CN104506780A - Image adjusting method and device of vehicular imaging equipment - Google Patents
Image adjusting method and device of vehicular imaging equipment Download PDFInfo
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- CN104506780A CN104506780A CN201410827224.XA CN201410827224A CN104506780A CN 104506780 A CN104506780 A CN 104506780A CN 201410827224 A CN201410827224 A CN 201410827224A CN 104506780 A CN104506780 A CN 104506780A
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Abstract
The invention is applicable to the field of image adjustment and provides an image adjusting method and device of vehicular imaging equipment. The image adjusting method includes acquiring initial images acquired by an imaging sensor, and computing luminance information and gradient information of the initial images; determining the motion state information of the initial images and determining luminance variation state information of the initial images; performing automatic exposure and gain adjustment according to the motion state information, adjusting automatic exposure speed according to the luminance variation information of the initial images and adjusting image details according to the luminance information. By automatic exposure and gain adjustment according to the motion state information, adjustment of automatic exposure speed according to the luminance variation information of the initial images and image detail adjustment of the luminance information, image quality is improved, and digital imaging equipment can meet requirements of security and protection imaging in the vehicular imaging system.
Description
Technical field
The invention belongs to image adjustment field, particularly relate to a kind of picture adjustment methods and device of vehicle-mounted imaging device.
Background technology
Vehicle-mounted imaging device, is namely installed on the video camera on vehicle.By described vehicle-mounted imaging device, can be used for the object that the car plate of monitoring vehicle front vehicles, vehicle, personage or other needs are paid close attention to.Thus can complete the important band of position is monitored, and the relevant information automatically in registration of vehicle driving process, later verification can be convenient to and use.
The vehicle-mounted imaging device of current use, is generally the analog imaging equipment that resolution is lower.Along with popularizing of the more and more higher and digital imaging apparatus required image quality, need digital imaging apparatus high for resolution to be applied in vehicle-mounted imaging system in a hurry.
But, because digital imaging apparatus is generally used for the scene that background is relatively more fixing, relative motion is less, moving object is more single, and the general speed of related movement of the object of vehicle-mounted imaging is very fast, when digital imaging apparatus is applied in vehicle-mounted imaging system, easily cause that the image streaking of the area-of-interest that relative motion is larger is serious, poor definition, the demand of the security protection imaging of digital imaging apparatus in vehicle-mounted imaging system cannot be met.
Summary of the invention
The object of the present invention is to provide a kind of picture adjustment methods and device of vehicle-mounted imaging device, with solve prior art digital imaging apparatus is applied in vehicle-mounted imaging system time, easily cause the poor in image definition of the area-of-interest that relative motion is larger, the problem of the demand of the security protection imaging of digital imaging apparatus in vehicle-mounted imaging system cannot be met.
The present invention is achieved in that a kind of picture adjustment methods of vehicle-mounted imaging device, and described method comprises:
Obtain the initial pictures gathered by imaging sensor, and add up monochrome information and the gradient information of described initial pictures;
Determine the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures;
Movement state information according to described initial pictures carries out automatic exposure gain-adjusted, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
Another object of the present invention is to the image adjusting mechanism providing a kind of vehicle-mounted imaging device, described device comprises:
Obtaining statistic unit, for obtaining the initial pictures gathered by imaging sensor, and adding up monochrome information and the gradient information of described initial pictures;
State information determining unit, for determining the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures;
First regulon, carries out automatic exposure gain-adjusted for the movement state information according to described initial pictures, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
In the present invention, obtaining the initial pictures of imaging sensor collection, statistics obtains monochrome information and the gradient information of described initial pictures, the movement state information determining initial pictures is carried out according to described gradient information, the brightness change information of described initial pictures is determined according to described monochrome information, and carry out automatic exposure gain-adjusted according to described movement state information, brightness change information according to described initial pictures regulates automatic exposure speed, the details of carrying out image according to described monochrome information regulates, thus raising picture quality, digital imaging apparatus is made to meet the demand of the security protection imaging in vehicle-mounted imaging system.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the picture adjustment methods of the vehicle-mounted imaging device that the embodiment of the present invention provides;
Fig. 2 is the realization flow figure of the image sensitive degree adjustment that the embodiment of the present invention provides;
Fig. 3 is the realization flow figure of the adjustment of the brightness change information according to the described initial pictures automatic exposure speed that the embodiment of the present invention provides;
The realization flow figure carrying out image detail adjustment according to described monochrome information that Fig. 4 provides for the embodiment of the present invention;
The structural representation of the image adjusting mechanism of the vehicle-mounted imaging device that Fig. 5 provides for the embodiment of the present invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The main purpose of the embodiment of the present invention is to solve in prior art, digital security imaging device is used for greatly common video monitoring place, background mainly for image is relatively more fixing and simple, object in image is less relative to video camera relative motion, the scene that the moving object in image is more single.If be used in Vehicular video monitoring by digital security imaging device, then easily there is following problem:
The first, the image poor anti jamming capability of digital imaging apparatus.Digital imaging apparatus is easily subject to the interference of picture material, in relative motion faster process, easily causes the area-of-interest in image to occur the problem flashed.
