WO2019227438A1 - 一种图像处理方法、设备、飞行器、***及存储介质 - Google Patents
一种图像处理方法、设备、飞行器、***及存储介质 Download PDFInfo
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- 238000000034 method Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 26
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- 238000004590 computer program Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- G06V2201/07—Target detection
Definitions
- the present invention relates to the field of control technology, and in particular, to an image processing method, device, aircraft, system, and storage medium.
- aerial photography and camera technology have become more and more widely used.
- aerial photography and camera technology on aircraft are most widely used.
- the photographing device is mounted under the blades of the aircraft, during the flight of the aircraft, when the attitude of the aircraft is adjusted, the angle of view of the photographing device is easily affected by the blades, causing the photographing device
- the appearance of the blades in the captured picture affects the quality of aerial photography.
- Embodiments of the present invention provide an image processing method, device, system, and storage medium, which can automatically remove paddles in a captured image, improve the quality of the captured image, and reduce energy loss and cost.
- an embodiment of the present invention provides an image processing method, which is applied to a photographing device, where the photographing device is mounted on an aircraft with a paddle and includes:
- an embodiment of the present invention provides an image processing device, including a memory and a processor;
- the memory is used to store program instructions
- the processor executes program instructions stored in the memory.
- the processor executes program instructions stored in the memory.
- the processor executes program instructions stored in the memory.
- the processor executes program instructions stored in the memory.
- an embodiment of the present invention provides an aircraft, including:
- a processor configured to obtain motor rotation information to determine a blade rotation period of the aircraft according to the motor rotation information, adjust a shooting interval duration of the photographing device according to the blade rotation period, and control mounting on the aircraft
- the upper shooting device obtains an image frame sequence according to the shooting interval.
- an embodiment of the present invention provides an image processing system, including: an image processing device and an aircraft;
- the aircraft is configured to obtain motor rotation information to determine a blade rotation period of the aircraft according to the motor rotation information, adjust a shooting interval duration of a photographing device according to the blade rotation period, and control a mount on A shooting device on the aircraft shoots an image frame sequence according to the shooting interval duration;
- the image processing device is configured to obtain an image frame sequence obtained by a photographing device; perform paddle detection on the image frames in the image frame sequence, and detect, from the image frame sequence, a target that is determined to have an image area of the paddle blade. An image frame; modifying or replacing the target image frame to remove the paddle image area.
- an embodiment of the present invention provides a computer-readable storage medium.
- the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the image processing method according to the first aspect is implemented.
- the image processing device acquires an image frame sequence obtained by a photographing device, detects from the image frame sequence a target image frame in which a paddle image area exists, and modifies the target image frame or Replace to remove the blade image area. In this way, the quality of captured images is improved, energy consumption is reduced, and costs are saved.
- FIG. 1 is a schematic structural diagram of an image processing system according to an embodiment of the present invention
- FIG. 2 is a schematic flowchart of an image processing method according to an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of an aircraft provided by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of an image frame sequence according to an embodiment of the present invention.
- FIG. 5 is a schematic flowchart of another image processing method according to an embodiment of the present invention.
- FIG. 6 is a schematic flowchart of another image processing method according to an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of an image processing device according to an embodiment of the present invention.
- the image processing method provided in the embodiment of the present invention may be executed by an image processing device.
- the image processing device may be provided on an aircraft with a paddle (such as a drone) configured with a photographing device.
- the image processing device may be provided on a device such as a robot with a paddle, a mobile terminal (such as a mobile phone) configured with a photographing device.
- a mobile terminal such as a mobile phone
- This solution determines the rotation period of the blades of the aircraft based on the motor rotation information obtained from the electronic governor of the aircraft, and adjusts the shooting interval length of the photographing device according to the blade rotation period, so that the shooting interval time and the blade rotation period form A phase difference, and controlling the shooting device to obtain an image frame sequence according to the shooting interval duration.
- a phase difference is formed by adjusting the shooting interval duration and the blade rotation period, so as to avoid each frame image caused by the shooting device when the blade is captured without the phase difference between the shooting interval duration and the blade rotation period. The blades appear in all frames.
