WO2015189874A1 - 霧除去装置および画像生成方法 - Google Patents
霧除去装置および画像生成方法 Download PDFInfo
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- WO2015189874A1 WO2015189874A1 PCT/JP2014/003131 JP2014003131W WO2015189874A1 WO 2015189874 A1 WO2015189874 A1 WO 2015189874A1 JP 2014003131 W JP2014003131 W JP 2014003131W WO 2015189874 A1 WO2015189874 A1 WO 2015189874A1
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- fog
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- 238000000034 method Methods 0.000 title claims description 20
- 238000005286 illumination Methods 0.000 claims abstract description 88
- 239000003595 mist Substances 0.000 claims description 44
- 238000000926 separation method Methods 0.000 claims description 6
- 230000001965 increasing effect Effects 0.000 abstract description 4
- 230000002194 synthesizing effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 206010047571 Visual impairment Diseases 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 238000003786 synthesis reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 208000029257 vision disease Diseases 0.000 description 1
- 230000004393 visual impairment Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/40—Picture signal circuits
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Definitions
- This invention relates to a mist removing device, and in particular to a wide mist removing technique.
- JP 2012-168936 A discloses a fog removal technique based on an atmospheric model (see the Background Art section).
- the atmospheric model refers to an optical principle in which an object is imaged with an imaging device or observed with the naked eye when there are suspended particles in the atmosphere.
- the atmospheric model is shown by the following formula (1).
- I (x) J (x) t (x) + A (1-t (x)) Equation (1)
- I is an observed image (image with fog)
- J is a processed image (image without fog)
- t is the fog density
- x is the coordinates of the target pixel
- A is atmospheric light.
- the image I (x) observed with the imaging device is the part J (x) t (x) that remains even after the reflected light J (x) from the object is scattered by airborne particles and the sunlight in the air It consists of atmospheric environment light A (1-t (x)) which is the result of being scattered by airborne particles.
- the processed image J can be obtained from the observed image I by obtaining the fog density t and the atmospheric light A.
- the minimum value of the pixel value including the surrounding pixels is obtained by the following formula (2) (Dark Channel Prior (hereinafter abbreviated as DCP)) ), Assuming that this value represents the fog density, and changing the degree of fog removal from this DCP value.
- DCP Dark Channel Prior
- the mist removal method has the following problems.
- a dark fog image has few color components and no undulations.
- the DCP and the input image are close to each other, and if the processing is performed so that the DCP value becomes 0, the processed image becomes very dark.
- the parameter is set to be weak in order to prevent the image from becoming dark, there is a problem in that the effect of fog removal is weak and the image is not clear.
- An object of the present invention is to solve the above-described problems and provide a mist removing device that removes mist from an image containing fog.
- the fog removing apparatus removes fog on the basis of a separately determined fog density for the separated reflectance component, separating means for separating the reflectance component and the illumination light component from the fog-containing image.
- the reflectance component fog removing means, the separated illumination light component, the illumination light component fog removing means for removing fog based on the fog density, the reflectance component after fog removal, and the illumination light component after fog removal The mist removal degree is different between the mist removal in the reflectance component mist removal means and the mist removal in the illumination light component mist removal means.
- the fog removal degree in the reflectance component fog removing unit is higher than the fog removal in the illumination light component fog removing unit. Therefore, even when the fog is dark, it is possible to obtain an image that emphasizes the edge and maintains the brightness of the entire image.
- the fog removal degree in the illumination light component fog removing means is higher than the fog removal in the reflectance component fog removing means. Therefore, an image without edge enhancement can be obtained while reducing the brightness of the entire image.
- the reflectance component and the illumination light component are separated from the fog-containing image, and for the reflectance component, the fog is removed based on a separately determined fog density
- An illuminating light component is an image generation method for removing mist based on the mist concentration and combining the reflectance component after the mist removal and the illumination light component after the mist removal, wherein the mist for the reflectance component
- An image in which the degree of fog removal is changed is generated by the removal process and the fog removal process for the illumination light component. Therefore, it is possible to generate an image in which the degree of fog removal is different between the reflectance component and the illumination light component.
- the separating means for separating the reflectance component and the illumination light component from the fog-containing image, the separated reflectance component, the fog is determined based on the separately determined fog density
- Reflectivity component fog removing means to be removed illumination light component fog removing means for removing fog based on the fog density, the reflectance component after fog removal, and the illumination light after fog removal for the separated illumination light component
- a synthesis means for synthesizing the components is provided. Thereby, the fog removal processing can be performed independently for the reflectance component and the illumination light component.
- the separating means for separating the reflectance component and the illumination light component from the fog-containing image, the separated reflectance component, the fog is determined based on the separately determined fog density
- a reflectance component fog removing unit to be removed, a combining unit for synthesizing the separated illumination light component and the reflectance component after the fog removal is provided. Therefore, it is possible to generate an image in which only the reflectance component is subjected to the fog removal process.
