TWI511087B - Vibration detection for detecting the vibration of an image capturing device Methods and modules - Google Patents
Vibration detection for detecting the vibration of an image capturing device Methods and modules Download PDFInfo
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Description
本發明是有關於一種影像擷取裝置的震動偵測方法與模組，特別是指一種基於影像處理之影像擷取裝置的震動偵測方法與模組。The invention relates to a vibration detecting method and a module for an image capturing device, in particular to a vibration detecting method and a module for an image capturing device based on image processing.
隨著影像感測器之製程技術的快速進展，使得影像擷取裝置的光學性能愈來愈複雜，且像素數量不斷被提升；而為了達到高水準的影像顯示效果，防震功能儼然為影像擷取裝置不可或缺的重要功能之一。With the rapid advancement of the image sensor technology, the optical performance of the image capture device is becoming more and more complex, and the number of pixels is continuously improved. In order to achieve a high level of image display, the anti-shock function is used for image capture. One of the important features that are indispensable for the device.
防震功能通常經由震動偵測與震動補償兩步驟來達成，其中在偵測出因影像擷取裝置之震動所引起的一影像之偏移量之後，再依據偏移量進行對於影像的相對補償調整；此外，藉由震動偵測所獲得的震動量還可作為調整影像擷取裝置之光圈或感光度等參數的參考。影像擷取裝置的震動量或偏移量之偵測可藉由使用例如為陀螺儀的電子感測器，或影像處理技術來達成。然而，使用電子感測器的硬體成本相對昂貴，且雖然使用影像處理技術的硬體成本相對較低，但現有的相關於防震影像處理技術的計算量相當大且易受雜訊影響，因此，需要謀求解決之道。The anti-shock function is usually achieved through two steps of vibration detection and vibration compensation. After detecting the offset of an image caused by the vibration of the image capturing device, the relative compensation adjustment for the image is performed according to the offset. In addition, the amount of vibration obtained by the vibration detection can also be used as a reference for adjusting the aperture or sensitivity of the image capturing device. The detection of the amount of vibration or offset of the image capture device can be achieved by using an electronic sensor such as a gyroscope, or image processing technology. However, the hardware cost of using an electronic sensor is relatively expensive, and although the hardware cost of using image processing technology is relatively low, the existing calculations related to the anti-shake image processing technology are quite large and susceptible to noise, so Need to find a solution.
因此，本發明之目的，即在提供一種用於偵測一影像擷取裝置之震動的震動偵測方法。Accordingly, it is an object of the present invention to provide a method of detecting motion for detecting vibration of an image capture device.
於是本發明用於偵測一影像擷取裝置之震動的震動偵測方法，包含：(a)當接收到由該影像擷取裝置所擷取之一物件的至少二個連續的影像訊框，其中之一者作為一目標影像訊框而另一者作為一參考影像訊框，藉由一震動偵測模組，將該目標影像訊框劃分成多個子訊框，並將每一子訊框劃分成多個巨區塊；(b)藉由該震動偵測模組，針對每一子訊框中的每一巨區塊，計算一對應於該巨區塊且相關於在該參考影像訊框的一搜尋區域中與該巨區塊相似度最高的一影像區塊的一移動向量；(c)藉由該震動偵測模組，定義出一個二維坐標平面，並相對於該二維坐標平面的原點以徑向劃分之方式將該二維坐標平面劃分成多個徑向區域；(d)藉由該震動偵測模組，針對每一子訊框，根據步驟(b)所決定且對應於該子訊框之該等巨區塊的該等移動向量，決定出該等移動向量在該二維座標平面上各自所屬之徑向區域，並且根據該等所屬之徑向區域，獲得對應於該子訊框及相關於該等所屬之徑向區域的一第一移動機率分佈，且根據該第一移動機率分佈，選擇該等所屬之徑向區域的其中一者作為對應該子訊框的一候選徑向區域；及(e)藉由該震動偵測模組，根據步驟(d)所選出且分別對應於該等子訊框之該等候選徑向區域，獲得對應於該目標影像訊框且相關於該等候選徑向區域的一第二移動機率分佈 ，並根據該第二移動機率分佈，判定出該影像擷取裝置相對於該物件之震動方向是位於該等候選徑向區域其中之一者中，其中，該第二移動機率分佈中對應於該所判定之候選徑向區域的機率值是相關於該影像擷取裝置的震動量。Therefore, the method for detecting a vibration of an image capturing device of the present invention comprises: (a) receiving at least two consecutive image frames of an object captured by the image capturing device, One of the target image frames and the other as a reference image frame, the target image frame is divided into a plurality of sub-frames by a motion detection module, and each sub-frame is Dividing into a plurality of macroblocks; (b) calculating, by the motion detection module, for each macroblock in each subframe, corresponding to the macroblock and related to the reference video a motion vector of an image block having the highest similarity to the macro block in a search area of the frame; (c) defining a two-dimensional coordinate plane by the vibration