CN115767278A - Method and apparatus for determining image signal processing parameters, device and medium - Google Patents
Method and apparatus for determining image signal processing parameters, device and medium Download PDFInfo
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Abstract
The embodiment of the disclosure discloses an image processing method and device, an electronic device and a storage medium, wherein the method comprises the following steps: determining a first primary image sequence containing a target primary image corresponding to a target three-primary-image based on the target three-primary-image meeting a preset image low-quality condition; acquiring a first exposure parameter sequence corresponding to the first native image sequence, and acquiring sensor parameters of the image sensor; determining a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter. The embodiment of the disclosure can reasonably determine the first image signal processing parameter, and is helpful for improving the image quality of generating the three primary images by processing the image signals based on the first image signal processing parameter.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies and image processing technologies, and in particular, to a method, an apparatus, a device, and a medium for determining an image signal processing parameter.
Background
In the scene of vehicle auxiliary driving or vehicle automatic driving, the camera on the corresponding vehicle of part of the weather environment acquires the image quality of the vehicle environment image. If the image quality is not good, not only the real vehicle reproduction is influenced, but also the decision correctness of vehicle auxiliary driving or vehicle automatic driving is influenced, and further the driving safety of vehicle auxiliary driving or vehicle automatic driving is influenced.
How to improve the image quality of the vehicle environment image collected by the camera on the vehicle is a problem to be solved urgently.
Disclosure of Invention
The present disclosure is proposed to solve the above technical problems. Embodiments of the present disclosure provide a method and apparatus, a device, and a medium for determining image signal processing parameters.
According to a first aspect of embodiments of the present disclosure, there is provided a method of determining image signal processing parameters, comprising:
determining a first original image sequence containing a target original image corresponding to a target three-primary-image based on the target three-primary-image meeting a preset image low-quality condition, wherein the first original image sequence is acquired by an image sensor on a vehicle during the driving process of the vehicle;
acquiring a first exposure parameter sequence corresponding to the first native image sequence, and acquiring sensor parameters of the image sensor;
determining a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter.
According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus for determining image signal processing parameters, comprising:
the device comprises a first raw image sequence determining module, a second raw image sequence determining module and a third raw image sequence determining module, wherein the first raw image sequence determining module is used for determining a first raw image sequence containing a target raw image corresponding to a target three-raw image based on the target three-raw image meeting a preset image low-quality condition, and the first raw image sequence is acquired by an image sensor on a vehicle during driving of the vehicle;
the parameter acquisition module is used for acquiring a first exposure parameter sequence corresponding to the first native image sequence and acquiring sensor parameters of the image sensor;
an image signal processing parameter determination module to determine a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter.
According to a third aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for determining image signal processing parameters according to the first aspect.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the method for determining image signal processing parameters according to the first aspect.
Based on the method, the device, the equipment and the medium for determining the image signal processing parameters, provided by the above embodiments of the present disclosure, a native image sequence is collected for the environment around the vehicle by an image sensor on the vehicle during the running of the vehicle, and an exposure parameter sequence corresponding to the native image sequence is correspondingly stored. When the vehicle driving scene is restored or the original image is recharged in a laboratory, in order to ensure the image quality of the scene image used for restoring the vehicle driving scene, and considering that the vehicle driving scene change is regular, a target three-primary-color image meeting the preset image low-quality condition is selected from the three-primary-color image sequence generated by the original image sequence according to the preset image low-quality condition, a first original image sequence including a target original image corresponding to the target three-primary-color image is extracted from the original image sequence collected by the image sensor, a first exposure parameter sequence corresponding to the first original image sequence is extracted from the exposure parameter sequence, and then the first image signal processing parameter can be reasonably determined based on the first original image sequence, the first exposure parameter sequence and the sensor parameter of the image sensor, so that the image quality of the three-primary-color image generated by image signal processing based on the first image signal processing parameter is improved.