- the motor rotation information is obtained from the electronic governor of the aircraft, wherein the motor rotation information includes any one or more types of information about a blade rotation speed, a blade rotation frequency, and a blade rotation period.
- the image processing device may determine a blade rotation period of the aircraft according to the motor transfer information obtained from the electronic governor, and adjust a shooting interval duration of the photographing device according to the blade rotation period, thereby An image frame sequence obtained by the shooting device according to the shooting interval is acquired.
- the image processing device performs paddle detection on the image frames in the image frame sequence, detects, from the image frame sequence, a target image frame in which a paddle image area exists, and modifies the target image frame Or replace to remove the blade image area in the target image frame.
- the embodiment of the present invention uses an image processing device to execute corresponding processing as an example to describe an image processing method.
- FIG. 1 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
- the image processing system shown in FIG. 1 includes: an image processing device 11 and an aircraft 12, and the image processing device 11 may be
- the control terminal of the aircraft 12 may specifically be any one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a ground station, and a wearable device (watch, bracelet).
- the aircraft 12 may be a rotor-type aircraft, such as a quad-rotor, a six-rotor, an eight-rotor, or a fixed-wing aircraft.
- the aircraft includes a power system 121 for providing flight power to the aircraft.
- the power system 121 includes any one or more of a propeller, a motor, and an electronic governor.
- the aircraft 12 may further include a gimbal 122 and a camera device. 123.
- the camera 123 is mounted on the main body of the aircraft through the gimbal 122.
- the camera device 123 is used for image or video shooting during the flight of the aircraft 12, including, but not limited to, a multispectral imager, a hyperspectral imager, a visible light camera, and an infrared camera.
- the gimbal 122 is a multi-axis transmission and stabilization system.
- the PTZ 122 motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotating shaft, and prevents or reduces the shake of the imaging device by setting an appropriate buffer mechanism.
- the image processing system may obtain the image frame sequence captured by the shooting device 123 through the image processing device 11, perform paddle detection on the image frames in the image frame sequence, and In the image frame sequence, a target image frame in which a paddle image area exists is determined and determined, and the target image frame is modified or replaced to remove the paddle image area.
- the image processing system may acquire the blade rotation period of the aircraft 12 through the image processing device 11, where the blade rotation period It is the image processing device 11 that determines the blade rotation period of the aircraft 12 based on the motor rotation information acquired by the electronic governor of the aircraft 12.
- the image processing device 11 may adjust a shooting interval duration of the photographing device according to the blade rotation period, wherein the shooting interval duration is a non-integer multiple of the blade rotation period.
- the image processing device 11 when the image processing device 11 adjusts the duration of the shooting interval according to the blade rotation period, the image processing device 11 may determine a phase difference parameter according to the blade rotation period and the determined phase difference parameter.
- the shooting interval is described.
- the phase difference parameter is a positive number less than 1.
- FIG. 2 is a schematic flowchart of an image processing method according to an embodiment of the present invention.
- the method may be executed by an image processing device.
- the specific explanation of the image processing device is as described above.
- the method according to the embodiment of the present invention includes the following steps.
- S201 Acquire an image frame sequence obtained by a shooting device.
- the image processing device may acquire an image frame sequence obtained by a shooting device mounted on the aircraft.
- the image processing device may obtain a blade rotation period of the aircraft, and adjust the shooting interval of the shooting device according to the blade rotation period. Duration, so as to control the photographing device to obtain the image frame sequence according to the duration of the photographing interval.
- FIG. 3 is a schematic structural diagram of an aircraft provided by an embodiment of the present invention. Since the blades of the aircraft are driven by a motor, each rotor of the aircraft shown in FIG. 3 includes A motor includes: a motor 31, a motor 32, a motor 33, and a motor 34. In addition, the aircraft also includes a power system 35 provided on the fuselage. The power system 35 includes an electronic governor, so the electronic governor can obtain the rotational speed and rotation of the blades of the aircraft. Any one or more kinds of data information such as frequency and rotation period.
