timely panoramic reconnaissance by combat robot, by analyzing characteristics of the present unwrapping methods of panoramic image and imaging mapping relation of catadioptric vision reconnaissance system for combat robot, a fast low distortion unwrapping algorithm of panoramic image was presented. On the base of approximate unwrapping algorithm of concentric rings, the algorithm unwrapped panoramic annular image radically by the beam path tracking mapping to ensure the unwrapping precision, and the table look-up method and coordinate rotation digital computer (CORDIC) was adopted to improve calculation speed. The relation of lengthwise and transverse constraint was presented to avoid the portrait and transverse proportion distortion of unwrapped image. Experiments indicate the proposed algorithm is valid.