The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 is a schematic flow chart diagram illustrating a method for determining image signal processing parameters in one embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of step S1 in one embodiment of the present disclosure;
FIG. 3 is a partial flow chart of step S2 in an embodiment of the present disclosure;
FIG. 4 is a schematic flow chart diagram following step S3 in one embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of another embodiment of the present disclosure after step S3;
FIG. 6 is a block diagram of an apparatus for determining image signal processing parameters according to an embodiment of the present disclosure;
FIG. 7 is a block diagram of the first native image sequence determination module 100 in one embodiment of the present disclosure;
FIG. 8 is a block diagram of a parameter acquisition module 200 according to an embodiment of the present disclosure;
fig. 9 is a block diagram of an apparatus for determining image signal processing parameters according to another embodiment of the present disclosure;
FIG. 10 is a block diagram illustrating an exemplary apparatus for determining image signal processing parameters according to another embodiment of the present disclosure;
fig. 11 is a block diagram of an electronic device in one embodiment of the disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some of the embodiments of the present disclosure, and not all of the embodiments of the present disclosure, and it is to be understood that the present disclosure is not limited by the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
It will be understood by those within the art that the terms "first", "second", etc. in the embodiments of the present disclosure are used only for distinguishing between different steps, devices or modules, etc., and do not denote any particular technical meaning or necessary logical order therebetween.
It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more than two, and "at least one" may refer to one, two or more than two.
It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.
In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing an associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The disclosed embodiments may be applied to electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, networked personal computers, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
Summary of the application
In carrying out the present disclosure, the inventors found that at least the following problems exist: for a part of auxiliary driving scenes, for example, auxiliary driving scenes with low brightness of the surrounding environment of the vehicle, or auxiliary driving scenes in special weather such as foggy days, the situation that the image quality is poor, such as low image brightness or low image definition, may exist when the vehicle-mounted camera acquires the images of the three primary colors of the surrounding environment of the vehicle. When the image quality of the three primary color images of the surrounding environment of the vehicle is poor, the vehicle driving scene is restored according to the image sequence collected by the vehicle-mounted camera, and the decision of vehicle auxiliary driving and the provision of auxiliary driving suggestions are not facilitated.
In the embodiment of the disclosure, during the running of the vehicle, a native image sequence of the surrounding environment of the vehicle is acquired by using an image sensor of a vehicle-mounted camera, and the native image sequence and an exposure parameter sequence corresponding to the native image sequence are stored by using a memory. When the image quality of the three primary color images generated by any one of the primary image sequences is poor, a first primary image sequence including the primary images corresponding to the three primary color images with poor image quality can be extracted from the primary image sequence stored in the memory, a first exposure parameter sequence corresponding to the first primary image sequence is extracted from the exposure parameter sequence stored in the memory, and then a first image signal processing parameter is reasonably determined based on the first primary image sequence, the first exposure parameter sequence and the sensor parameter of the image sensor, so that the image quality of the three primary color images generated by image signal processing based on the first image signal processing parameter is improved.
Exemplary method
FIG. 1 is a flow chart illustrating a method for determining image signal processing parameters according to one embodiment of the present disclosure. As shown in fig. 1, the method of determining image signal processing parameters includes the steps of:
s1: and determining a first original image sequence containing a target original image corresponding to the target three-primary-image based on the target three-primary-image meeting the preset image low-quality condition. Wherein the first native image sequence is acquired by an image sensor on the vehicle during driving of the vehicle.
During the running of the vehicle, a native image sequence is acquired for the environment around the vehicle by an image sensor of the vehicle-mounted camera.
The Image Signal Processing (ISP) is performed on the native Image sequence acquired by the Image sensor by using the designated terminal to realize color restoration, so as to obtain a three-primary-color Image sequence corresponding to the native Image sequence, such as an RGB three-primary-color Image sequence or a YUV three-primary-color Image sequence. The designated terminal may include a vehicle-mounted terminal, and may further include other terminals in communication connection with the vehicle-mounted terminal. The process of image signal processing may include: the method comprises the steps of removing black level- > dark corner correction- > raw domain denoising- > raw domain sharpening- > mosaic removing- > white balance- > local tone mapping- > color correction- > color enhancement- >2D denoising- >3D denoising- > Y channel sharpening. It should be noted that the process of image restoration is a technical means well known to those skilled in the art, and is not described in detail for reducing redundancy.
