CN106846263B - Based on the image defogging method for merging channel and sky being immunized - Google Patents
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Abstract
Based on the image defogging method for merging channel and sky being immunized, it is related to digital image processing techniques field, there are sky areas color distortions on image after solution conventional images defogging method defogging, there is halation phenomenon and blocking artifact, leading to defog effect difference and existing method, there are identification process troublesome calculation amount is big, minimum value, maximum value filtering are carried out to foggy image, rough estimate atmosphere light and introducing modifying factor, the respectively rough estimate of the transmitance of the transmitance and bright channel of dark；Fine optimization is carried out using guiding filtering respectively, judges the rough estimate of dark transmitance made a rough estimate of whether greater than bright channel transmitance, if it is, dark primary channel image is sky areas, if it is not, then dark primary channel image is not sky areas, accurate fusion transmitance estimation is obtained；And using the pixel mean value as to the adaptive accurate estimation of atmosphere light and fusion transmitance, defogging clear image is obtained using atmospheric scattering imaging model.
Description
Technical field
The present invention relates to digital image processing techniques fields, and in particular to it is a kind of based on fusion channel and to sky be immunized
Image defogging method.
Background technique
In recent years, haze weather is relatively conventional, since the particles such as particulates a large amount of in air, small water droplet are to light
Absorption and scattering process cause outdoor image quality seriously to be degenerated, color of image distortion it is partially greyish white, image obscure details it is unclear
It is clear, contrast decline.Visual effect is not only influenced, the performance of the effectiveness of outdoor imaging system is also directly limited, is schemed to the later period
As processing and analysis bring difficulty.Therefore, very necessary to Misty Image progress sharpening processing.
Currently, image defogging technology has become research hotspot, to single image to the fog method have image enchancing method and
Two kinds of image recovery method.Image enchancing method is mainly filtered by the means such as image procossing, such as histogram equalization, frequency domain
Wave, Retinex etc. protrude certain information in image, to a certain extent by weakening or removing some unwanted information
The contrast of image can be improved, visual effect is improved, but is not started with from the blur degradation mechanism of Misty Image, is not reality
Defogging in matter.
Image recovery method defogging is to consider image causes for Degradation from atmospheric scattering theory, establishes greasy weather imaging
Scattering model realizes that scene is restored, ideal defog effect can be obtained, wherein using the defogging method of dark primary priori as generation
Table.Dark primary priori is the statistical law of a kind of pair of fog free images, and rough estimate first goes out medium propagation function, is then scratched using soft
Primitive reason or wave filter carry out fine optimization to transmitance image, which obtains admirable defog effect.
However in the brightness of scene objects situation similar with atmosphere light, there are the sky areas bases of large area in image
Originally it can not find the point of pixel value very little, dark primary assumes failure at this time.Generally can all there be certain area for outdoor image
Sky image, however, above either algorithm for image enhancement or Image Restoration Algorithm, these algorithms have one common to lack
Point exactly will cause sky areas color distortion after defogging, halation phenomenon and blocking artifact occurs, seriously affect defog effect.Phase
The innovatory algorithm answered needs to extract the features such as sky gradient information, carries out sky identification, thus to sky and non-sky area into
Row segmentation, then takes different transmitance estimation methods to carry out defogging processing, identification process is cumbersome, computationally intensive.
Summary of the invention
The present invention is halation occur there are sky areas color distortion on image after solving conventional images defogging method defogging
Phenomenon and blocking artifact lead to problems such as defog effect difference and existing method there are identification process troublesome calculation amount is big, provide one
Kind is based on the image defogging method for merging channel and sky being immunized.
Based on fusion channel and the image defogging method immune to sky, this method are realized by following steps:
Step 1: carrying out mini-value filtering and maximum value filtering respectively to original foggy image I (x), obtain respectively dark former
Chrominance channel image and bright primary channel image；
Step 2: the pixel of brightness value highest 0.1% in dark primary channel image is taken, in original foggy image I (x)
The point of respective pixel value is found, and takes maximum pixel value as the rough estimate to atmosphere light A；
Step 3: the rough estimate for the atmosphere light A for introducing modifying factor ω, and being obtained according to step 2, obtains dark
The rough estimate of transmitanceWith the rough estimate of bright channel transmitanceIt is indicated with following formula are as follows:
In formula, a Color Channel in c R, G, B triple channel takes the modifying factor ω of dark primary channel imageD=
0.8, the modifying factor of bright primary channel image
Step 4: obtaining the rough estimate of dark transmitance according to step 3With estimating roughly for bright channel transmitance
MeterUsing the guiding filtering rough estimate to dark transmitance respectivelyWith the rough estimate of bright channel transmitanceFine optimization is carried out, the fine estimation of dark transmitance is respectively obtainedWith the fine estimation of bright channel transmitance
Step 5: judging the fine estimation of dark transmitanceWhether the fine estimation of bright channel transmitance is greater thanIf so, executing step 6；If it is not, then dark primary channel image is not sky areas, fusion transmitance estimation
Step 6: the dark primary channel image is sky areas, fusion transmitance estimationStatistics symbol
The pixel value of the corresponding foggy image part in sky areas of bright primary colors priori theoretical is closed, and using the pixel mean value as to big
The adaptive accurate estimation of gas light A；
Step 7: according to Step 5: the fusion transmitance that synthesis obtains in step 6The atmosphere obtained in step 6
The adaptive accurate estimation of light A obtains defogging clear image using atmospheric scattering imaging model.
