CN107426548A - A kind of microminiature low power image transmission equipment - Google Patents
A kind of microminiature low power image transmission equipment Download PDFInfo
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- CN107426548A CN107426548A CN201710801020.2A CN201710801020A CN107426548A CN 107426548 A CN107426548 A CN 107426548A CN 201710801020 A CN201710801020 A CN 201710801020A CN 107426548 A CN107426548 A CN 107426548A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/161—Encoding, multiplexing or demultiplexing different image signal components
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/194—Transmission of image signals
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
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Abstract
In order to reduce data processing power consumption load to caused by the GPU units of unmanned scout in three-dimensional video acquisition, the invention provides a kind of microminiature low power image transmission equipment, for reducing the power consumption of the image processing equipment with GPU, including：GPU monitors subelement, for monitoring the processing state of the GPU；Image acquisition units, for gathering two positioned at different altitude height and the image of different angle；Image pre-processing unit, the state for monitoring to obtain according to GPU monitoring subelements pre-process to image；Communication unit, for being transferred through the image of described image pretreatment unit pretreatment；And GPU monitoring subelement, image acquisition units and the image pre-processing unit are encapsulated as one.
Description
Technical field
The present invention relates to three-dimensional video acquisition technical field, is transmitted more particularly, to a kind of microminiature low power image
Equipment.
Background technology
Investigation unmanned vehicle, especially four-axle aircraft with take photo by plane science and technology development obtained suitable development with
Using.This to take photo by plane investigation in a professional environment, time length of finding a view, photographing request is high, operator's specialty, so typically use
All it is repeated multiple times shooting, then later stage editing is spliced, and obtains the investigation shooting side for the optimal presentation effect that user can enjoy
Formula.Also therefore, in a professional environment, shooting effect to be promoted to those skilled in the art of interest, such as：Stabilization, stabilization etc..
The passback of existing investigation video image, most of is to be based on analog video signal, fogging image, meanwhile, nothing
It is man-machine to continuously acquire the big high-precision sequential images of degree of overlapping, but the image obtained can lose depth information.Based on image
Three-dimensional reconstruction, refer to the method and technology that scene three-dimensional structure is automatically recovered using several digital camera images.In recent years
Carry out three-dimensional reconstruction and obtain huge success in video, 3-dimensional reconstruction process field, apply it to unmanned plane figure
As process field, the full-automatic application rebuild related application, unmanned plane can be expanded is carried out to unmanned plane image, is improved
The application level of unmanned plane.But the research for unmanned plane sequential images three-dimensional reconstruction is still in the starting stage at present, mainly deposits
In problems with：(1) relative to ground image, the three-dimensional reconstruction based on unmanned plane sequential images is usually big data quantity large scene
Three-dimensional reconstruction；(2) directly algorithm ripe in computer vision is applied in unmanned plane sequential images three-dimensional reconstruction mostly；
(3) the not high auxiliary information of precision is not made full use of.
In the prior art, Application No. CN201610987031.X Chinese invention patent application discloses a kind of unmanned plane
Sequential images batch processing three-dimensional rebuilding method, comprises the following steps：Step 1: merge the image of low precision GPS/INS information
Match somebody with somebody；Step 2: establish polar figure；Step 3: calculate the rotary collecting of global coherency；Step 4: initialization image center point；Step
Rapid five, the character pair locus of points is generated；Step 6: initialization 3D structures；Step 7: bundle adjustment；Step 8: dense point cloud
Rebuild；Step 9: texture mapping；Technical scheme realizes the large scene batch to big data quantity unmanned plane sequential images
Three-dimensional reconstruction is handled, images match is carried out by using low precision GPS/IMU prior informations, establish polar figure and draws multi views
The technological means such as the track at midpoint and new bundle adjustment majorized function, improve the precision and efficiency of three-dimensional reconstruction.
However, these prior art operands are excessive, especially the operand in 3-D view processing often leads to fly
Power consumption is too high in terms of the transmission of processing and data of the device to image.