And the appointed terminal judges whether the three primary color images in the three primary color image sequence meet the low quality condition of the preset image according to the low quality condition of the preset image. The preset image low quality condition may include at least one of an image definition condition and an image brightness condition, that is, when the image brightness of a certain three primary color image in the three primary color image sequence is lower than a preset image brightness threshold, or the image definition is lower than a preset image definition threshold, it is determined that the three primary color image meets the preset image low quality condition.
The target three-primary-color image which meets the preset image low-quality condition is selected from the original image sequences stored in the memory, and a plurality of original images which are associated with the target three-primary-color image can be selected from the original image sequences to form a first original image sequence based on the image frame identification of the target three-primary-color image in the original image sequences.
S2: a first sequence of exposure parameters corresponding to the first sequence of native images is acquired, and sensor parameters of the image sensor are acquired.
During the running of the vehicle, the sequence of the raw images is stored, and simultaneously, the sequence of the exposure parameters corresponding to the sequence of the raw images is also stored by the memory, for example, every time one image is stored in the sequence of the raw images, the exposure parameters corresponding to the image are stored in the sequence of the exposure parameters. After the first native image sequence is extracted, a first exposure parameter sequence corresponding to the first native image sequence is extracted from the exposure parameter sequences stored in the memory, and sensor parameters of the image sensor are acquired. The sensor parameters of the image sensor may include performance parameters of the image sensor, among others. The performance parameters of the image sensor may include: an exposure frequency range, an analog channel gain range, and a digital channel gain range, and so on.
S3: a first image signal processing parameter is determined based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter.
The first native image sequence, the first exposure parameter sequence and the sensor parameters may be processed during driving in a laboratory or a vehicle to obtain first image signal processing parameters. Wherein the first image signal processing parameters at least need to satisfy: the image quality of the three-primary-color restored image generated by performing the image signal processing on the target primary image by using the first image signal processing parameter is higher than that of the target three-primary-color image. The first image signal processing parameters are different from the initial image signal processing parameters, the processing parameters of at least one process of image signal processing. The initial image signal processing parameters are image signal processing parameters used by the target primary image to generate the target three-primary image.
In the embodiment of the present disclosure, the image signal processing parameter may be adjusted according to the operating principle of the negative feedback. The image signal processing parameters can be adjusted as follows:
at least one image signal processing parameter may be selected from the current image signal processing parameters for the first native image sequence, the first exposure parameter sequence, and the sensor parameter, and the selected image signal processing parameter may be adjusted by a preset step size.
And carrying out color restoration on the target original image by using the image signal processing parameters after parameter adjustment to obtain a first adjustment image of three primary colors.
If the image quality of the three primary color adjusted image is higher than that of the target three primary color image, the image signal processing parameter after parameter adjustment can be used as the first image signal processing parameter.
If the image quality of the three primary color adjustment image is lower than that of the target three primary color image, the selected image signal processing parameters can be reversely adjusted by using a preset step length. And generating a second adjustment image of the three primary colors for the target native image by using the image signal processing parameters selected by the inverse adjustment. If the image quality of the second adjusted image of the three primary colors is greater than that of the target three primary color image, the image signal processing parameters after the reverse adjustment may be determined as the first image signal processing parameters.
And if the image signal processing parameters obtained by forward adjustment or reverse adjustment cannot enable the image quality of the generated three primary color adjustment image to be higher than that of the target three primary color image according to the currently selected image signal processing parameters, selecting other image signal processing parameters, and selecting the image signal processing parameters by adopting forward adjustment or reverse adjustment according to preset compensation. And then detecting whether the image quality of the three primary color adjusting image generated by the adjusted image signal processing parameters can be greater than that of the target three primary color image or not until the image signal processing parameters capable of improving the image quality of the three primary color adjusting image are obtained.