detecting module, and comparing the two-dimensional The origin of the coordinate plane is divided into a plurality of radial regions by radial division; (d) by the vibration detecting module, for each subframe, according to step (b) Determining the motion vectors that determine and correspond to the macroblocks of the subframe And a radial region corresponding to each of the two-dimensional coordinate planes, and obtaining a first mobility probability corresponding to the subframe and the associated radial regions according to the associated radial regions, and according to The first mobile probability distribution, selecting one of the associated radial regions as a candidate radial region corresponding to the subframe; and (e) by the vibration detecting module, according to step (d) Selecting the candidate radial regions respectively corresponding to the sub-frames to obtain a second mobility probability distribution corresponding to the target image frame and related to the candidate radial regions And determining, according to the second mobility probability distribution, that the vibration direction of the image capturing device relative to the object is located in one of the candidate radial regions, wherein the second mobile probability distribution corresponds to the The probability value of the determined candidate radial region is related to the amount of vibration of the image capturing device.
此外，本發明之另一目的，即在提供一種用於偵測一影像擷取裝置之震動的震動偵測模組。In addition, another object of the present invention is to provide a vibration detecting module for detecting the vibration of an image capturing device.
於是，該影像擷取裝置擷取一物件的至少兩個連續的影像訊框，其中之一者作為一目標影像訊框而另一者作為一參考影像訊框，該震動偵測模組適於電連接該影像擷取裝置以便接收該目標影像訊框與該參考影像訊框，並包含一移動估測單元、一動向決定單元及一震動偵測單元。Therefore, the image capturing device captures at least two consecutive image frames of an object, one of which serves as a target image frame and the other serves as a reference image frame, and the vibration detecting module is adapted to The image capturing device is electrically connected to receive the target image frame and the reference image frame, and includes a movement estimating unit, a movement determining unit and a vibration detecting unit.
該移動估測單元用於將該目標影像訊框劃分成多個子訊框，並將每一子訊框劃分成多個巨區塊，該移動估測單元針對每一子訊框中的每一巨區塊，計算一對應於該巨區塊且相關於在該參考影像訊框的一搜尋區域中與該巨區塊相似度最高的一影像區塊的移動向量。The motion estimation unit is configured to divide the target image frame into a plurality of sub-frames, and divide each sub-frame into a plurality of macro blocks, and the motion estimation unit is targeted for each of the sub-frames The macroblock calculates a motion vector corresponding to the macroblock and related to an image block having the highest similarity to the macroblock in a search area of the reference image frame.
該動向決定單元用於定義出一個二維坐標平面，並相對於該二維坐標平面的原點以徑向劃分之方式將該二維坐標平面劃分成多個徑向區域，該動向決定單元針對每一子訊框，根據對應於該子訊框之該等巨區塊的該等移動向量，決定出該等移動向量在該二維座標平面上各自所屬之徑向區域，並根據該等所屬之徑向區域，獲得對應於該子訊框及相關於該等所屬之徑向區域的一第一移動機率 分佈，且根據該第一移動機率分佈，選擇該等所屬之徑向區域的其中一者作為對應該子訊框的一候選徑向區域。The motion determining unit is configured to define a two-dimensional coordinate plane, and divide the two-dimensional coordinate plane into a plurality of radial regions in a radial division manner with respect to an origin of the two-dimensional coordinate plane, where the motion determining unit is directed to Each sub-frame determines, according to the motion vectors corresponding to the macroblocks of the sub-frame, the radial regions to which the motion vectors belong to each other on the two-dimensional coordinate plane, and according to the sub-frames a radial region, obtaining a first mobile probability corresponding to the sub-frame and related to the associated radial region And distributing, according to the first mobility probability distribution, selecting one of the associated radial regions as a candidate radial region corresponding to the subframe.
