Refraction and reflection omnidirectional image restoration method with mirror surface parameter constraining blurring kernels

[0046] Such as Figure 5 As shown, this embodiment adopts Image 6 The catadioptric imaging system shown collects image data. In the imaging system, the camera is Canon5D Mark II, the lens is a 50mm F / 1.8 Canon lens, the aperture is set to F / 1.8, and 7.5 million pixel omnidirectional images are collected. The focus is set at the front end of the catadioptric mirror, and the catadioptric mirror is double For curved surface, the parameters are a=22.3mm, b=22.3mm, and c=31.5mm. The acquired defocused and blurred omnidirectional image such as Figure 7 Shown.

[0047] Such as image 3 As shown, the ring and block operations are performed on the collected omnidirectional image. For the ring operation, the specific process is: the origin of the image is the center and the radius is r k To radius r k The area of ​​+Δr is the kth ring, and the width of each ring is equal. Where r k Represents the inner ring radius of the k-th ring, Δr represents the width of the ring, and k represents