The second, the quick adjustment of auto-exposure control and stability problem, image adjustment generally can be stablized by digital imaging apparatus in 2 ~ 3 seconds, when vehicle-mounted relative motion is very fast, easily caused the blind of a few second to look problem.
3rd, the problem such as backlight and BLC.What digital imaging apparatus was mainly paid close attention to is general image effect, and the concern of Vehicular video mirror control imaging device is zonal problem.
For solving the problem, the present invention proposes a kind of picture adjustment methods of vehicle-mounted imaging device, described method comprises: obtain the initial pictures gathered by imaging sensor, and adds up monochrome information and the gradient information of described initial pictures; Determine the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures; Movement state information according to described initial pictures carries out automatic exposure gain-adjusted, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
The movement state information that the present invention obtains image by statistics carries out automatic exposure gain-adjusted, thus overcome cause image to flash because relative motion is too fast, smear, shake fuzzy defect.By regulating automatic exposure speed according to the brightness change information of described initial pictures, thus overcome digital imaging apparatus and occur blind defect of looking problem when relative motion is very fast.By carrying out image detail adjustment according to described monochrome information, thus obtaining the picture rich in detail of interest region, making digital imaging apparatus meet the requirement of vehicle-mounted imaging system.Further illustrate below in conjunction with accompanying drawing.
Fig. 1 shows the realization flow of the picture adjustment methods of the vehicle-mounted imaging device that the embodiment of the present invention provides, and details are as follows:
In step S101, obtain the initial pictures gathered by imaging sensor, and add up monochrome information and the gradient information of described initial pictures.
Concrete, imaging device described in the embodiment of the present invention, (English full name is ImageSignal Processing can to adopt ISP, Chinese full name be image signal processing unit) or plug-in FPGA (English full name is Field-Programmable Gate Array, and Chinese full name is field programmable gate array) complete the picture adjustment methods described in the embodiment of the present invention.By the brightness value required for described ISP or FPGA real-time statistics and gradient information.
Described imaging sensor, i.e. imageing sensor, be photo-sensitive cell again, is the important component part of composition digital camera.According to the difference of element, (English full name is Charge Coupled Device can be divided into CCD, Chinese full name is charge coupled cell) and the large class of CMOS (English full name is Complementary Metal-OxideSemiconductor, and Chinese full name is metal oxide semiconductor device) two.
Wherein, CCD is the high-end technology element being applied in photography and vedio recording aspect, and CMOS is then applied in the product of lower image quality, and its advantage is that comparatively CCD is lower for manufacturing cost, and power consumption is also much lower.Although there is larger difference technically, CCD and CMOS performance gap is not very large.
Described initial pictures, the image also namely obtained by imageing sensor, and without the adjustment process of image, is moving faster under scene, also just there will be that flashing easily appears in the image mentioned in background technology of the present invention, the problem of smear or shake.
Added up described initial pictures by described ISP or FPGA, statistics obtains monochrome information and the gradient information of described initial pictures.
Described monochrome information refers to the light levels of picture, and unit moral may draw every square meter (cd/m2) or claim nits, the namely candle light of every square centimeter point.