- the separating means for separating the reflectance component and the illumination light component from the fog-containing image, the separated illumination light component, the fog is determined based on the separately determined fog density Illumination light component fog removing means to be removed, illumination light component after the fog removal, and combining means for synthesizing the separated reflectance component are provided. Therefore, it is possible to generate an image that has been subjected to the fog removal process for only the illumination light component.
- “fog” is a concept including haze, haze, smoke, dust, sand dust, rain, and snow.
- the “calculation means” corresponds to the fog density calculation unit 11.
- the “separating means” corresponds to the illumination light separating unit 4.
- the “reflectance component fog removal means” corresponds to the reflectance component fog removal unit 13, and the “illumination light component fog removal means” corresponds to the illumination light component fog removal unit 14.
- the “combining means” corresponds to the combining unit 16.
- FIG. 1 shows a configuration of an image processing apparatus 1. The relationship between an illumination light component and a reflectance component, and the intensity
- FIG. 1 shows a configuration of an image processing apparatus 1 having a fog removing apparatus 10 according to an embodiment of the present invention.
- the fog removing device 10 includes an illumination light separating unit 23, a reflectance component fog removing unit 13, an illumination light component fog removing unit 14, a fog concentration calculating unit 11, and a combining unit 16.
- the illumination light separation unit 23 has an edge-preserving low-pass filter, and the YUV conversion unit 3 calculates a weighted average value of local brightness of the converted YUV data, that is, an illumination light component, Thereby, the illumination light component and the reflectance component are separated.
- the fog density calculation unit 11 calculates the fog density of a given input image using the separated illumination light component.
- the DCP described in the background art represents the fog density
- the final fog density t is obtained from the DCP value.
- the reflectance component fog removing unit 13 performs fog removal on the reflectance component calculated by the reflectance calculating unit 12.
- the illumination light component fog removal unit 14 performs fog removal on the separated illumination light component. The degree of removal of fog is different between the illumination light component fog removing unit 14 and the reflectance component fog removing unit 13. Details will be described later.
- the synthesizing unit 16 synthesizes the image from which fog has been removed, using the illumination light component from which fog has been removed and the reflectance component.
- the synthesized image is converted from YUV data to RGB data by the RGB converter 18.
- the fog removal performed by the illumination light component fog removal unit 14 and the reflectance component fog removal unit 13 will be described.
- the observed image I is defined by the product of the illumination light L and the reflectance R.
- J R (I R I L- (1-t) A L ) / (I L- (1-t) A L ) (8) From this equation (8), the value of J R is greater than I R When I R> 1, smaller than I R when the I R ⁇ 1. That is, processing for enhancing the edge according to the fog density is performed on the reflectance component, which is consistent with the fact that the edge is blurred by the fog.
- the fog removal for the illumination light component can be performed separately by the equation (7), the fog removal for the reflectance component by the equation (8), and the fog removal can be performed separately for the illumination light component and the reflectance component.
- the degree of fog removal can be increased for the reflectance component, while the degree of fog removal can be reduced for the illumination light component. Therefore, the visibility can be improved while maintaining the brightness of the image.
- the value t in the equations (7) and (8) may be changed between the two. If the fog is dark and the average brightness of the image is low (not high), the edge emphasis is strengthened, but the brightness should not be lowered so much. Therefore, the value t of the illumination light component and t L, if the value t of the reflectance component and the t R, the weakened defogging of the illumination light component, so as to strengthen the defogging the reflectance component (t L > t R ).
- the following may be performed to weight the fog removal processing result.
- J L is the illumination light component after fog removal and J L 'is the weighted result, J L ' Ask for.
- an image containing a visual impairment is separated into an illumination light component and a reflectance component in Retinex theory, and image processing is performed so that the obstacle removal intensity based on the atmospheric model is different for each, and thereafter
- image processing is performed so that the obstacle removal intensity based on the atmospheric model is different for each, and thereafter
- RGB value is once determined based on the YUV value.
- other color space models such as HSV
- fog density calculation and / or fog removal processing conversion from RGB may be performed at that stage.
- the case of removing mist has been described as an example.
- the present invention can also be applied to the case of removing external light components other than mist.
- the fog concentration is obtained by DCP, but other methods may be used for calculating the fog concentration, or the operator may adjust the fog concentration manually.