Beneficial effects of the present invention: the present invention is based on atmospherical scattering models, in the theoretical basis of dark primary priori, from
Secretly, bright binary channels, which is started with, is analyzed, and the case where dark primary priori fails is made up using bright primary colors priori, to sky portion image
There is adaptive immunity, and accurately ART network can be carried out to atmosphere light A, effectively increases dark primary elder generation checking method
Universality and robustness.
Detailed description of the invention
Fig. 1 is outdoor fog free images dark primary image and bright primary colour image of the invention；Wherein, Fig. 1 a is outdoor fogless original
Image, Fig. 1 b are dark primary image, and Fig. 1 c is bright primary colour image；
Fig. 2 is of the invention a kind of based on fusion channel and image defogging method flow chart that sky is immunized；
It is respectively the contrast effect estimated according to dark, bright channel and fusion channel transmitance image in Fig. 3
Figure；Wherein, Fig. 3 a is original image, and Fig. 3 b is that dark primary channel finely estimates that transmitance effect picture, 3c are bright primary channel estimation essence
Thin transmitance effect picture, Fig. 3 d are that transmitance effect picture is estimated in fusion channel；
Fig. 4 is using of the present invention based on fusion channel and to the immune image defogging method of sky and existing histogram
Figure equalization algorithm, dark channel prior algorithm are to the defog effect contrast effect figure with small area sky mist figure；Wherein, Fig. 4 a
For original image, Fig. 4 b is using algorithm of histogram equalization to the defog effect figure with small area sky mist figure；Fig. 4 c is to use
For dark channel prior algorithm to the defog effect figure with small area sky mist figure, Fig. 4 d is using of the present invention based on fusion
Channel and to sky be immunized image defogging method to the defog effect figure with small area sky mist figure；
Fig. 5 is using of the present invention based on fusion channel and to the immune image defogging method of sky and existing histogram
Figure equalization algorithm, dark channel prior algorithm are to the defog effect comparison diagram with large area sky mist figure；Wherein, Fig. 5 a is original
Figure, Fig. 5 b are using algorithm of histogram equalization to the defog effect figure with large area sky mist figure；Fig. 5 c is to use to help secretly
For road elder generation checking method to the defog effect figure with large area sky mist figure, Fig. 5 d is using of the present invention based on fusion channel
And to the immune image defogging method of sky to the defog effect figure with large area sky mist figure；
Fig. 6 is based on this algorithm and algorithm of histogram equalization, dark channel prior algorithm to large area and sky and object
The folded Misty Image defog effect figure of weight；Wherein, Fig. 6 a is original image, and Fig. 6 b is big to having using algorithm of histogram equalization
The Misty Image defog effect figure of area and sky and overlapped object；Fig. 6 c is using dark channel prior algorithm to large area
And the Misty Image defog effect figure of sky and overlapped object, Fig. 6 d are using of the present invention based on fusion channel and to day
The immune image defogging method of sky is to the Misty Image defog effect figure with large area and sky and overlapped object.
Specific embodiment
Specific embodiment one illustrates present embodiment in conjunction with Fig. 1 to Fig. 6, is immunized based on fusion channel and to sky
Image defogging method, this method are realized by following steps:
Step 1: carry out minimum value, maximum value filtering respectively to original foggy image I (x), dark primary, bright is sought respectively
The image of primary channel.
Step 2: taking dark channel image according to 0.1% pixel before the sequence of pixel value size, and in original foggy image
Respective pixel value point is found, takes maximum pixel value as the rough estimate to atmosphere light A.