The gradient information of described initial pictures, suppose the function f (x of image, y) at point (x, y) gradient (i.e. first differential) is a vector with size and Orientation, if Gx, Gy represent respectively in the x-direction with the gradient in y direction, so this gradient vector can be expressed as:
The amplitude of this vector is:
Deflection is:
The direction of gradient is the place that function f (x, y) change is the fastest, when an edge is present in the image, necessarily has larger Grad; And part more level and smooth in image, gray-value variation is less, generally has less gradient.In image procossing often the mould of gradient referred to as gradient, the image be made up of image gradient is called gradient image.
Partial derivative various above needs the position calculation to each pixel, classical image gradient algorithm is the change of the gray scale in certain neighborhood of each pixel considering image, the single order utilizing edge to close on or second dervative Changing Pattern, arrange gradient operator to certain neighborhood of pixel in original image, conventional zonule template carries out convolution to calculate in practice.According to the size of template and the difference of weight, comprise a lot of gradient operator, conventional operator has: Sobel operator, Robinson operator, Laplace operator etc.
In step s 102, determine the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures.
Concrete, according to the image edge information that the gradient information of statistics is determined, can determine the movement state information of described initial pictures according to the pace of change of described image edge information, described movement state information can comprise the motion velocity information of target in described initial pictures.
According to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures.Such as can the variable quantity of the brightness of the pixel of same position in more adjacent two two field pictures, thus the brightness variable condition information of whole image can be obtained.
In step s 103, the movement state information according to described initial pictures carries out automatic exposure gain-adjusted, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
Brightness change information according to the movement state information of described initial pictures of adding up, the monochrome information of initial pictures and described initial pictures regulates image, and mainly comprise following three kinds of regulative modes, lower mask body is described.
1, the described movement state information according to described initial pictures carries out automatic exposure gain-adjusted, be specially: according to the corresponding relation of the power of the movement state information of the imaging gain value pre-set and image, search the imaging gain value corresponding to movement state information of the current image determined, when the motion state of image is stronger, increase imaging gain value.
Concrete, when the movement state information of described image is rapid movement state, need the adjustment state switching automatic exposure algorithm, by Discrete control exposure, increase analog gain, increase digital gain and increase ISP digital gain, now mainly lay particular emphasis on motion and take into account image quality, being switched to image quality when relative motion is less is main.Then again obtain statistics after the every sectional-regulated parameter feedback that automatic exposure algorithm obtains comes into force in transducer and form negative feedback.
In further execution mode, after the described movement state information according to described initial pictures carries out automatic exposure gain-adjusted step, described method also comprises image sensitive degree regulating step as shown in Figure 2:
In step s 201, the photosensitivity of described initial pictures is obtained;
Described photosensitivity is that film or sensitive chip are to the chemical reaction velocity of light.Low speed refers to film or the film of below ISO100, and middle photosensitivity refers to ISO 200 ~ 800, and ISO is ISO more than 800.When using camera, we can choose the egative film of different photosensitivity (speed) in response to the brightness of shooting environmental, and such as the environment at general cloudy day can use iso200, and dark is as stage, and the environment of concert can with iso400 or higher.
And in the present invention, be then that the multiplication factor by changing signal amplifier in sensitive chip changes iso value, but when promoting iso value, amplifier also can amplify the noise in signal, produces the image of thick particulate.
In step S202, according to the photosensitivity of the initial pictures preset and the corresponding relation of adjustment parameter, the intensity of the wide dynamic technique D-WDR of corresponding adjustment, or the intensity of adjustment mist elimination algorithm, or regulate time-domain filtering intensity, or regulate the intensity of airspace filter.
In this step, the value of photosensitivity determines that D-WDR opens and closes, when photosensitivity is larger, because noise ratio is larger, the pixel effective value of imaging is interfered, the intensity of reduction D-WDR that can be suitable or closedown, can consider in addition to strengthen Penetrating Fog algorithm intensity, increase contrast during ISO.Because 3D noise reduction can ensure definition, according to the speed of the value of photosensitivity and motion, can suitably regulate the intensity of time domain and airspace filter, adopt the mode of piecewise interpolation to adjust.Here still need the relation between balances noise and image quality, intensity is crossed big city and is caused motion blur.