In the embodiments of the present disclosure, "forward adjustment" may be understood as adjusting the selected image signal processing parameter in a manner of increasing a value, and correspondingly, "backward adjustment" may be understood as adjusting the selected image signal processing parameter in a manner of decreasing a value.
In the embodiment, the image sensor collects a native image sequence of the surrounding environment of the vehicle during the running of the vehicle, and stores an exposure parameter sequence corresponding to the native image sequence. When the vehicle driving scene is restored or the original image is recharged in a laboratory, in order to ensure the image quality of the scene image used for restoring the vehicle driving scene, and considering that the vehicle driving scene change is regular, a target three-primary-color image meeting the preset image low-quality condition is selected from three-primary-color image sequences generated by the original image sequences according to the preset image low-quality condition, a first original image sequence including a target original image corresponding to the target three-primary-color image is extracted from the original image sequence collected by the image sensor, a first exposure parameter sequence corresponding to the first original image sequence is extracted from the exposure parameter sequence, and then based on the first original image sequence, the first exposure parameter sequence and the sensor parameters of the image sensor, a first image signal processing parameter can be reasonably determined, which is beneficial to improving the image quality of generating the three-primary color image by performing image signal processing based on the first image signal processing parameter.
Fig. 2 is a schematic flow chart of step S1 in an embodiment of the present disclosure. As shown in fig. 2, in the present embodiment, step S1 may include:
s1-1: and acquiring a second native image sequence acquired by the image sensor on the scene around the vehicle in the driving process of the vehicle.
And acquiring a second native image sequence of the surrounding environment of the vehicle through an image sensor of the vehicle-mounted camera during the running of the vehicle, and storing the second native image sequence by using a memory. Wherein the second native image sequence may comprise: a sequence of native images acquired with an image sensor over a specified period of time. The specified time period may be an acquisition time period including acquisition of the target native image by the image sensor. For example, the time point of the image sensor acquiring the target native image is t N The specified time period may include [ t ] 1 、t 2 、…、t N 、t N+1 、…、t M-1 、t M ]The acquisition time of the first native image sequence may include [ t [ ] 1 、t 2 、…、t N ]. Wherein N and M are integers greater than 2, and N<And M. The specified time period may also be a time period corresponding to a running process of the vehicle in which the image sensor acquires the target raw image, for example, the time point at which the image sensor acquires the target raw image is t N The vehicle-mounted central control system records the driving parameters of the vehicle in each driving process. The driving parameters of each driving process of the vehicle can comprise the starting time and the ending time of the driving process of the vehicle, and the time point is t N Between the start time and the end time of the driving process, i.e. the target native image is acquired by the vehicle at the image sensor during the driving process of the vehicleThe collection is carried out.
S1-2: based on the target three primary color image, a target native image is determined.
The target original image can be determined by generating image frame identifications of original images corresponding to the target three-original-color image
S1-3: a plurality of native images that include the target native image and are temporally consecutive are extracted from the second sequence of native images.
The target native image may be used as a first frame, a last frame or an intermediate frame of the plurality of native images to be extracted, and then the plurality of native images may be extracted from the second native image sequence. For example, when the target native image is the Nth frame of the second native image sequence, the Nth-k frame, the Nth-k +1 frame, \ 8230, the Nth-1 frame and the Nth frame can be extracted from the second native image sequence as a plurality of native images to be extracted; the Nth frame, the (N + 1) th frame, the (8230);, the (N + p-1) th frame and the (N + p) th frame can also be extracted from the second native image sequence as a plurality of native images to be extracted; the N-q frame, the N-q +1 frame, \ 8230, the N frame, \8230, the N + q-1 frame and the N + q frame can be extracted from the second native image sequence as a plurality of native images to be extracted. Wherein N, k, p and Q are integers greater than 2.
S1-4: based on the plurality of native images, a first sequence of native images is determined.
For the extracted plurality of native images, the plurality of native images may be ordered in order in the second native image sequence, generating a first native image sequence.