- the image processing device can obtain the real-time rotation speed of the motor from the electronic governor of the power system 35 to determine the rotation period of the blades of the aircraft.
- the image processing device may determine a phase difference parameter according to the obtained blade rotation period and the determined phase difference. Parameter to determine the duration of the shooting interval.
- the duration of the shooting interval is a non-integer multiple of the rotation period of the blade, and the phase difference parameter is a positive number less than.
- the phase difference parameter ⁇ may be a preset value, and the shooting interval duration t may be determined according to a transformation of the blade rotation period T and an adjustment to a positive integer n.
- the phase difference parameter ⁇ may be determined by performing blind adjustment on the duration of the shooting interval.
- the blade rotation period of the aircraft is obtained through this implementation manner, so that the image processing device can adjust the duration of the shooting interval of the shooting device according to the rotation period of the paddle, so that the shooting device follows the Shoot at intervals.
- S202 Perform paddle detection on the image frames in the image frame sequence, and detect, from the image frame sequence, a target image frame in which a paddle image area exists.
- the image processing device may perform paddle detection on the image frames in the image frame sequence obtained by the photographing device, and detect from the image frame sequence and determine the target in which the paddle image area exists.
- Image frame may obtain data information of each image frame in the image frame sequence, and detect whether there is an image frame including a paddle image area in the image frame sequence according to the data information. If the detection result is yes, it is determined that the image frame including the blade image area is a target image frame.
- the image processing device can detect a target image frame in which a paddle image region exists from the image frame sequence, so as to replace or modify the target image frame subsequently.
- FIG. 4 is taken as an example for illustration.
- FIG. 4 is a schematic diagram of an image frame sequence provided by an embodiment of the present invention. It is assumed that the image frame obtained by the photographing device acquired by the image processing device according to a shooting interval duration t includes 4
- the frame image frame is the first image frame 41, the second image frame 42, the third image frame 43, and the fourth image frame 44 as shown in FIG.
- the image processing device may separately obtain data information of a first image frame 41, data information of a second image frame 42, data information of a third image frame 43, and data information of a fourth image frame 44 in the image frame sequence, By comparing data information of each image frame, it is detected whether there is an image frame including a paddle image area in the image frame sequence. If it is detected that the first image frame 41 includes a paddle image area 411, determining the first An image frame 41 is a target image frame.
- S203 Modify or replace the target image frame to remove the paddle image area.
- the image processing device may modify or replace the target image frame to remove the paddle image area.
- the image processing device can modify or replace the image frame in which the paddle appears, to remove the paddle in the image frame, thereby improving the quality of the captured image.
- the image processing device may further determine a target position area in which the blade appears in the target image frame from an adjacent image frame of the target image frame. To obtain a target image corresponding to the target position area, and use the target image to replace an image of a target position area where a paddle appears in the target image frame to obtain a replacement image frame. It should be noted that, because the shooting device captures image frames fast and the content of adjacent image frames is similar, the adjacent image frames of the target image frame can be used to perform the replacement processing on the target image frame.
- the target location area may be a preset target location area. In other embodiments, the target location area may also be a target location area calculated by a preset algorithm. Embodiments of the present invention Not specifically limited.
- FIG. 4 can be used as an example for description.
- the target image frame determined by the image processing device is the first image frame 41. If it is determined that the blade position appears in the target position area 411 in the first image frame 41, then Acquiring a target image corresponding to the target position area 411 in the first image frame 41 from an adjacent image frame such as the second image frame 42 of the first image frame 41, and using the target image to replace the first An image of the target position area 411 of the blade appears in an image frame 41, and a replacement image frame is obtained.
- the image processing device may further select at least two image frames from the image frame sequence to remove the target image frame, and fuse the at least two image frames. Process the fused image frame, and use the fused image frame to replace the target image frame.
- FIG. 4 is taken as an example for description. Assuming that the target image frame determined by the image processing device is the first image frame 41, the image processing device may select and remove the first image frame 41 from the image frame sequence in FIG. 4. At least two image frames, such as a second image frame 42 and a third image frame 43, and performing fusion processing on the selected second image frame 42 and the third image frame 43 to obtain a fused image frame, thereby using the fused image frame, Replace the first image frame 41.