該震動偵測單元根據分別對應於該等子訊框之 該等候選徑向區域，獲得對應於該目標影像訊框且相關於該等候選徑向區域的一第二移動機率分佈，並根據該第二移動機率分佈，判定出該影像擷取裝置相對於該物件之震動方向是位於該等候選徑向區域其中之一者中，其中，該第二移動機率分佈中對應於該所判定之候選徑向區域的機率值是相關於該影像擷取裝置的震動量。The vibration detecting unit respectively corresponds to the subframes And obtaining, by the candidate radial regions, a second mobility probability distribution corresponding to the target image frame and related to the candidate radial regions, and determining, according to the second mobility probability distribution, the image capturing device relative to the The vibration direction of the object is located in one of the candidate radial regions, wherein the probability value corresponding to the determined candidate radial region in the second mobility probability distribution is related to the image capturing device The amount of vibration.
本發明之功效在於：藉由將目標影像訊框劃分 成多個子訊框，再針對每一子訊框，根據其包含之所有巨區塊的移動向量選擇二維座標平面的一徑向區域作為候選徑向區域，再根據所有子訊框對應的候選徑向區域判定影像擷取裝置的震動方向所座落的徑向區域及震動量。The effect of the invention is: by dividing the target image frame A plurality of sub-frames are selected, and for each sub-frame, a radial area of the two-dimensional coordinate plane is selected as a candidate radial area according to the motion vector of all the macro blocks included therein, and then candidates corresponding to all the sub-frames are selected. The radial area determines the radial area and the amount of vibration in which the image capturing device is vibrating.
1‧‧‧影像擷取裝置1‧‧‧Image capture device
2‧‧‧震動偵測模組2‧‧‧Vibration Detection Module
21‧‧‧移動估測單元21‧‧‧Moving Estimation Unit
22‧‧‧動向決定單元22‧‧‧Development decision unit
23‧‧‧震動偵測單元23‧‧‧Vibration detection unit
31~36‧‧‧步驟31~36‧‧‧Steps
4‧‧‧目標影像訊框4‧‧‧ Target image frame
41‧‧‧子訊框41‧‧‧Child frame
411‧‧‧巨區塊411‧‧‧ Giant Block
5‧‧‧參考影像訊框5‧‧‧Reference video frame
51‧‧‧搜尋區域51‧‧‧Search area
52‧‧‧影像區塊52‧‧‧Image block
6‧‧‧移動向量6‧‧‧Mobile vector
本發明之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中：圖1是一方塊圖，說明執行本發明之震動偵測方法的一震動偵測模組；圖2是一流程圖，說明本發明之震動偵測方法的較佳實施例；圖3是一示意圖，說明計算一目標影像訊框的一巨區塊之相關於一參考影像訊框的移動向量；及圖4是一示意圖，說明將一個二維坐標平面劃分成多 個徑向區域。Other features and effects of the present invention will be apparent from the following description of the drawings. FIG. 1 is a block diagram illustrating a vibration detecting module for performing the vibration detecting method of the present invention; Is a flow chart illustrating a preferred embodiment of the motion detection method of the present invention; and FIG. 3 is a schematic diagram illustrating the calculation of a motion vector associated with a reference image frame of a macroblock of a target video frame; Figure 4 is a schematic diagram showing the division of a two-dimensional coordinate plane into multiple Radial area.
在本發明被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.