The content of the invention
In order to reduce data processing power consumption load to caused by the GPU units of unmanned scout in three-dimensional video acquisition,
The invention provides a kind of microminiature low power image transmission equipment, for reducing the power consumption of the image processing equipment with GPU,
Including：
GPU monitors subelement, for monitoring the processing state of the GPU；
Image acquisition units, for gathering two positioned at different altitude height and the image of different angle；
Image pre-processing unit, the state for monitoring to obtain according to GPU monitoring subelements are located in advance to image
Reason；
Communication unit, for being transferred through the image of described image pretreatment unit pretreatment；
And GPU monitoring subelement, image acquisition units and the image pre-processing unit are encapsulated as one.
Further, described image pretreatment unit includes：
Training unit, when the state for monitoring to obtain when GPU monitoring subelements conforms to a predetermined condition, training image
The compressed coefficient；
Compression unit, for the view data of the multiple directions of different altitude height gathered based on image acquisition units,
Carry out image Compression.
Further, the training unit includes：
First IMAQ subelement, for based on described image collecting unit, being in relative to the θ angles of heading
The first moment of first level direction t1 to the second moment t2 of α angles gathers image video signal I1 (t) and relative to winged
The θ angles of line direction are in the second horizontal direction of β angles in the 3rd moment t1 to the 4th moment t2 collection image video signals I2
(t), α is different from β；
First altitude information gathers subelement, horizontal for gathering altitude information h1 corresponding to first level direction and second
Altitude information h2 corresponding to direction；
First conversion subelement, orderTo the signal I1 collected
(t) and I2 (t) carries out such as down conversion respectively：
Obtain J1 (t) and J2 (t)；
Spectrum analysis subelement, for carrying out Fourier transform respectively to J1 (t) and J2 (t) and determining the two different frequency
Compose composition；
Second conversion subelement, for the different frequency content to be carried out into inverse Fourier transform, and carry out binomial
Expansion, obtains its constant term coefficient C and obtains the phase angle ψ after inverse transformation；
Compressed coefficient computation subunit, for calculating the compressed coefficient to I1 (t) and I2 (t)：
P in formulaijRepresent image video signal I1 (t) pixel, P 'ijRepresent image video signal I2 (t) pixel；
Further, the compression unit includes：
Second IMAQ subelement, for based on described image collecting unit, being in relative to the θ angles of heading
3rd horizontal direction of γ angles and relative to heading θ angles in ξ angles the 4th horizontal direction at the 4th moment
The 5th moment t3 to the 6th moment t4 collection image video signal I3 (t) and I4 (t), γ and ξ after t2 is different, collection the 3rd
Altitude information h4 corresponding to altitude information h3 corresponding to horizontal direction and the 4th horizontal direction；
Basic function determination subelement, for calculating I3 (t) and I4 (t) wavelet transformation basic function：
Wherein, QijWith Q 'ijCorrespond respectively to I3 (t) and I4 (t) pixel；
Wavelet transformation subelement, for using w1 and w2 as basic function, carrying out wavelet transformation to I3 (t) and I4 (t) respectively, obtaining
To V3 and V4；
3rd conversion subelement, orderTo the signal I3 collected
(t) and I4 (t) carries out such as down conversion respectively：
Obtain J ' 1 (t) and J ' 2 (t)；
To J ' 1 (t) and J ' 2 (t) carry out binomial expansion respectively, obtain constant term C '1With C '2；
Subelement is normalized, for making V3 for C '1It is normalized, makes V4 for C '2It is normalized；
Transmission sub-unit, for carrying out inverse wavelet transform for the result after normalization, and by the result of inverse wavelet transform
It is sent to the communication unit of the equipment.
Further, the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
Further, the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be added based on chaos encryption algorithm
It is close.
Further, the angle [alpha] determines with β and γ and ξ according to thermoinduction tracking direction.