2, the described brightness change information according to described initial pictures regulates automatic exposure velocity step specifically to comprise step shown in Fig. 3:
In step S301, set up the brightness pace of change of image and the mapping table of automatic exposure governing speed;
In step s 302, according to described mapping table, search the brightness change information of described initial pictures, select corresponding automatic exposure governing speed to carry out automatic exposure adjustment, when brightness pace of change is faster, corresponding raising automatic exposure governing speed.
As shown in Figure 3, when judging that present intensity pace of change is mutation status, accelerate the governing speed of automatic exposure, to make image brightness energy quick adjustment, solve and blindly look problem.When mutation status is transformed into plateau, governing speed is reduced, to reduce the interference of rapid movement background, improve the picture steadiness under even running state.
3, describedly carry out image detail regulating step according to described monochrome information and comprise step described in Fig. 4:
In step S401, the brightness value obtaining described initial pictures exceedes the pixel of predetermined value;
In step S402, judge whether the area in the region that described pixel is formed exceedes predetermined face product value;
In step S403, if when the area in the region of described pixel formation exceedes predetermined value, open strong BLC or increase wide dynamic technique D-WDR intensity level according to the area in described region.
When judging there is a large area overexposure region overexposure, automatically opening strong BLC (HLC) function, strengthening D-WDR intensity, suppress highlights image, the dark portion of lifting simultaneously, make the details of general image, definition maintains in tolerance interval.
The movement state information that the present invention obtains image by statistics carries out automatic exposure gain-adjusted, thus overcome cause image to flash because relative motion is too fast, smear, shake fuzzy defect.By regulating automatic exposure speed according to the brightness change information of described initial pictures, thus overcome digital imaging apparatus and occur blind defect of looking problem when relative motion is very fast.By carrying out image detail adjustment according to described monochrome information, thus obtaining the picture rich in detail of interest region, making digital imaging apparatus meet the requirement of vehicle-mounted imaging system.
Fig. 5 shows the structural representation of the image adjusting mechanism of a kind of vehicle-mounted imaging device provided by the invention, and details are as follows:
Described device comprises:
Obtaining statistic unit 501, for obtaining the initial pictures gathered by imaging sensor, and adding up monochrome information and the gradient information of described initial pictures;
State information determining unit 502, for determining the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures;
First regulon 503, carries out automatic exposure gain-adjusted for the movement state information according to described initial pictures, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
Preferably, described regulon specifically for:
According to the corresponding relation of the power of the movement state information of the imaging gain value pre-set and image, search the imaging gain value corresponding to movement state information of the current image determined, when the motion state of image is stronger, increase imaging gain value.
Preferably, described device also comprises:
Photosensitivity acquiring unit, for obtaining the photosensitivity of described initial pictures;
Second regulon, the photosensitivity of initial pictures preset for basis and the corresponding relation of adjustment parameter, the corresponding intensity adjusting wide dynamic technique D-WDR, or the intensity of adjustment Penetrating Fog algorithm, or regulate time-domain filtering intensity, or regulate the intensity of airspace filter.
Preferably, described regulon comprises:
Corresponding relation sets up subelement, for the mapping table of the brightness pace of change and automatic exposure governing speed of setting up image;
Search chooser unit, for according to described mapping table, search the brightness change information of described initial pictures, select corresponding automatic exposure governing speed to carry out automatic exposure adjustment, when brightness pace of change is faster, corresponding raising automatic exposure governing speed.
Preferably, described regulon comprises:
Pixel obtains subelement, and the brightness value for obtaining described initial pictures exceedes the pixel of predetermined value;
Area value judgment sub-unit, for judging whether the area in the region that described pixel is formed exceedes predetermined face product value;
Regulate subelement, if when the area in the region formed for described pixel exceedes predetermined value, open strong BLC or increase wide dynamic technique D-WDR intensity level according to the area in described region.
The image adjusting mechanism of vehicle-mounted imaging device described in Fig. 5 is corresponding with the picture adjustment methods of vehicle-mounted imaging device described in Fig. 1-Fig. 4, does not repeat at this.
In several embodiment provided by the present invention, should be understood that, disclosed apparatus and method, can realize by another way.Such as, device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.