參閱圖1與圖2，本發明用於偵測一影像擷取裝置之震動的震動偵測方法之較佳實施例是在圖1所示的震動偵測模組2中執行，該影像擷取裝置1例如可為相機、網路攝影機、行車紀錄器、或手持攝影機等，並用以擷取一物件的至少兩個連續的影像訊框(image frame)，其中之一者作為一目標影像訊框而另一者作為一參考影像訊框。該震動偵測模組2設置於該影像擷取裝置1，並包含一移動估測單元21、一動向決定單元22及一震動偵測單元23。Referring to FIG. 1 and FIG. 2, a preferred embodiment of the vibration detecting method for detecting the vibration of an image capturing device is performed in the motion detecting module 2 shown in FIG. The device 1 can be, for example, a camera, a webcam, a driving recorder, or a handheld camera, and the like, and is used to capture at least two consecutive image frames of an object, one of which serves as a target image frame. The other serves as a reference video frame. The motion detecting module 2 is disposed in the image capturing device 1 and includes a motion estimating unit 21, a motion determining unit 22, and a motion detecting unit 23.
以下詳細說明該較佳實施例的各個步驟。The various steps of the preferred embodiment are described in detail below.
在步驟31，藉由該移動估測單元21接收該參考影像訊框的及該目標影像訊框。In step 31, the mobile image estimation unit 21 receives the reference image frame and the target image frame.
在步驟32，藉由該移動估測單元21將該目標影像訊框劃分成K 個具有相同大小的子訊框，並將每一子訊框劃分成M 個具有相同大小的巨區塊(macroblock)，其中K 與M 皆為大於1的正整數。例如，參閱圖3，圖3所示的目標影像訊框4被劃分成九個具有相同大小的子訊框41，且每一子訊框41劃分成六個具有相同大小的巨區塊411。In step 32, the target image frame is divided into K sub-frames having the same size by the motion estimation unit 21, and each sub-frame is divided into M macro blocks of the same size (macroblock). ), where K and M are both positive integers greater than one. For example, referring to FIG. 3, the target image frame 4 shown in FIG. 3 is divided into nine sub-frames 41 having the same size, and each sub-frame 41 is divided into six giant blocks 411 having the same size.
在步驟33，如圖3所示，藉由該移動估測單元21針對每一子訊框41中的每一巨區塊411，計算一對應於該巨區塊411且相關於在該參考影像訊框5的一搜尋區域 51中與該巨區塊411相似度最高的一影像區塊52的移動向量(motion vector)6。In step 33, as shown in FIG. 3, the motion estimation unit 21 calculates, for each macroblock 411 in each subframe 41, a corresponding to the macroblock 411 and is related to the reference image. a search area of frame 5 A motion vector 6 of an image block 52 having the highest similarity to the macro block 411 in FIG.
在步驟34，藉由該動向決定單元22，定義出一 個二維坐標平面，並相對於該二維坐標平面的原點以徑向劃分之方式將該二維坐標平面劃分成多個徑向區域。例如，如圖4所示，該二維坐標平面被劃分成十二個具有相同徑角的徑向區域；然而，可不限於此，該二維坐標平面可被劃分成任意數量之具有不同徑角的徑向區域。At step 34, by the motion determining unit 22, a The two-dimensional coordinate plane is divided into a plurality of radial regions by a radial division with respect to an origin of the two-dimensional coordinate plane. For example, as shown in FIG. 4, the two-dimensional coordinate plane is divided into twelve radial regions having the same radial angle; however, it is not limited thereto, and the two-dimensional coordinate plane can be divided into any number of different radial angles. Radial area.
