Image stitching method, image stitching apparatus, display apparatus, and computer product

An image stitching apparatus, comprising:

• a memory;
• and
• one or more processors;
• wherein the memory and the one or more processors are connected with each other;
• and
• the memory stores computer-executable instructions for controlling the one or more processors to:
• acquire a first depth image of a present frame of image obtained by a first camera;
• acquire a second depth image of the present frame of image obtained by a second camera, the second depth image and the first depth image partially overlapping with each other;
• convert the first depth image in a first camera coordinate system defined by the first camera into a third depth image in a second camera coordinate system defined by the second camera;
• and
• stitch the third depth image with a second depth image to obtain a stitched image
• wherein, to covert the first depth image in the first camera coordinate system defined by the first camera into the third depth image in the second camera coordinate system defined by the second camera, the memory further stores computer-executable instructions for controlling the one or more processors to:
• determining a mean depth value of one of the first depth image and the second depth image;
• determining a point cloud space coordinate transformation matrix based on the mean depth value;
• projecting the first depth image into a first camera coordinate system defined by the first camera to form a first three-dimensional point cloud image in the first camera coordinate system;
• projecting the first three-dimensional point cloud image into a second camera coordinate system defined by the second camera to form a second three-dimensional point cloud image, based on a point cloud space coordinate transformation matrix and a relationship between the first camera coordinate system and the second camera coordinate system;
• and
• transforming the second three-dimensional point cloud image into the third depth image in the second camera coordinate system.

A computer-program product comprising a non-transitory tangible computer-readable medium having computer-readable instructions thereon, the computer-readable instructions being executable by a processor to cause the processor to perform:

• acquiring a first depth image of a present frame of image obtained by a first camera;
• acquiring a second depth image of the present frame of image obtained by a second camera, the second depth image and the first depth image partially overlapping with each other;
• converting the first depth image in a first camera coordinate system defined by the first camera into a third depth image in a second camera coordinate system defined by the second camera;
• and
• stitching the third depth image with the second depth image to obtain a stitched image;
• wherein converting the first depth image in the first camera coordinate system defined by the first camera into the third depth image in the second camera coordinate system defined by the second camera comprises:
• determining a mean depth value of one of the first depth image and the second depth image;
• determining a point cloud space coordinate transformation matrix based on the mean depth value;
• projecting the first depth image into a first camera coordinate system defined by the first camera to form a first three-dimensional point cloud image in the first camera coordinate system;
• projecting the first three-dimensional point cloud image into a second camera coordinate system defined by the second camera to form a second three-dimensional point cloud image, based on a point cloud space coordinate transformation matrix and a relationship between the first camera coordinate system and the second camera coordinate system;
• and
• transforming the second three-dimensional point cloud image into the third depth image in the second camera coordinate system.