Method and device for generating a panoramic image

A device for generating a panoramic image, the device comprising:

• a non-transitory memory storage comprising instructions;
• and
• a processor coupled with the non-transitory memory storage, wherein the processor executes the instructions to:
• receive a three-dimensional model of a target space and an initial panoramic image of the target space, the initial panoramic image having a latitude span less than a preset latitude span;
• determine a first set of coordinate parameters of a camera associated with the initial panoramic image and with respect to a reference frame associated with the three-dimensional model;
• map, based on the first set of coordinate parameters of the camera, data points of the three-dimensional model to a camera coordinate system associated with the camera to obtain an intermediate panoramic image;
• determine a plurality of pixels in the intermediate panoramic image that correspond to the plurality of pixels in the initial panoramic image;
• determine, based on a distance between the position of a pixel in the initial panoramic image and the center position of the initial panoramic image, a first weight;
• determine, based on a distance between the position of a corresponding pixel in the intermediate panoramic image that corresponds to the pixel in the initial panoramic image and the center position of the intermediate panoramic image, a second weight;
• based on the first weight and the second weight, obtain fused color values of a plurality of pixels associated with a final panoramic image by performing a weighted summation on the color values of the plurality of pixels in the initial panoramic image and the color values of the corresponding plurality of pixels in the intermediate panoramic image that correspond to the plurality of pixels in the initial panoramic image;
• and
• obtain the final panoramic image by using the fused color values of the plurality of pixels associated with the final panoramic image, the final panoramic image having a latitude span greater than or equal to the preset latitude span.

A non-transitory computer-readable medium, having computer-executable instructions stored thereon, the computer-executable instructions, when executed by one or more processor, cause a processor to facilitate:

• receiving a three-dimensional model of a target space and an initial panoramic image of the target space, the initial panoramic image having a latitude span less than a preset latitude span;
• determining a first set of coordinate parameters of a camera associated with the initial panoramic image and with respect to a reference frame associated with the three-dimensional model;
• mapping, based on the first set of coordinate parameters of the camera, data points of the three-dimensional model to a camera coordinate system associated with the camera to obtain an intermediate panoramic image;
• determining a plurality of pixels in the intermediate panoramic image that correspond to the plurality of pixels in the initial panoramic image;
• determining, based on a distance between the position of a pixel in the initial panoramic image and the center position of the initial panoramic image, a first weight;
• determining, based on a distance between the position of a corresponding pixel in the intermediate panoramic image that corresponds to the pixel in the initial panoramic image and the center position of the intermediate panoramic image, a second weight;
• based on the first weight and the second weight, obtaining fused color values of a plurality of pixels associated with a final panoramic image by performing a weighted summation on the color values of the plurality of pixels in the initial panoramic image and the color values of the corresponding plurality of pixels in the intermediate panoramic image that correspond to the plurality of pixels in the initial panoramic image;
• and
• obtaining the final panoramic image by using the fused color values of the plurality of pixels associated with the final panoramic image, the final panoramic image having a latitude span greater than or equal to the preset latitude span.