Large-field-angle image real-time stitching method based on calibration

A large-field-angle image real-time stitching method based on calibration, comprising the following steps:

• 1) calibrating internal parameters and external parameters of each camera;
• the internal parameters include a focal length and an optical center;
• and the external parameters include rotation and translation;
• 2) calculating homography matrix:
• calculating a homography matrix between images according to the internal and external parameters of each camera, the placement angle between cameras, and a scene plane distance d;
• 3) building overlapping area model:
• using the homography matrix between images in step 2) to calculate an overlapping area ROI of images, and modeling the overlapping area;
• 4) dividing each image into blocks with a size of C1*C2, taking the divided blocks as nodes of a graph, performing graph cut to find a local optimal solution, then continuing to divide each node corresponding to an optimal stitching line corresponding to C1*C2 until a final block size is equal to a pixel value, and finally and approximately finding a global optimal solution by finding the local optimal solution each time;
• 5) conducting histogram equalization for exposure compensation;
• and
• 6) conducting histogram equalization to reduce image exposure difference.