In the embodiment, a second native image sequence acquired by the image sensor of the surrounding environment of the vehicle during the running of the vehicle is acquired. When a target three-primary-color image satisfying a preset image low-quality condition appears in the three-primary-color image sequence generated by the second primary image sequence, a target primary image for generating the target three-primary-color image is determined first. Then, a plurality of native images including the target native image and adjacent to the target native image are extracted from the second sequence of native images, and the plurality of native images and the object in the target native image are extracted to have continuity and regularity in change of position. And finally, sequencing according to the acquisition time relation of the target native image and the extracted plurality of native images to generate a first native image sequence. The first native image sequence obtained in this way can greatly improve the accuracy of the first image signal processing parameter, and further improve the image quality of native image data during image processing.
Fig. 3 is a partial flow diagram of step S2 in one embodiment of the present disclosure. As shown in fig. 3, in the present embodiment, step S2 may include:
s2-1: a second sequence of exposure parameters corresponding to the second sequence of native images is acquired.
Since the exposure parameter sequence is correspondingly stored when the sequence of native images acquired by the image sensor is stored during the driving of the vehicle, a second exposure parameter sequence corresponding to the second native image sequence can be extracted from the stored exposure parameter sequence. The sequence of raw images and the sequence of exposure parameters stored during the driving of the vehicle may be stored in a one-to-one correspondence, and accordingly, the raw images in the second sequence of raw images and the exposure parameters in the second sequence of exposure parameters are also stored in a one-to-one correspondence.
S2-2: a plurality of exposure parameters corresponding to the plurality of native images are extracted from the second sequence of exposure parameters.
For each native image in the first sequence of native images, exposure parameters matching the image frame identification may be extracted from the second sequence of exposure parameters based on the image frame identification of each native image, resulting in a plurality of exposure parameters corresponding to the plurality of native images.
S2-3: based on the plurality of exposure parameters, a first sequence of exposure parameters is determined.
And for the extracted multiple exposure parameters, sequencing the multiple exposure parameters in the order of the second exposure parameter sequence to generate a first exposure parameter sequence.
In the present embodiment, when the second sequence of raw images is stored during the running of the vehicle, the second sequence of exposure parameters is correspondingly stored. After determining the first native image sequence, a first exposure parameter sequence corresponding to the first native image sequence may be extracted from the second exposure parameter sequence, so that subsequent steps may reasonably determine the first image signal processing parameters based on the first native image sequence, the first exposure parameter sequence, and the sensor parameters.
Fig. 4 is a schematic flow chart of the method after step S3 in an embodiment of the present disclosure. As shown in fig. 4, in this embodiment, after step S3, the method may further include:
s4: and generating a three primary color restored image of the target three primary color image based on the target primary image and the first image signal processing parameter.
And performing color restoration on the target primary image by using the first image signal processing parameter to obtain a three-primary-color restored image of the target three-primary-color image.
S5: and if the three-primary-color repaired image meets the preset low-quality condition of the image, determining a second image signal processing parameter based on the first primary image sequence, the first exposure parameter sequence, the sensor parameter and the first image signal processing parameter.
If the three-primary-color restored image meets the preset image low-quality condition, the fact that color restoration of the original image by using the first image signal processing parameter is not suitable for a vehicle image acquisition scene is represented, and at the moment, the first image signal processing parameter can be optimized by using the image signal processing model for the first original image sequence, the first exposure parameter sequence and the sensor parameter, so that a second image signal processing parameter is obtained.
In this embodiment, after performing color restoration on a target native image by using a first image signal processing parameter to generate a three-primary-color restored image of the target three-primary-color image, whether the three-primary-color restored image meets a preset image low-quality condition is detected, and if the three-primary-color restored image meets the preset image low-quality condition, it represents that performing color restoration on the native image by using the first image signal processing parameter is not applicable to a vehicle image acquisition scene, at this time, the first image signal processing parameter needs to be optimized again to obtain a second image signal processing parameter, and the image quality of the three-primary-color image generated by performing color restoration on the target native image can be at least improved by using the second image signal processing parameter.
