Panoramic video processing method and device and non-transitory computer-readable medium

A panoramic video processing device comprising:

• a processor;
• and
• a memory storing program instructions that cause the processor to:
• receive a panoramic video to be processed, the panoramic video including a plurality of two dimensional (2D) panoramic images;
• conduct inter frame motion estimation in regard to each two neighboring 2D panoramic images in the panoramic video so as to obtain a corresponding inter frame motion estimation result between the same two neighboring 2D panoramic images;
• calculate, based on the respective inter frame motion estimation results obtained between the plurality of 2D panoramic images, a historical motion trajectory of the panoramic video, and carrying out smoothing with respect to the historical motion trajectory;
• calculate, based on the historical motion trajectory after smoothing, a rotation matrix for motion compensation pertaining to each 2D panoramic image in the panoramic video, the calculating including processes of
• setting a first 2D panoramic image in the plurality of 2D panoramic images as a first reference 2D panoramic image;
• and
• determining, based on the historical motion trajectory after smoothing, whether a change in a current 2D panoramic image relative to a previous 2D panoramic image is due to unconscious noise motion or conscious camera motion, wherein
• in a case where the change is determined as unconscious noise motion, the rotation matrix for motion compensation of the current 2D panoramic image, relative to the previous 2D panoramic image, is calculated, and
• in a case where the change is determined as conscious camera motion, the first reference 2D panoramic image is replaced with a second reference 2D panoramic image from a later time than the first 2D panoramic image, and the rotation matrix for motion compensation is then recalculated based on the second reference 2D panoramic image and the current 2D panoramic image;
• and
• reconstruct on each 2D panoramic image in the panoramic video by way of the corresponding rotation matrix for motion compensation so as to attain a panoramic video after image stabilization, and to output the panoramic video after image stabilization.