CN109510956A - One kind being based on kinect binocular camera noise filtering system and method - Google Patents
One kind being based on kinect binocular camera noise filtering system and method Download PDFInfo
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- CN109510956A CN109510956A CN201811651535.XA CN201811651535A CN109510956A CN 109510956 A CN109510956 A CN 109510956A CN 201811651535 A CN201811651535 A CN 201811651535A CN 109510956 A CN109510956 A CN 109510956A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/60—Noise processing, e.g. detecting, correcting, reducing or removing noise
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/01—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level
- H04N7/0117—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level involving conversion of the spatial resolution of the incoming video signal
- H04N7/012—Conversion between an interlaced and a progressive signal
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- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Graphics (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention discloses one kind based on kinect binocular camera noise filtering system and method, and system includes processor, kinect sensor body, image buffers unit, pixel value calculating unit, pixel value judging unit and noise filtering removal unit；The kinect sensor body has infrared projection machine, colour imagery shot and infrared depth camera, and the infrared projection machine, colour imagery shot and infrared depth camera are all connected with processor.By the acquisition for carrying out image simultaneously using colour imagery shot and infrared depth camera, it provides the foundation for subsequent image complementation, cooperate again and utilizes each unit, the present invention be directed to entire noise regions to carry out denoising, it is handled without each pixel to noise region, the operand of processing greatly reduces, the filtering algorithm of use is simple, execution efficiency is high, accelerate the speed of video image processing, the display quality for improving video image brings visual clear effect to viewer.
Description
Technical field
The present invention relates to image noise reduction field technologies, refer in particular to a kind of based on kinect binocular camera noise filtering system
System and method.
Background technique
In field of video processing, noise reduction technology is a kind of very important means for enhancing video image quality.Usually
We can introduce noise, these noises are serious during acquisition video image, store video images and video compress
Influence the display quality of video image.
As display screen is increasing, generally require some video images amplifying display, such as in large screen
It spells and shows video image on wall, and in the video image amplified, originally the tiny noise of some areas is also with amplification, influence diagram
The display quality of picture.
Current noise-removed technology has very much, such as common linear filter method, non-linear filtering method, to different type
Noise have the effect of certain specific aim removal, but these noise-removed technologies are handled generally be directed in all image pixels,
Algorithm is complicated, operand is big, seriously affects the speed of video image processing, for the video image of amplification, by
The noise pixel of the required removal after amplification increased significantly, using disadvantage when common noise-removed technology with regard to more obvious.
Summary of the invention
In view of this, in view of the deficiencies of the prior art, the present invention aims to provide one kind to be based on kinect
Binocular camera noise filtering system and method can effectively solve existing noise-removed technology, and algorithm is complicated, operand is big, sternly
Ghost image rings the problem of speed of video image processing.
To achieve the above object, the present invention is using following technical solution:
One kind being based on kinect binocular camera noise filtering system, includes processor, kinect sensor body, figure
As buffer cell, pixel value calculating unit, pixel value judging unit and noise filter removal unit；The kinect sensor sheet
Body has infrared projection machine, colour imagery shot and infrared depth camera, the infrared projection machine, colour imagery shot and infrared depth
Camera is all connected with processor, which connects processor, which connects image buffer cell,
The pixel value judging unit connects pixel value calculating unit, which filters removal unit and connect pixel value judging unit.
Preferably, the colour imagery shot is between infrared projection machine and infrared depth camera.
Preferably, the processor is arm processor.
One kind being based on kinect binocular camera noise filtering method, using aforementioned a kind of based on kinect binocular camera
Noise filtering system, includes following steps:
(1) acquisition of image is carried out simultaneously using colour imagery shot and infrared depth camera, and image is delivered to place
It manages in device；
(2) 3 frame video image of image buffer storage unit caches colour imagery shot and infrared depth camera, is set to one
Frame, present frame and next frame image；
(4) pixel value calculating unit calculates the pixel in the noise region of the previous frame, present frame and next frame image
Pixel average；
(5) pixel value judging unit using the previous frame, next frame image pixel average judge respectively described in work as
The pixel average of prior image frame；
(6) noise filtering removal unit is removed according to noise of the judging result to current frame image.