在步驟35，藉由該動向決定單元22，針對每一 子訊框，根據對應於該子訊框之該等巨區塊的該等移動向量，決定出該等移動向量在該二維座標平面上各自所屬之徑向區域，並且根據該等所屬之徑向區域，獲得對應於該子訊框及相關於該等所屬之徑向區域的一第一移動機率分佈，且根據該第一移動機率分佈，選擇該等所屬之徑向區域的其中一者作為對應該子訊框的一候選徑向區域，其中，對於每一子訊框，對應於該子訊框之候選徑向區域的機率值是在該對應的第一移動機率分佈中的一最大者、一最接近其中位數(median)者或一最接近其平均值者。At step 35, by the direction determining unit 22, for each a subframe, determining, according to the motion vectors corresponding to the macroblocks of the subframe, respective radial regions of the motion vectors on the two-dimensional coordinate plane, and according to the path to which the motion belongs And obtaining, by the region, a first mobile probability distribution corresponding to the subframe and the associated radial regions, and selecting one of the associated radial regions according to the first mobility probability distribution a candidate radial region corresponding to the subframe, wherein for each subframe, the probability value corresponding to the candidate radial region of the subframe is the largest one of the corresponding first mobility probability distributions One closest to the median (median) or one closest to the average.
承上述圖3、圖4之例來說明，假設該目標影像 訊框4的一子訊框41的六個巨區塊411，依左至右再上至下的順序，所計算出的所屬之徑向區域分別是圖4所示的第十一徑向區域、第十一徑向區域、第十一徑向區域、第十徑向區域、第十徑向區域及第十二徑向區域，且定義隨機變數X 表示「所屬之徑向區域」，則該第一移動機率分佈 為p (X )，且其機率值包括p (X =10 )=2/6、p (X =11 )=3/6及p (X =12 )=1/6，其中最大值為3/6且對應第十一徑向區域，中位數為2/6且對應第十徑向區域，p (X =10 )、p (X =11 )及p (X =12 )的平均值為1/3，且對應第十徑向區域。According to the example of FIG. 3 and FIG. 4 above, it is assumed that the six giant blocks 411 of a sub-frame 41 of the target video frame 4 are calculated from left to right and then from top to bottom. The radial regions are the eleventh radial region, the eleventh radial region, the eleventh radial region, the tenth radial region, the tenth radial region, and the twelfth radial region shown in FIG. 4, respectively. And the definition of the random variable X means "the radial area to which it belongs", then the first mobile probability distribution is p ( X ), and the probability values include p ( X = 10 ) = 2 / 6, p ( X = 11 ) = 3/6 and p ( X = 12 ) = 1/6, where the maximum value is 3/6 and corresponds to the eleventh radial region, the median is 2/6 and corresponds to the tenth radial region, p ( X = 10 ), p ( X = 11 ) and p ( X = 12 ) have an average value of 1/3 and correspond to the tenth radial region.
較佳地，可選擇對應該第一移動機率分佈p (X ) 之最大機率值的第十一徑向區域作為該子訊框41對應的候選徑向區域。Preferably, the eleventh radial region corresponding to the maximum probability value of the first mobile probability distribution p ( X ) may be selected as the candidate radial region corresponding to the subframe 41.
在步驟36，該震動偵測單元23根據分別對應於 該等子訊框之該等候選徑向區域，獲得對應於該目標影像訊框且相關於該等候選徑向區域的一第二移動機率分佈，並根據該第二移動機率分佈，判定出該影像擷取裝置1相對於該物件之震動方向是位於該等候選徑向區域其中之一者中，其中，該第二移動機率分佈中對應於該所判定之候選徑向區域的機率值是相關於該影像擷取裝置1的震動量，且為在該第二移動機率分佈中的一最大者、一最接近其中位數者或一最接近其平均值者。In step 36, the vibration detecting unit 23 respectively corresponds to The candidate radial regions of the sub-frames obtain a second mobility probability distribution corresponding to the target image frame and related to the candidate radial regions, and determine the second mobile probability distribution according to the second mobile probability distribution The direction of vibration of the image capturing device 1 relative to the object is located in one of the candidate radial regions, wherein the probability value of the second moving probability distribution corresponding to the determined candidate radial region is related The amount of vibration of the image capturing device 1 is one of the largest in the second mobile probability distribution, one closest to the median or one closest to the average.