- the image processing device obtains an image frame sequence obtained by the photographing device, performs paddle detection on the image frames in the image frame sequence, and determines from the image frame sequence to determine that a paddle image area exists.
- the target image frame and modify or replace the target image frame to remove the paddle image area, thereby improving the quality of the captured image, reducing energy consumption, and saving costs.
- FIG. 5 is a schematic flowchart of another image processing method according to an embodiment of the present invention.
- the method may be executed by an image processing device.
- the specific explanation of the image processing device is as described above.
- the difference between the embodiment of the present invention and the embodiment shown in FIG. 2 is that the embodiment of the present invention detects how to detect whether there is a paddle image area in the image frame according to the acquired data information of the image frame in the image frame sequence, so that The process of determining an image frame including a blade image area as a target image frame is described in detail.
- S501 Acquire an image frame sequence obtained by a shooting device.
- the image processing device may acquire an image frame sequence obtained by the shooting device.
- the example of the specific implementation process is as described above, and is not repeated here.
- S502 Acquire data information of image frames in the image frame sequence.
- the image processing device may acquire data information of each image frame in the image frame sequence.
- S503 Detect whether there is an image frame including a paddle image area in the image frame according to the data information.
- the image processing device may detect whether the image frame includes a paddle image area according to the acquired data information of the image frame, wherein the data information includes information of each image frame in the image frame sequence. Pixel values. In one embodiment, the image processing device may detect whether a paddle image area is included in the image frame by acquiring a pixel value of the image frame.
- the image processing device may determine a comparison image frame sequence from the image frame sequence, and The determined pixel values of each image frame in the compared image frame sequence are compared, and if the difference in pixel values in the comparison result satisfies a determination condition, it is determined that the image frame includes a paddle image area.
- the difference in the pixel values in the comparison result meets the judgment condition, which means that the difference in pixel values between the pixel values of the image frames in the sequence of the image frames and the pixel values of other image frames in the sequence of the compared image frames is significantly greater than the comparison
- the pixel values of other image frames in the image frame sequence are different from the pixel values of the pixel values of each image frame.
- the difference in pixel values in the comparison result that satisfies the determination condition may also refer to other determination conditions, such as a determination condition that the difference in pixel values is greater than a preset threshold, which is not specifically limited in this embodiment of the present invention.
- the image frame sequence acquired by the image processing device includes 100 image frames.
- 50 image frames are determined from the 100 image frames as a comparison image frame sequence.
- the pixel values of 50 image frames in the image frame sequence are compared. If the difference between the pixel values of the first image frame and the second image frame in the compared image frame sequence is greater than a preset difference value, the first image frame may be confirmed as an image frame in the first pixel image frame sequence , Confirm that the second image frame is an image frame in a second pixel image frame sequence.
- the two Image frames are confirmed as the image frames in the second pixel image frame sequence; if the pixel value difference between the two image frames in the comparison result is greater than the preset difference value, since the pixel value is from low to high, the corresponding color is from black To white, therefore, the image frame with the smaller pixel value in the two image frames whose pixel value difference is greater than the preset difference value is confirmed as the image frame in the first pixel image frame sequence, and the image frame with the larger pixel value is It is confirmed as the image frame in the second pixel image frame sequence.
- the number of image frames identified as being the first pixel image frame sequence and the number of image frames identified as being the second pixel image frame sequence are compared to determine that the smaller number of image frame sequences is The target image frame where the blade appears. If the number of image frames in the first pixel image frame sequence is less than the number of image frames in the second pixel image frame sequence, it is determined that the image frames in the first pixel image frame sequence are target image frames in which the paddle image area appears.
- the image processing device When the image processing device detects whether a paddle image area exists in an image frame, it can also detect whether a paddle image area exists in the image frame by comparing and comparing the preset position area of the image frame in the image frame sequence.