The present invention has obvious advantages and beneficial effects compared with the existing technology, specifically, by above-mentioned technical proposal
Known to:
It is subsequent image complementation by carrying out the acquisition of image simultaneously using colour imagery shot and infrared depth camera
It provides the foundation, then cooperates using each unit, the present invention be directed to entire noise regions to carry out denoising, without to making an uproar
Each pixel in point region is handled, and the operand of processing greatly reduces, and the filtering algorithm of use is simple, execution efficiency
Height accelerates the speed of video image processing, improves the display quality of video image, and it is visual clear to bring to viewer
Effect.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to this hair
It is bright to be described in detail:
Detailed description of the invention
Fig. 1 is the principle schematic diagram of the preferred embodiments of the invention.
Description of drawing identification:
10, processor 20, kinect sensor body
21, infrared projection machine 22, colour imagery shot
23, infrared depth camera 30, image buffers unit
40, pixel value calculating unit 50, pixel value judging unit
60, noise filters removal unit
Specific embodiment
It please refers to shown in Fig. 1, is based on kinect binocular camera that show the preferred embodiments of the invention one kind and makes an uproar
The specific structure of point filtering system, includes processor 10, kinect sensor body 20, image buffers unit 30, pixel value
Computing unit 40, pixel value judging unit 50 and noise filter removal unit 60.
The kinect sensor body 20 has infrared projection machine 21, colour imagery shot 22 and infrared depth camera 23,
The infrared projection machine 21, colour imagery shot 22 and infrared depth camera 23 are all connected with processor 10, the image buffers unit 30
Processor 10 is connected, which connects image buffer cell 30, which connects pixel
It is worth computing unit 40, which filters removal unit 60 and connect pixel value judging unit 50.In the present embodiment, the processor
10 be arm processor, and the colour imagery shot 22 is between infrared projection machine 21 and infrared depth camera 22.
The invention also discloses one kind to be based on kinect binocular camera noise filtering method, is based on using aforementioned one kind
Kinect binocular camera noise filtering system, includes following steps:
(1) acquisition of image is carried out simultaneously using colour imagery shot 22 and infrared depth camera 23, and image is conveyed
Into processor 10.
(2) image buffer storage unit 30 caches colour imagery shot 22 and 23 3 frame video image of infrared depth camera, respectively
It is set as previous frame, present frame and next frame image.
(4) pixel value calculating unit 40 calculates the pixel in the noise region of the previous frame, present frame and next frame image
The pixel average of point.
(5) pixel value judging unit 50 using the previous frame, next frame image pixel average judge respectively described in
The pixel average of current frame image.
(6) noise filtering removal unit 60 is removed according to noise of the judging result to current frame image.
In the present embodiment, image buffer storage unit 30 includes: fifo module and DDR controller；
Wherein, fifo module is used to carry out FIFO buffering to video image, and video image data is put into DDR；DDR control
Device processed for control DDR cache 3 frame video image data, according to time sequencing by 3 frame video images be set to previous frame, when
Previous frame and next frame image, DDR controller can control IP kernel using general DDR, be mainly used to complete video image in DDR
The reading and preservation operation of data.
In the present embodiment, present system can also include that the de interlacing unit before image buffer storage unit 30 is arranged in,
For being filled using the de interlacing algorithm of Motion Adaptive to the interlaced data of video image.
In view of most of current analog video signal is 576i and 480i format, video image decoding is being converted into number
After word vision signal, de interlacing processing first can be carried out video image data in DDR is cached to, obtain video image line by line
Data, after being handled by de interlacing, the signal of video image can become that comparison is fine and smooth, and reduce sudden strain of a muscle when video image display
Bright sense.