Further, the angle [alpha] should meet with β and γ and ξ：
Further, the predetermined condition refers to that the GPU monitoring subelement monitors the operation of the GPU processing video
When exceed predetermined threshold value.
Further, the image processing equipment with GPU is the unmanned investigation of the image processing equipment with GPU
Machine.
The beneficial effects of the invention are as follows：
(1) present invention by the way of different angle and different altitude height obtain image, is dropped using based on multiple cameras
It is low to obtaining 3 D video when rely on the situation of the higher picture pick-up device of cost, significantly reduce adopting for video capture device
Purchase cost and O＆M cost.
(2) mode of the present invention creatively based on data training obtains the compressed coefficient of acceptable definition, Jin Ertong
Overcompression coefficient reduces the data volume for the video data for needing to transmit, and avoids and carries out angle for video data in the prior art
A large amount of operands of the routine operations such as conversion.
(3) present invention improves the supply of electric power stability of monitoring process by way of data processing amount reduction, favorably
In improving monitor duration, so as to advantageously in the endurance for improving MAV formula investigation equipment.
(4) video acquisition direction of the invention is according to thermo-responsive tracking direction, drastically increases the video that collects
Definition and practicality.
Brief description of the drawings
Fig. 1 shows the structured flowchart of the graphic transmission equipment according to the present invention.
Embodiment
As shown in figure 1, according to a preferred embodiment of the invention, the invention provides a kind of transmission of microminiature low power image
Equipment, for reducing the power consumption of the image processing equipment with GPU, it is characterised in that including：
GPU monitors subelement, for monitoring the processing state of the GPU；
Image acquisition units, for gathering two positioned at different altitude height and the image of different angle；
Image pre-processing unit, the state for monitoring to obtain according to GPU monitoring subelements are located in advance to image
Reason；
Communication unit, for being transferred through the image of described image pretreatment unit pretreatment；
And GPU monitoring subelement, image acquisition units and the image pre-processing unit are encapsulated as one.
Preferably, described image pretreatment unit includes：
Training unit, when the state for monitoring to obtain when GPU monitoring subelements conforms to a predetermined condition, training image
The compressed coefficient；
Compression unit, for the view data of the multiple directions of different altitude height gathered based on image acquisition units,
Carry out image Compression.
Preferably, the training unit includes：
First IMAQ subelement, for based on described image collecting unit, being in relative to the θ angles of heading
The first moment of first level direction t1 to the second moment t2 of α angles gathers image video signal I1 (t) and relative to winged
The θ angles of line direction are in the second horizontal direction of β angles in the 3rd moment t1 to the 4th moment t2 collection image video signals I2
(t), α is different from β；
First altitude information gathers subelement, horizontal for gathering altitude information h1 corresponding to first level direction and second
Altitude information h2 corresponding to direction；
First conversion subelement, orderTo the signal I1 collected
(t) and I2 (t) carries out such as down conversion respectively：
Obtain J1 (t) and J2 (t)；
Spectrum analysis subelement, for carrying out Fourier transform respectively to J1 (t) and J2 (t) and determining the two different frequency
Compose composition；
Second conversion subelement, for the different frequency content to be carried out into inverse Fourier transform, and carry out binomial
Expansion, obtains its constant term coefficient C and obtains the phase angle ψ after inverse transformation；
Compressed coefficient computation subunit, for calculating the compressed coefficient to I1 (t) and I2 (t)：
P in formulaijRepresent image video signal I1 (t) pixel, P 'ijRepresent image video signal I2 (t) pixel；
Preferably, the compression unit includes：
Second IMAQ subelement, for based on described image collecting unit, being in relative to the θ angles of heading
3rd horizontal direction of γ angles and relative to heading θ angles in ξ angles the 4th horizontal direction at the 4th moment
The 5th moment t3 to the 6th moment t4 collection image video signal I3 (t) and I4 (t), γ and ξ after t2 is different, collection the 3rd
Altitude information h4 corresponding to altitude information h3 corresponding to horizontal direction and the 4th horizontal direction；
Basic function determination subelement, for calculating I3 (t) and I4 (t) wavelet transformation basic function：
Wherein, QijWith Q 'ijCorrespond respectively to I3 (t) and I4 (t) pixel；
Wavelet transformation subelement, for using w1 and w2 as basic function, carrying out wavelet transformation to I3 (t) and I4 (t) respectively, obtaining
To V3 and V4；
3rd conversion subelement, orderTo the signal I3 collected
(t) and I4 (t) carries out such as down conversion respectively：
Obtain J ' 1 (t) and J ' 2 (t)；
To J ' 1 (t) and J ' 2 (t) carry out binomial expansion respectively, obtain constant term C '1With C '2；
Subelement is normalized, for making V3 for C '1It is normalized, makes V4 for C '2It is normalized；
Transmission sub-unit, for carrying out inverse wavelet transform for the result after normalization, and by the result of inverse wavelet transform
It is sent to the communication unit of the equipment.