- the image processing device may determine a preset position area of an image frame from the determined comparison image frame sequence, and the determined image area of each image frame in the compared image frame sequence The pixel values in the preset position area are compared. If the difference in the pixel values in the comparison result meets the determination condition, it is determined that the image frame includes a paddle image area.
- a preset position area of each image frame is determined from the determined comparison image frame sequence, and pixel values of the preset position area of each image frame in the comparison image frame sequence are compared.
- the pixel values of the preset position area of the first image frame in the compared image frame sequence are compared with the pixel values of the preset position area of the second image frame, and the difference between the pixel values is greater than the preset difference value, and the first image If the pixel value of the frame is smaller than the pixel value of the second image frame, the first image frame is confirmed as the image frame in the first pixel image frame sequence, and the second image frame is determined as the second pixel image frame sequence.
- the two image frames to be compared may be confirmed as the image frames in the second pixel image frame sequence.
- the first pixel image frame sequence and the second pixel image frame sequence can be obtained, and the number of image frames confirmed as being the first pixel image frame sequence and the number of image frames confirmed as being the second pixel image frame can be obtained.
- the number of image frames in the sequence is compared, and the smaller number of image frames is determined as the target image frame where the paddles appear.
- the image processing device when it determines whether the image frame includes a paddle image area according to the pixel values of the acquired image frame, it may determine a reference image frame from the image frame sequence, and detect The pixel value of the image frame obtained in the image frame sequence is different from the pixel value of the reference image frame. If the pixel value difference satisfies a determination condition, it is determined that the image frame includes a paddle image area. Wherein, the pixel value difference meets the judgment condition means that the pixel value difference between the pixel value of an image frame in the image frame sequence and the pixel value of the reference image frame is significantly greater than the pixel values of other image frames in the image frame sequence and the reference image frame. The pixel value difference of the pixel value.
- the pixel value difference meeting the judgment condition may also refer to other judgment conditions, such as a judgment condition such as a difference in pixel value greater than a preset threshold, which is not specifically limited in this embodiment of the present invention.
- FIG. 4 can be used as an example for description.
- the third image frame 43 is determined as the reference image frame from the image frame sequence in FIG. 4.
- the pixel value difference of the pixel value of 43 is greater than the preset difference value
- the first image frame 41 may be confirmed as an image frame in the first pixel image frame sequence
- the third image frame 43 is determined as the first Image frames in a two-pixel image frame sequence.
- the second image frame 42 may be confirmed as yes Image frames in the second pixel image frame sequence.
- the fourth image frame 44 may be confirmed as a second pixel Image frames in a sequence of image frames.
- the first image frame 41 may be determined. Includes blade image area.
- the image processing device may further determine the preset position area in the reference image frame to obtain the preset position of the image frame obtained from the image frame sequence.
- the pixel value of the region is compared with the pixel value difference of the preset position region of the reference image frame to detect whether a paddle image region exists in the image frame.
- the image processing device may determine a preset position area from the reference image frame, and detect a pixel value of the preset position area of the image frame obtained from the image frame sequence and the pixel value of the preset position area.
- the pixel value difference in the preset position area of the reference image frame is described, and if the pixel value difference satisfies a determination condition, it is determined that the image frame includes a paddle image area.
- FIG. 4 can be used as an example for description.
- the third image frame 43 is determined as a reference image frame from the image frame sequence shown in FIG. 4 and a preset position area of the third image frame 43 is determined. If the difference between the pixel value of the preset position area in the first image frame 41 and the pixel value of the preset position area in the third image frame 43 is greater than the preset difference value, the first image frame 41 may be changed. It is determined to be an image frame in the first pixel image frame sequence, and the third image frame 43 is determined to be an image frame in the second pixel image frame sequence.
- the second image frame 42 is identified as an image frame in a second pixel image frame sequence. If it is detected that the pixel value of the preset position area in the fourth image frame 44 is smaller than the preset difference value, the fourth image frame 44 may be confirmed as an image frame in the second pixel image frame sequence.
- the first image frame 41 may be determined. Includes blade image area.