If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a picture adjustment methods for vehicle-mounted imaging device, is characterized in that, described method comprises:
Obtain the initial pictures gathered by imaging sensor, and add up monochrome information and the gradient information of described initial pictures;
Determine the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures;
Movement state information according to described initial pictures carries out automatic exposure gain-adjusted, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
2. method according to claim 1, it is characterized in that, the described movement state information according to described initial pictures is carried out automatic exposure gain-adjusted step and is specifically comprised:
According to the corresponding relation of the power of the movement state information of the imaging gain value pre-set and image, search the imaging gain value corresponding to movement state information of the current image determined, when the motion state of image is stronger, increase imaging gain value.
3. method according to claim 1, it is characterized in that, after the described movement state information according to described initial pictures carries out automatic exposure gain-adjusted step, described method also comprises:
Obtain the photosensitivity of described initial pictures;
According to the photosensitivity of the initial pictures preset and the corresponding relation of adjustment parameter, the intensity of the wide dynamic technique D-WDR of corresponding adjustment, or the intensity of adjustment mist elimination algorithm, or regulate time-domain filtering intensity, or regulate the intensity of airspace filter.
4. method according to claim 1, the described brightness change information according to described initial pictures regulates automatic exposure velocity step specifically to comprise:
Set up the brightness pace of change of image and the mapping table of automatic exposure governing speed;
According to described mapping table, search the brightness change information of described initial pictures, select corresponding automatic exposure governing speed to carry out automatic exposure adjustment, when brightness pace of change is faster, corresponding raising automatic exposure governing speed.
5. method according to claim 1, is characterized in that, describedly carries out image detail regulating step according to described monochrome information and comprises:
The brightness value obtaining described initial pictures exceedes the pixel of predetermined value;
Judge whether the area in the region that described pixel is formed exceedes predetermined face product value;
If when the area in the region that described pixel is formed exceedes predetermined value, open strong BLC or increase wide dynamic technique D-WDR intensity level according to the area in described region.
6. an image adjusting mechanism for vehicle-mounted imaging device, is characterized in that, described device comprises:
Obtaining statistic unit, for obtaining the initial pictures gathered by imaging sensor, and adding up monochrome information and the gradient information of described initial pictures;
State information determining unit, for determining the movement state information of described initial pictures according to described gradient information, according to the monochrome information of the monochrome information of described initial pictures and the image before initial pictures, determine the brightness variable condition information of described initial pictures;
First regulon, carries out automatic exposure gain-adjusted for the movement state information according to described initial pictures, and the brightness change information according to described initial pictures regulates automatic exposure speed, carries out image detail adjustment according to described monochrome information.
7. device according to claim 6, is characterized in that, described regulon specifically for:
According to the corresponding relation of the power of the movement state information of the imaging gain value pre-set and image, search the imaging gain value corresponding to movement state information of the current image determined, when the motion state of image is stronger, increase imaging gain value.
8. device according to claim 1, it is characterized in that, described device also comprises:
Photosensitivity acquiring unit, for obtaining the photosensitivity of described initial pictures;
Second regulon, the photosensitivity of initial pictures preset for basis and the corresponding relation of adjustment parameter, the corresponding intensity adjusting wide dynamic technique D-WDR, or the intensity of adjustment mist elimination algorithm, or regulate time-domain filtering intensity, or regulate the intensity of airspace filter.
9. device according to claim 6, it is characterized in that, described regulon comprises:
Corresponding relation sets up subelement, for the mapping table of the brightness pace of change and automatic exposure governing speed of setting up image;
Search chooser unit, for according to described mapping table, search the brightness change information of described initial pictures, select corresponding automatic exposure governing speed to carry out automatic exposure adjustment, when brightness pace of change is faster, corresponding raising automatic exposure governing speed.
10. device according to claim 6, it is characterized in that, described regulon comprises:
Pixel obtains subelement, and the brightness value for obtaining described initial pictures exceedes the pixel of predetermined value;
Area value judgment sub-unit, for judging whether the area in the region that described pixel is formed exceedes predetermined face product value;
Regulate subelement, if when the area in the region formed for described pixel exceedes predetermined value, open strong BLC or increase wide dynamic technique D-WDR intensity level according to the area in described region.
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