Step 3: the rough estimate by step 2 to atmosphere light A, respectively obtains dark according to formula (5), formula (10)
TransmitanceWith the transmitance in bright channelRough estimate；
Its detailed process are as follows:
In computer vision field, atmospheric scattering imaging model is used widely, is shown below:
I (x)=J (x) t (x)+A (1-t (x)) (1)
Wherein, J (x) is the fog free images to be restored, and t (x) is transmitance, and c refers to that a color in R, G, B triple channel is logical
Road.Formula (1) is slightly handled, following formula is deformed into:
By dark primary priori theoretical, assume initially that transmitance t (x) is constant in each window, is defined asA
For constant, minimum operation twice is asked to formula (2) both sides, obtains following formula:
According to dark channel prior:
In order to allow people to feel the presence of the depth of field, it is necessary to defogging when targetedly retain a part and cover remote scape
The mist of object introduces a modifying factor ω between [0,1], the rough estimate of dark transmitance finally can be obtained
Wherein, the modifying factor ω of dark primary channel imageDValue are as follows: ωD=0.8.
For fog free images statistics discovery in Outdoor Scene, in any local fritter of most open air fog free images, also deposit
In some pixels, the intensity value of their some or several Color Channels is very high, or even close to 255 saturation values, herein I
Be referred to as bright primary colors.
Through analyzing, outdoor fogless topography meets dark primary and bright primary colors simultaneously, but Ye You topography cannot be simultaneously
Meet both priori knowledges, as shown in Figure 1.Obviously, sky areas topography only meets bright primary colors priori, and is unsatisfactory for dark
Primary colors priori leads to the distortion of sky portion color of image, halation phenomenon and block occurs then will will appear mistake using dark
Effect.
We copy dark to push over process, are pushed over as follows to bright channel: seeking maximum value twice to formula (2) both sides
Operation obtains formula:
From bright channel prior:
By (6) Shi Ke get:
Arrangement can obtain:
It copies dark theoretical, image is normalized, and modifying factor is added, formula (10) is obtained, using this
A formula can obtain the rough estimate using bright channel transmitance
Wherein, the modifying factor ω of bright primary channel imageLValue are as follows:
From formula (5):It isSubtraction function, explanation are worked asValue is bigger, i.e. transmitance figure
It is brighter,With regard to smaller, then to meet dark channel prior rule probability bigger for the topography, conversely, transmitance
Figure is darker, and it is smaller which meets dark channel prior rule probability.
From formula (10):It isIncreasing function, explanation works asValue is bigger, that is, penetrates
Rate figure is brighter,It is bigger, then to meet bright channel prior rule probability bigger for the topography, conversely,
Transmitance figure is darker, and it is smaller which meets dark channel prior rule probability.
Step 4: the rough estimate by step 3 to the transmitance in dark, bright channel Using guiding filtering
It is right respectively Fine optimization estimation is carried out, the fine estimation of dark transmitance is respectively obtainedWith bright channel
The fine estimation of transmitanceFine transmitance estimation is carried out to the original image of the Misty Image in Fig. 3 a, respectively obtains dark original
Finely estimate that transmitance figure such as Fig. 3 b, bright primary channel finely estimate that transmitance figure such as Fig. 3 c, Fig. 3 d are in the present invention in chrominance channel
It merges channel and estimates transmitance figure.
Step 5: judgement Relationship, to obtain more accurate fusion transmitance estimation figureIt chooses
The fine estimation of dark transmitanceWith the fine estimation of bright channel transmitanceMiddle relative larger value is (such as formula (11)
It is shown), obtain final transmitance estimationIn this way, dark primary and bright primary colors theory can be made mutually to make up, to obtain
Take more accurate transmitance estimation figure
IfExplanation is sky portion, then improved fusion transmitanceConversely,
It is not then sky portion, improved fusion transmitanceFinally obtain improved fusion transmitance figureSuch as
Shown in Fig. 3 d.
Step 6: take in step 5,The sky portion for not meeting dark primary priori theoretical is corresponding with mist
The pixel value of image section is counted and is sought mean value, as the adaptive accurate estimation to atmosphere light A.
Step 7: taking Step 5: merging transmitance figure in step 6The fine ART network value of atmosphere light A,
Defogging clear image is obtained according to atmospheric scattering imaging model.
In present embodiment, choosing three kinds, there are the foggy images of sky, and one is there are the greasy weather of small area sky figures
Picture, as shown in Figure 4；Second is the Misty Image with large area sky, as shown in Figure 5；The third is with large area day
The Misty Image that empty and sky is overlapped with object, as shown in Figure 6；
It is dark to choose typicalness algorithm-algorithm of histogram equalization of image enhancement, the typical defogging algorithm-in image restoration
Channel prior algorithm and a kind of image based on channel is merged and to the immune image defogging algorithm of sky to the greasy weather of the invention
Sharpening processing is carried out, and defog effect is compared, processing result-Fig. 6 referring to fig. 4.