Preferably, the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
Preferably, the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be added based on chaos encryption algorithm
It is close.
Preferably, the angle [alpha] determines with β and γ and ξ according to thermoinduction tracking direction.
Preferably, the angle [alpha] should meet with β and γ and ξ：
Preferably, when the predetermined condition refers to that the GPU monitoring subelement monitors the operation of the GPU processing video
More than predetermined threshold value.
Preferably, the image processing equipment with GPU is the unmanned scout of the image processing equipment with GPU.
The narration made above for presently preferred embodiments of the present invention is the purpose to illustrate, and is not intended to limit essence of the invention
It is really disclosed form, based on teaching above or learns from embodiments of the invention and make an amendment or change to be possible
, embodiment is to explain the principle of the present invention and allowing those skilled in the art to exist with various embodiments using the present invention
Selected in practical application and narration, technological thought of the invention attempt to be determined by claim and its equalization.
Claims (10)
1. a kind of microminiature low power image transmission equipment, for reducing the power consumption of the image processing equipment with GPU,
It is characterised in that it includes：
GPU monitors subelement, for monitoring the processing state of the GPU；
Image acquisition units, for gathering two positioned at different altitude height and the image of different angle；
Image pre-processing unit, the state for monitoring to obtain according to GPU monitoring subelements pre-process to image；
Communication unit, for being transferred through the image of described image pretreatment unit pretreatment；
And GPU monitoring subelement, image acquisition units and the image pre-processing unit are encapsulated as one.
2. graphic transmission equipment according to claim 1, it is characterised in that described image pretreatment unit includes：
Training unit, when the state for monitoring to obtain when GPU monitoring subelements conforms to a predetermined condition, training image compression
Coefficient；
Compression unit, for the view data of the multiple directions of different altitude height gathered based on image acquisition units, carry out
Image Compression.