Fig. 5 is a schematic flowchart of another embodiment of the present disclosure after step S3. As shown in fig. 5, in this embodiment, after step S3, the method may further include:
s6: based on the first native image sequence and the first image signal processing parameters, a three primary color inpainting image sequence is generated.
And carrying out color restoration on the first primary image sequence by using the first image signal processing parameter to obtain a three-primary-color restored image sequence.
S7: if at least one of the three primary color restored images in the three primary color restored image sequence is in a preset image low-quality condition, determining a third image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, the sensor parameter and the first image signal processing parameter.
If the low-quality condition of the image is preset for at least one three-primary-color repaired image in the three-primary-color repaired image sequence, the first image signal processing parameter is at least partially not suitable for performing color restoration on part of the original image, and then the first image signal processing parameter is at least not completely suitable for the vehicle image acquisition scene, and at this time, the first image signal processing parameter can be optimized for the first original image sequence, the first exposure parameter sequence and the sensor parameter by using the image signal processing model, so that a third image signal processing parameter is obtained.
In this embodiment, after performing color restoration on a first primitive image sequence by using a first image signal processing parameter to generate a three-primary-color restored image sequence, detecting whether a primitive image in the three-primary-color restored image sequence meets a preset image low-quality condition, if at least one three-primary-color restored image in the three-primary-color restored image sequence meets the preset image low-quality condition, characterizing that the first image signal processing parameter is at least not suitable for performing color restoration on a part of primitive images, and further characterizing that the first image signal processing parameter is at least not completely suitable for a vehicle image acquisition scene, at this time, the first image signal processing parameter needs to be optimized again to obtain a third image signal processing parameter, and using the third image signal processing parameter can at least improve the image quality of the three-primary-color restored image sequence generated from the first primitive image sequence.
In one embodiment of the present disclosure, the first exposure parameter in the first sequence of exposure parameters includes: at least one of an analog gain, a digital gain, and an exposure time. The analog gain, the digital gain and the exposure time can effectively represent the exposure condition of the image.
In the embodiment, the image exposure conditions of the first exposure parameter sequence can be effectively represented by the analog gain, the digital gain and the exposure time, and the image signal processing parameters suitable for the vehicle running environment can be reasonably determined.
Any of the methods of determining image signal processing parameters provided by the embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including but not limited to: terminal equipment, a server and the like. Alternatively, any of the methods for determining image signal processing parameters provided by the embodiments of the present disclosure may be executed by a processor, for example, the processor may execute any of the methods for determining image signal processing parameters mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. And will not be described in detail below.
Exemplary devices
Fig. 6 is a block diagram of an apparatus for determining image signal processing parameters according to an embodiment of the present disclosure. As shown in fig. 6, the apparatus for determining image signal processing parameters includes:
a first raw image sequence determination module 100, configured to determine, based on a target three-primary-image meeting a preset image low-quality condition, a first raw image sequence including a target raw image corresponding to the target three-primary-image, where the first raw image sequence is acquired by an image sensor on a vehicle during a driving process of the vehicle
A parameter obtaining module 200, configured to obtain a first exposure parameter sequence corresponding to the first native image sequence, and obtain sensor parameters of the image sensor;
a first image signal processing parameter determination module 300 for determining a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence and the sensor parameter.
Fig. 7 is a block diagram of the first native image sequence determination module 100 in one embodiment of the present disclosure. As shown in fig. 7, the first native image sequence determining module 100 may include:
a second raw image sequence acquisition unit 110, configured to acquire a second raw image sequence acquired by the image sensor on a scene around the vehicle during driving of the vehicle;
a target native image determination unit 120 for determining the target native image based on the target three-primary image;
a native image extraction unit 130 for extracting a plurality of temporally consecutive native images including the target native image from the second sequence of native images;
a first native image sequence determination unit 140 for extracting the first native image sequence from the second native image sequence based on the target three-primary image.
