Please select the most similar patent number from A, B, C and D. Which number is?
A panoramic image photographing method, a panoramic image photographing system, an electronic device (1000) and a computer readable storage medium (400). The panoramic image photographing method supports the acquisition of panoramic images in two different dimensional directions.
A: An image recognition method and system, an electronic device, and a storage medium. The method comprises: acquiring a panoramic image and a close-up image, the panoramic image comprising several objects, and the close-up image comprising a preset object; comparing the close-up image and the panoramic image to determine a corresponding area, that corresponds to the close-up image, in the panoramic image; performing image recognition on the close-up image to determine recognition information of the preset object; and on the basis of the recognition information and according to the correspondence between the corresponding area and the close-up image, determining a recognition result of an object in the corresponding area. A panoramic image and a close-up image of a specific object are separately acquired by means of a scenario, and a relationship between the close-up image and the panoramic image is established, to thereby recognize, by using the close-up image, a part that is not clearly recognized in the panoramic image, and thus solving the problem in which a long-distance object image captured by means of a panoramic camera in a large scene is blurry, which is unfavorable for image recognition and leads to a high recognition error rate.
B: The present invention is applied to the field of image processing, and provides a horizontal calibration method and system for a panoramic image or video, and a portable terminal. The method comprises: receiving images or video frames of two circles after being imaged by two cameras having opposite photographing directions; obtaining a horizontal calibration matrix during photographing; and pasting, according to the horizontal calibration matrix, the images or video frames of the two circles to a left hemispherical curved surface and a right hemispherical curved surface of a spherical panoramic mathematical model in a UV mapping manner, respectively so that the panoramic images or video frames pasted in the spherical panoramic mathematical model are horizontal. According to the present invention, when an image or a video frame photographed by a panoramic camera is not horizontal, the panoramic image or the video frame pasted in a spherical panoramic mathematical model is still horizontal.
C: A mobile robot positioning method, a storage medium and a computer device, comprising: acquiring a panorama image taken by a panorama camera, the panorama image comprising multiple image codes; acquiring image position information of the multiple image codes in the panorama image; determining image relative position information of each image code according to the image position information of each image code; acquiring relative angle information of each image code to the panorama camera; calculating position information and corresponding orientation information of the panorama camera according to the image relative position information and corresponding relative angle information of each image code; and acquiring a camera external reference of the panorama camera, and calculating position information and corresponding orientation information of a mobile robot according to the camera external reference and the position information and corresponding orientation information of the panorama camera. The described method improves the positioning accuracy of a mobile robot and reduces equipment costs.
D: A panoramic camera device and a panoramic picture generation method. The panoramic camera device comprises multiple camera devices (1) and a processor (2). The camera devices (1) are used for carrying out shooting on a whole scene and generating original picture data. The processor (2) is used for carrying out duplication elimination on the original picture data to generate duplication-eliminated picture data and splicing the duplication-eliminated picture data to generate a spherical panoramic picture. In this way, the original picture data of ranges within the whole range is obtained by means of the camera devices (1), duplication elimination on the original picture data obtained by the camera devices (1) and panoramic splicing are carried out by the processor (2), so as to generate the spherical panoramic picture. To make presentation to a user and smoothly finish data transmission and coding and decoding possibly carried out subsequently, a spherical panoramic picture is converted into a plane panoramic picture. Panoramic picture processing is ensured, and the demands of the user for panoramic shooting are satisfied.
Answer: D