承上述圖3、圖4之例來說明，假設該目標影像 訊框4的九個子訊框41，依左至右再上至下的順序，所計算出之對應的候選徑向區域分別是圖4所示的第十一徑向區域、第十一徑向區域、第十二徑向區域、第十徑向區域、第十徑向區域、第十一徑向區域、第九徑向區域、第十徑向區域及第十徑向區域，且假設隨機變數Y 表示「候選徑向區域」，則該第二移動機率分佈為p (Y )，且機率值包括p (Y =9 )=1/9、p (Y =10 )=4/9、p (Y =11 )=3/9及p (Y =12 )=1/9， 其中最大值為4/9且對應第十徑向區域，中位數為2/9且對應第九徑向區域、第十一徑向區域或第十二徑向區域，p (Y =9 )、p (Y =10 )、p (Y =11 )及p (Y =12 )的平均值為1/4，且對應第十一徑向區域。According to the example of FIG. 3 and FIG. 4 above, it is assumed that the nine sub-frames 41 of the target image frame 4 are in the order from left to right and then from top to bottom, and the corresponding candidate radial regions are respectively calculated. An eleventh radial region, an eleventh radial region, a twelfth radial region, a tenth radial region, a tenth radial region, an eleventh radial region, a ninth radial region, a tenth radial region and a tenth radial region, and assuming that the random variable Y represents a "candidate radial region", the second mobility probability distribution is p ( Y ), and the probability value includes p ( Y = 9 ) = 1 /9, p ( Y = 10 )=4/9, p ( Y = 11 )=3/9 and p ( Y = 12 )=1/9, where the maximum value is 4/9 and corresponds to the tenth radial region , the median is 2/9 and corresponds to the ninth radial region, the eleventh radial region or the twelfth radial region, p ( Y = 9 ), p ( Y = 10 ), p ( Y = 11 ) And p ( Y = 12 ) has an average value of 1/4 and corresponds to the eleventh radial region.
較佳地，可判定該影像擷取裝置1相對於該物 件之震動方向是位於對應該第二移動機率分佈p (Y )之最大機率值的第十徑向區域中，且該影像擷取裝置1的震動量為4/9。Preferably, it can be determined that the direction of vibration of the image capturing device 1 relative to the object is in a tenth radial region corresponding to the maximum probability value of the second moving probability distribution p ( Y ), and the image capturing device The amount of vibration of 1 is 4/9.
綜上所述，本發明用於偵測一影像擷取裝置之 震動的震動偵測方法與模組，藉由將目標影像訊框劃分成多個子訊框，再針對每一子訊框，根據其包含之所有巨區塊的移動向量選擇二維座標平面的一徑向區域作為候選徑向區域，再根據所有子訊框對應的候選徑向區域判定影像擷取裝置的震動方向所座落的徑向區域及震動量，故確實能達成本發明之目的。In summary, the present invention is for detecting an image capturing device. The vibration detecting method and module of the vibration, by dividing the target image frame into a plurality of sub-frames, and selecting, for each sub-frame, one of the two-dimensional coordinate planes according to the motion vectors of all the macro blocks included therein The radial region is used as the candidate radial region, and the radial region and the amount of vibration in which the vibration direction of the image capturing device is located are determined according to the candidate radial regions corresponding to all the sub-frames. Therefore, the object of the present invention can be achieved.
惟以上所述者，僅為本發明之較佳實施例而已 ，當不能以此限定本發明實施之範圍，即大凡依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above is only the preferred embodiment of the present invention. The scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the present invention in the scope of the invention and the scope of the patent specification are still within the scope of the invention.
31~36‧‧‧步驟31~36‧‧‧Steps
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| CN1992812A (en) * | 2005-12-27 | 2007-07-04 | 联咏科技股份有限公司 | Video vibration-compensated device and method thereof |
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| TW200737019A (en) * | 2005-10-19 | 2007-10-01 | Acutelogic Corp | Shake detection device and method |
| CN1992812A (en) * | 2005-12-27 | 2007-07-04 | 联咏科技股份有限公司 | Video vibration-compensated device and method thereof |
| US20100265394A1 (en) * | 2009-04-16 | 2010-10-21 | Sony Corporation | Image processing apparatus, image processing method, and recording medium |
| TW201123859A (en) * | 2009-12-30 | 2011-07-01 | Altek Corp | Method for adjusting shooting condition of digital camera through motion detection. |
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