Fig. 8 is a block diagram of the parameter obtaining module 200 according to an embodiment of the disclosure. As shown in fig. 8, the parameter obtaining module 200 may include:
a second exposure parameter sequence acquisition unit 210 configured to acquire a second exposure parameter sequence corresponding to the second native image sequence;
an exposure parameter extraction unit 220 configured to extract a plurality of exposure parameters corresponding to the plurality of raw images from the second exposure parameter sequence;
a first exposure parameter sequence determining unit 230, configured to determine the first exposure parameter sequence based on the plurality of exposure parameters.
Fig. 9 is a block diagram of an apparatus for determining image signal processing parameters in another embodiment of the present disclosure. As shown in fig. 9, the apparatus for determining image signal processing parameters may further include:
a first image signal processing module 400 for generating a three primary color restored image of the target three primary color image based on the target primary image and the first image signal processing parameters;
a second image signal processing parameter determining module 500, configured to determine a second image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, the sensor parameter, and the first image signal processing parameter if the three-primary-color repaired image meets the preset image low-quality condition.
Fig. 10 is a block diagram of an apparatus for determining image signal processing parameters according to still another embodiment of the present disclosure.
As shown in fig. 10, the apparatus for determining image signal processing parameters may further include:
a second image signal processing module 600, configured to generate a three-primary-color repaired image sequence based on the first native image sequence and the first image signal processing parameters;
a third image signal processing parameter determining module 700, configured to determine a third image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, the sensor parameter, and the first image signal processing parameter if the preset image low quality condition is met for at least one of the three primary color restored images in the three primary color restored image sequence.
In one embodiment of the present disclosure, the first exposure parameter in the first sequence of exposure parameters includes: at least one of an analog gain, a digital gain, and an exposure time.
It should be noted that the specific implementation of the apparatus for determining an image signal processing parameter according to the embodiment of the present disclosure is similar to the specific implementation of the method for determining an image signal processing parameter according to the embodiment of the present disclosure, and for specific reference, the method for determining an image signal processing parameter is omitted for reducing redundancy.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present disclosure is described with reference to fig. 11. As shown in fig. 11, the electronic device includes one or more processors 10 and a memory 20.
The processor 10 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.
Memory 20 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the method of determining image signal processing parameters of the various embodiments of the present disclosure described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device may further include: an input device 30 and an output device 40, which are interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 30 may be, for example, a keyboard, a mouse, or the like. Output devices 40 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for simplicity, only some of the components of the electronic device relevant to the present disclosure are shown in fig. 11, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device may include any other suitable components, depending on the particular application.
Exemplary computer readable storage Medium
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by one skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method of determining image signal processing parameters, comprising:
determining a first original image sequence containing a target original image corresponding to a target three-primary-image based on the target three-primary-image meeting a preset image low-quality condition, wherein the first original image sequence is acquired by an image sensor on a vehicle during the driving process of the vehicle;
acquiring a first exposure parameter sequence corresponding to the first native image sequence, and acquiring sensor parameters of the image sensor;
determining a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter.
2. The method according to claim 1, wherein the determining, based on the target three primary color image meeting the preset image low quality condition, a first primary image sequence including a primary image corresponding to the target three primary color image comprises:
acquiring a second native image sequence acquired by the image sensor on a scene around the vehicle in the driving process of the vehicle;
determining the target native image based on the target three-primary image;
extracting a plurality of native images that include the target native image and are temporally consecutive from the second sequence of native images;
determining the first sequence of native images based on the plurality of native images.
3. The method of claim 2, wherein said acquiring a first sequence of exposure parameters corresponding to the first sequence of native images comprises:
acquiring a second exposure parameter sequence corresponding to the second native image sequence;
extracting a plurality of exposure parameters corresponding to the plurality of native images from the second sequence of exposure parameters;
determining the first sequence of exposure parameters based on the plurality of exposure parameters.