3. graphic transmission equipment according to claim 2, it is characterised in that the training unit includes：
First IMAQ subelement, for being in α angles in the θ angles relative to heading based on described image collecting unit
The first moment of first level direction t1 to the second moment t2 of degree gathers image video signal I1 (t) and relative to flight side
To θ angles in β angles the second horizontal direction the 3rd moment t1 to the 4th moment t2 collection image video signal I2 (t), α
It is different from β；
First altitude information gathers subelement, for gathering altitude information h1 corresponding to first level direction and the second horizontal direction
Corresponding altitude information h2；
First conversion subelement, orderTo the signal I collected1(t) and
I2(t) such as down conversion is carried out respectively：
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Point；
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Obtain its constant term coefficient C and obtain the phase angle ψ after inverse transformation；
Compressed coefficient computation subunit, for I1And I (t)2(t) compressed coefficient is calculated：
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P in formulaijRepresent image video signal I1(t) pixel, P 'ijRepresent image video signal I2(t) pixel；
4. graphic transmission equipment according to claim 3, it is characterised in that the compression unit includes：
Second IMAQ subelement, for being in γ angles in the θ angles relative to heading based on described image collecting unit
Degree the 3rd horizontal direction and relative to heading θ angles in ξ angles the 4th horizontal direction in the 4th moment t2It
The 5th moment t afterwards3To the 6th moment t4Gather image video signal I3And I (t)4(t), γ and ξ is different, and collection the 3rd is horizontal
Altitude information h corresponding to direction3With the 4th horizontal direction corresponding to altitude information h4；
Basic function determination subelement, for calculating I3And I (t)4(t) wavelet transformation basic function：
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<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>0</mn>
</mrow>
<mn>255</mn>
</munderover>
<msubsup>
<mi>Q</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>,</mo>
</msubsup>
<msub>
<mi>log</mi>
<mn>2</mn>
</msub>
<msubsup>
<mi>Q</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
<mo>,</mo>
</msubsup>
</mrow>
Wherein, QijAnd Q'ijCorrespond respectively to I3And I (t)4(t) pixel；
Wavelet transformation subelement, for w1And w2For basic function, respectively to I3And I (t)4(t) wavelet transformation is carried out, obtains V3With
V4；
3rd conversion subelement, orderTo the signal I collected3(t) and
I4(t) such as down conversion is carried out respectively：
<mrow>
<msub>
<msup>
<mi>J</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>6</mn>
<msup>
<mi>&pi;</mi>
<mn>3</mn>
</msup>
</mrow>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>Y</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>Y</mi>
</mrow>
</msubsup>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>X</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>X</mi>
</mrow>
</msubsup>
<mfrac>
<mrow>
<msub>
<mi>I</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>&times;</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>3</mn>
</msub>
<mo>&times;</mo>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<msup>
<mi>iH</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
</mrow>
</msup>
<mi>d</mi>
<mi>x</mi>
<mi>d</mi>
<mi>y</mi>
</mrow>
<mrow>
<msub>
<msup>
<mi>J</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>6</mn>
<msup>
<mi>&pi;</mi>
<mn>3</mn>
</msup>
</mrow>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>Y</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>Y</mi>
</mrow>
</msubsup>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>X</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>X</mi>
</mrow>
</msubsup>
<mfrac>
<mrow>
<msub>
<mi>I</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>&times;</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
<mo>&times;</mo>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<msup>
<mi>iH</mi>
<mo>,</mo>
</msup>
<mn>3</mn>
</msub>
</mrow>
</msup>
<mi>d</mi>
<mi>x</mi>
<mi>d</mi>
<mi>y</mi>
</mrow>
Obtain J '1And J ' (t)2(t)；
To J '1And J ' (t)2(t) binomial expansion is carried out respectively, obtains constant term C '1With C '2；
Subelement is normalized, for making V3For C '1It is normalized, makes V4For C '2It is normalized；
Transmission sub-unit, for carrying out inverse wavelet transform for the result after normalization, and the result of inverse wavelet transform is sent
To the communication unit of the equipment.
5. graphic transmission equipment according to claim 1, it is characterised in that the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
6. graphic transmission equipment according to claim 5, it is characterised in that the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be encrypted based on chaos encryption algorithm.
7. graphic transmission equipment according to claim 4, it is characterised in that the angle [alpha] and β and γ and ξ according to
Thermoinduction tracking direction determines.
8. graphic transmission equipment according to claim 7, it is characterised in that the angle [alpha] should meet with β and γ and ξ：
9. graphic transmission equipment according to claim 3, it is characterised in that the predetermined condition refers to the GPU monitoring
Subelement exceedes predetermined threshold value when monitoring the operation of the GPU processing video.
10. graphic transmission equipment according to claim 3, it is characterised in that the image processing equipment with GPU is
The unmanned scout of image processing equipment with GPU.
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Application publication date: 20171201 |