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Abstract
Description
Iは観測画像(霧がある画像)、Jは処理画像(霧がない画像)、tは霧の濃度、xは対象画素の座標、Aは大気光を示す。
大気モデルの式(1)を変形すると、式(4)が得られる。
が得られる。
ここで、大気モデルにおいては、大気光Aには反射率成分はないと仮定する。また、照明光成分に対しても、当然大気モデルの式(1)が成り立つ。したがって、前記式(4)を照明光成分に限定して考えると、下記の2つの制約条件が設定できる。
JL=(IL-AL)/t+AL ・・・式(7)
式(6)、(7)を式(5)に代入すると式(8)が導出される。
この式(8)から、JRの値は、IR>1のときIRより大きくなり、IR<1のときIRより小さくなる。つまり、反射率成分に対して、霧濃度に応じてエッジを強調する処理を行っており、これは、霧によりエッジがなまることとの整合性がある。
(9)式は、求めた値に対して係数をかけるのではなく、元画像からの変化量に対して、係数kによって変更できるようにすることにより、重み付けを変えられるようにしたものである。具体的には、照明光成分の霧除去程度を弱くしたい場合には、k<1とすればよい。
本実施形態においては、RGB値を一旦、YUV値にて判断する場合について説明したが、他の色空間モデル(HSVなど)を採用してもよい。霧濃度算出および/または霧除去処理にて、必要な場合に、その段階でRGBから変換するようにしてもよい。
13 反射率成分霧除去部
14 照明光成分霧除去部
16 合成部
Claims (7)
- 霧含有画像から反射率成分と照明光成分とを分離する分離手段、
前記分離した反射率成分について、別途決定された霧濃度に基づいて霧を除去する反射率成分霧除去手段、
前記分離した照明光成分について、前記霧濃度に基づいて霧を除去する照明光成分霧除去手段、
前記霧除去後の反射率成分および前記霧除去後の照明光成分を合成する合成手段、
を備え、
前記反射率成分霧除去手段における霧除去と前記照明光成分霧除去手段における霧除去では、霧除去度が異なること、
を特徴とする霧除去装置。 - 請求項1の霧除去装置において、
前記反射率成分霧除去手段における霧除去の方が、前記照明光成分霧除去手段における霧除去よりも、霧除去度が高いこと、
を特徴とする霧除去装置。 - 請求項1または請求項2の霧除去装置において、
前記照明光成分霧除去手段における霧除去の方が、前記反射率成分霧除去手段における霧除去よりも、霧除去度が高いこと、
を特徴とする霧除去装置。 - 霧含有画像から反射率成分と照明光成分とを分離し、
前記反射率成分について、別途決定された霧濃度に基づいて霧を除去し、
前記照明光成分について、前記霧濃度に基づいて霧を除去し、
前記霧除去後の反射率成分および前記霧除去後の照明光成分を合成する画像生成方法であって、
前記反射率成分についての霧除去処理と、前記照明光成分についての霧除去処理とで、霧除去度を変更した画像を生成すること、
を特徴とする画像生成方法。 - 霧含有画像から反射率成分と照明光成分とを分離する分離手段、
前記分離した反射率成分について、別途決定された霧濃度に基づいて霧を除去する反射率成分霧除去手段、
前記分離した照明光成分について、前記霧濃度に基づいて霧を除去する照明光成分霧除去手段、
前記霧除去後の反射率成分および前記霧除去後の照明光成分を合成する合成手段、
を備えたことを特徴とする霧除去装置。 - 霧含有画像から反射率成分と照明光成分とを分離する分離手段、
前記分離した反射率成分について、別途決定された霧濃度に基づいて霧を除去する反射率成分霧除去手段、
前記分離した照明光成分および前記霧除去後の反射率成分を合成する合成手段、
を備えたこと、
を特徴とする霧除去装置。 - 霧含有画像から反射率成分と照明光成分とを分離する分離手段、
前記分離した照明光成分について、別途決定された霧濃度に基づいて霧を除去する照明光成分霧除去手段、
前記霧除去後の照明光成分および前記分離された反射率成分を合成する合成手段、
を備えたことを特徴とする霧除去装置。
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JP2016527494A JP6228670B2 (ja) | 2014-06-12 | 2014-06-12 | 霧除去装置および画像生成方法 |
RU2017100018A RU2658874C1 (ru) | 2014-06-12 | 2014-06-12 | Устройство удаления тумана и способ формирования изображений |
CN201480079760.4A CN106462947B (zh) | 2014-06-12 | 2014-06-12 | 除雾装置及图像生成方法 |
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JP2016527661A JP6225255B2 (ja) | 2014-06-12 | 2015-03-02 | 画像処理システム及びプログラム |
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RU2017100023A RU2648955C1 (ru) | 2014-06-12 | 2015-04-27 | Система обработки изображений и машиночитаемый записывающий носитель |
RU2017100021A RU2654159C1 (ru) | 2014-06-12 | 2015-04-27 | Система обработки изображений и машиночитаемый записывающий носитель |
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JP2016527685A JP6228671B2 (ja) | 2014-06-12 | 2015-04-27 | 画像処理システム及びプログラム |
AU2015272799A AU2015272799B2 (en) | 2014-06-12 | 2015-04-27 | Image processing system and computer-readable storage medium |
ES15807220.7T ES2681294T3 (es) | 2014-06-12 | 2015-04-27 | Sistema de procesamiento de imágenes y medio de grabación legible por ordenador |
US15/371,228 US10102614B2 (en) | 2014-06-12 | 2016-12-07 | Fog removing device and image generating method |
US15/371,230 US10157451B2 (en) | 2014-06-12 | 2016-12-07 | Image processing system and computer-readable recording medium |
US15/372,400 US9972074B2 (en) | 2014-06-12 | 2016-12-08 | Image processing system and computer-readable recording medium |
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