4. The method of any of claims 1-3, wherein, after said determining image signal processing parameters based on the first native image sequence, the first exposure parameter sequence, and the sensor parameters, further comprising:
generating a three primary color repair image of the target three primary color image based on the target native image and the first image signal processing parameters;
and if the three-primary-color repaired image meets the preset image low-quality condition, determining a second image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, the sensor parameter and the first image signal processing parameter.
5. The method of any of claims 1-3, wherein, after said determining image signal processing parameters based on the first native image sequence, the first exposure parameter sequence, and the sensor parameters, further comprising:
generating a three primary color restoration image sequence based on the first native image sequence and the first image signal processing parameter;
and if at least one three-primary-color repaired image in the three-primary-color repaired image sequence meets the preset image low-quality condition, determining a third image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, the sensor parameter and the first image signal processing parameter.
6. The method of any of claims 1-3, wherein a first exposure parameter of the first sequence of exposure parameters comprises: at least one of an analog gain, a digital gain, and an exposure time.
7. An apparatus for determining image signal processing parameters, comprising:
the first original image sequence determining module is used for determining a first original image sequence containing a target original image corresponding to a target three-original image based on the target three-original image meeting a preset image low-quality condition, wherein the first original image sequence is acquired by an image sensor on a vehicle during the driving process of the vehicle;
the parameter acquisition module is used for acquiring a first exposure parameter sequence corresponding to the first native image sequence and acquiring sensor parameters of the image sensor;
an image signal processing parameter determination module to determine a first image signal processing parameter based on the first native image sequence, the first exposure parameter sequence, and the sensor parameter.
8. The apparatus of claim 7, wherein the first native image sequence determination module comprises:
the second native image sequence acquisition unit is used for acquiring a second native image sequence acquired by the image sensor on a scene around the vehicle in the driving process of the vehicle and acquiring a second exposure parameter sequence corresponding to the second native image sequence;
a target native image determination unit configured to determine the target native image based on the target three-primary image;
a native image extraction unit for extracting a plurality of native images which include the target native image and are consecutive in time from the second native image sequence;
a first native image sequence determination unit to determine the first native image sequence based on the plurality of native images.
9. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for determining image signal processing parameters according to any one of claims 1 to 6.
10. A computer-readable storage medium, which stores a computer program for executing the method of determining image signal processing parameters according to any one of claims 1 to 6.
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| CN202211491142.3A CN115767278A (en) | 2022-11-25 | 2022-11-25 | Method and apparatus for determining image signal processing parameters, device and medium |
| PCT/CN2023/113285 WO2024109188A1 (en) | 2022-11-25 | 2023-08-16 | Method and apparatus for determining image signal processing parameter, and device and medium |
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| CN202211491142.3A CN115767278A (en) | 2022-11-25 | 2022-11-25 | Method and apparatus for determining image signal processing parameters, device and medium |
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| WO2024109188A1 (en) * | 2022-11-25 | 2024-05-30 | 北京地平线信息技术有限公司 | Method and apparatus for determining image signal processing parameter, and device and medium |
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| CN110213498B (en) * | 2019-05-29 | 2021-04-23 | Oppo广东移动通信有限公司 | Image generation method and device, electronic equipment and computer readable storage medium |
| CN114979500B (en) * | 2021-02-26 | 2023-08-08 | Oppo广东移动通信有限公司 | Image processing method, image processing apparatus, electronic device, and readable storage medium |
| CN115205172A (en) * | 2022-05-23 | 2022-10-18 | 深圳市慧鲤科技有限公司 | Image processing method and device, electronic equipment and storage medium |
| CN114697628B (en) * | 2022-06-01 | 2022-09-06 | 龙旗电子(惠州)有限公司 | Image acquisition method, apparatus, device, and medium |
| CN115767278A (en) * | 2022-11-25 | 2023-03-07 | 北京地平线信息技术有限公司 | Method and apparatus for determining image signal processing parameters, device and medium |
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| WO2024109188A1 (en) * | 2022-11-25 | 2024-05-30 | 北京地平线信息技术有限公司 | Method and apparatus for determining image signal processing parameter, and device and medium |
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