Comparison defog effect shows: in Misty Image, whether no matter there is sky size, histogram equalization is calculated
Method, dark channel prior algorithm can all have color distortion, halation phenomenon and blocking artifact to the processing result of sky portion image, ginseng
See 4b, 4c, 5b, 5c, 6b and 6c in Fig. 4-Fig. 6, seriously affects the defog effect of image.
Using the figure obtained described in present embodiment based on the image defogging algorithm process for merging channel and sky being immunized
Picture, no matter sky portion image area size, effectively prevent distortion of the algorithm above to Misty Image sky portion, obtain whole
Body harmony clearly image, illustrates the immunity for the sky portion that inventive algorithm handles Misty Image.
Claims (3)
1. based on the image defogging method for merging channel and sky being immunized, characterized in that this method is realized by following steps:
Step 1: carrying out mini-value filtering and maximum value filtering respectively to original foggy image I (x), it is logical that dark primary is obtained respectively
Road image and bright primary channel image；
Step 2: taking the pixel of brightness value highest 0.1% in dark primary channel image, found in original foggy image I (x)
The point of respective pixel value, and take maximum pixel value as the rough estimate to atmosphere light A；
Step 3: the rough estimate for the atmosphere light A for introducing modifying factor ω, and being obtained according to step 2, obtains dark and penetrates
The rough estimate of rateWith the rough estimate of bright channel transmitanceIt is indicated with following formula are as follows:
In formula, a Color Channel in c R, G, B triple channel takes the modifying factor ω of dark primary channel imageD=0.8, it is bright
The modifying factor of primary channel image
Step 4: obtaining the rough estimate of dark transmitance according to step 3With the rough estimate of bright channel transmitanceUsing the guiding filtering rough estimate to dark transmitance respectivelyWith the rough estimate of bright channel transmitanceFine optimization is carried out, the fine estimation of dark transmitance is respectively obtainedWith the fine estimation of bright channel transmitance
Step 5: judging the fine estimation of dark transmitanceWhether the fine estimation of bright channel transmitance is greater than
If so, executing step 6；If it is not, then dark primary channel image is not sky areas, fusion transmitance estimation
Step 6: the dark primary channel image is sky areas, fusion transmitance estimationStatistics meets bright
The pixel value of the corresponding foggy image part in the sky areas of primary colors priori theoretical, and using pixel mean value as to atmosphere light A's
Adaptive accurate estimation；
Step 7: according to Step 5: the comprehensive obtained fusion transmitance of step 6 is estimatedThe atmosphere light obtained in step 6
The adaptive accurate estimation of A obtains defogging clear image using atmospheric scattering imaging model.
2. according to claim 1 based on the image defogging method for merging channel and sky being immunized, which is characterized in that institute
State the rough estimate of bright channel transmitanceThe detailed process of acquisition are as follows:
Maximum operation twice is sought to atmospheric scattering imaging model both sides, obtains following formula:
According to bright primary colors priori:
Arrangement can obtain:
Image is normalized, and the modifying factor ω of bright primary channel imageL, obtain the rough of bright channel transmitance
EstimationIt is indicated with following formula are as follows:
3. according to claim 1 based on the image defogging method for merging channel and sky being immunized, which is characterized in that right
Merge the estimation of transmitanceIts detailed process are as follows:
Choose the fine estimation of dark transmitanceWith the fine estimation of bright channel transmitanceMiddle relative larger value is made
For fusion transmissivity estimationIt is indicated with following formula are as follows:
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| CN108537756B (en) * | 2018-04-12 | 2020-08-25 | 大连理工大学 | Single image defogging method based on image fusion |
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| CN109740673A (en) * | 2019-01-02 | 2019-05-10 | 天津工业大学 | A kind of neural network smog image classification method merging dark |
| CN110163807B (en) * | 2019-03-20 | 2023-04-07 | 哈尔滨工业大学 | Low-illumination image enhancement method based on expected bright channel |
| CN110148093B (en) * | 2019-04-17 | 2023-05-16 | 中山大学 | Image defogging improvement method based on dark channel prior |
| CN111105373B (en) * | 2019-12-13 | 2023-07-28 | 嘉应学院 | Rapid defogging method for sky-region-containing image and application system thereof |
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| CN111598811A (en) * | 2020-05-25 | 2020-08-28 | 中国科学院长春光学精密机械与物理研究所 | Single full-color remote sensing haze image sharpening method |
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