In the present embodiment, noise filters removal unit 60 according to the judging result of pixel value judging unit, further uses
In: if the pixel average of current frame image and previous frame image is unequal, filled using the video data of previous frame image
The video data of current frame image；If current frame image is equal with the pixel average of next frame image, to current frame image
Background difference processing removal noise is carried out, the video counts of the video data filling current frame image of next frame image are otherwise utilized
According to.
In one embodiment, noise filtering removal unit 60 includes: background image extraction module, moving region denoising mould
Block and image merging module, these modules are mainly to complete the function of background difference processing；Wherein, background image extraction module
For extracting background image from image；Moving region denoising module is used to extract the moving region of image, and to the fortune
Dynamic region carries out noise removal；Image merging module is used to merge the background image with the moving region after removal noise.
Design focal point of the invention is: by using colour imagery shot and infrared depth camera while carrying out obtaining for image
It takes, provides the foundation for subsequent image complementation, then cooperate using each unit, the present invention be directed to the progress of entire noise region
Denoising, it is handled without each pixel to noise region, the operand of processing greatly reduces, the filtering of use
Algorithm is simple, and execution efficiency is high, accelerates the speed of video image processing, improves the display quality of video image, to viewing
Person brings visual clear effect.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (4)
1. one kind is based on kinect binocular camera noise filtering system, it is characterised in that: include processor, kinect sensing
Device ontology, image buffers unit, pixel value calculating unit, pixel value judging unit and noise filter removal unit；It should
Kinect sensor body has infrared projection machine, colour imagery shot and infrared depth camera, and the infrared projection machine, colour are taken the photograph
As head and infrared depth camera are all connected with processor, which connects processor, which connects
As buffer cell, which connects pixel value calculating unit for map interlinking, which filters removal unit and connect pixel
It is worth judging unit.
2. as described in claim 1 a kind of based on kinect binocular camera noise filtering system, it is characterised in that: the coloured silk
Color camera is between infrared projection machine and infrared depth camera.
3. as described in claim 1 a kind of based on kinect binocular camera noise filtering system, it is characterised in that: the place
Reason device is arm processor.
4. one kind is based on kinect binocular camera noise filtering method, it is characterised in that: using any one of claim 1-3 institute
The one kind stated is based on kinect binocular camera noise filtering system, includes following steps:
(1) acquisition of image is carried out simultaneously using colour imagery shot and infrared depth camera, and image is delivered to processor
In；
(2) 3 frame video image of image buffer storage unit caches colour imagery shot and infrared depth camera, be set to previous frame,
Present frame and next frame image；
(4) pixel value calculating unit calculates the picture of the pixel in the noise region of the previous frame, present frame and next frame image
Plain average value；
(5) pixel value judging unit judges the present frame using the pixel average of the previous frame, next frame image respectively
The pixel average of image；
(6) noise filtering removal unit is removed according to noise of the judging result to current frame image.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651535.XA CN109510956A (en) | 2018-12-31 | 2018-12-31 | One kind being based on kinect binocular camera noise filtering system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811651535.XA CN109510956A (en) | 2018-12-31 | 2018-12-31 | One kind being based on kinect binocular camera noise filtering system and method |
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| CN109510956A true CN109510956A (en) | 2019-03-22 |
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| CN201811651535.XA Withdrawn CN109510956A (en) | 2018-12-31 | 2018-12-31 | One kind being based on kinect binocular camera noise filtering system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559314A (en) * | 2020-04-27 | 2020-08-21 | 长沙立中汽车设计开发股份有限公司 | Depth and image information fused 3D enhanced panoramic looking-around system and implementation method |
-
2018
- 2018-12-31 CN CN201811651535.XA patent/CN109510956A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559314A (en) * | 2020-04-27 | 2020-08-21 | 长沙立中汽车设计开发股份有限公司 | Depth and image information fused 3D enhanced panoramic looking-around system and implementation method |
| CN111559314B (en) * | 2020-04-27 | 2021-08-24 | 长沙立中汽车设计开发股份有限公司 | Depth and image information fused 3D enhanced panoramic looking-around system and implementation method |
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