- the image processing device detects that an image frame including a paddle image area exists in the image frame sequence, it determines that the image frame including the paddle image area is a target image frame.
- S505 Modify or replace the target image frame to remove the paddle image area.
- the image processing device may modify or replace the image of the target position area where the blade appears in the target image frame to remove the blade image area; or, from the image, Select at least two image frames from the target image frame in the frame sequence, perform fusion processing on the at least two image frames to obtain a fused image frame, and use the fused image frame to modify or replace the target image frame to Remove the blade image area.
- the example of the specific implementation process is as described above, and is not repeated here.
- the image processing device acquires data of the image frames in the image frame sequence, and according to the data information, if an image frame including a paddle image area is detected in the image frame sequence, the image processing device determines The image frame including the blade image area is a target image frame, and the target image frame is modified or replaced to remove the blade image area. In this way, the accuracy of determining the target image frame is improved.
- FIG. 6 is a schematic flowchart of another image processing method according to an embodiment of the present invention.
- the method may be executed by an image processing device.
- the specific explanation of the image processing device is as described above.
- the difference between the embodiment of the present invention and the embodiment shown in FIG. 5 is that the embodiment of the present invention illustrates a detailed process of modifying or replacing the target image frame.
- S601 Acquire an image frame sequence obtained by a shooting device.
- the image processing device may obtain an image frame sequence obtained by the photographing device.
- the specific embodiments and examples are as described above, and details are not described herein again.
- S602 Perform paddle detection on the image frames in the image frame sequence, and detect, from the image frame sequence, a target image frame in which a paddle image area is determined to exist.
- the image processing device may perform paddle detection on the image frames in the image frame sequence acquired by the photographing device, and detect from the image frame sequence that a paddle image area exists.
- the target image frame, the specific embodiment and the example are described above, and will not be repeated here.
- S603 Select at least two image frames from which the target image frame is removed from the image frame sequence.
- the image processing device may select at least two image frames from which the target image frame is removed from the acquired image frame sequence.
- S604 Perform fusion processing on the at least two image frames to obtain a fused image frame.
- the image processing device may perform fusion processing on the selected at least two image frames from which the target image frame is removed to obtain a fused image frame.
- the determined target image frame is the first image frame 41
- the second image frame 42 and the third image frame from which the first image frame 41 is removed may be selected for fusion processing to obtain a fused image frame.
- the average image stack may be used to perform image frame fusion.
- the image processing device may obtain the target image frame sequence from at least two image frames excluding the target image frame selected from the image frame sequence by determining a target position area of the blade in the target image frame.
- the pixel value of the target position area determining an average pixel value of the target position area in the at least two image frames, and using the average pixel value to replace the pixel value of the target position area in the target image frame To get the fused image frame.
- the average pixel value may be a weighted average pixel value, which is not specifically limited in the embodiment of the present invention.
- FIG. 4 is taken as an example for description. It is assumed that the target image frame is the first image frame 41 and the paddle is in the target position area 411 in the first image frame 41.
- the second image frame 42 and the third image frame 43 of the first image frame 41 may be based on the pixel value of the target position area in the second image frame 42 and the target in the third image frame 43.
- the pixel value of the position area determines an average pixel value of the target position area in the second image frame 42 and the target position area in the third image frame 43.
- the image processing device may use the average pixel value.
- the pixel value of the target position area 411 in the first image frame 41 is replaced to obtain a fused image frame.
- the image processing device may determine the average pixel value of the at least two image frames by acquiring the pixel values of at least two image frames excluding the target image frame selected from the image frame sequence, and use The average pixel value is substituted for the pixel value of the target image frame to obtain a fused image frame.
- the target image frame is the first image frame 41. If the image processing device obtains the second image frame 42 and the third image frame 43 except the first image frame 41 from the image frame sequence, then The average pixel value of the second image frame 42 and the third image frame 43 may be determined according to the obtained pixel value of the second image frame 42 and the obtained pixel value of the third image frame 43. The processing device may use the average pixel value to replace the pixel value of the first image frame 41 to obtain a fused image frame.
- the image processing device when the image processing device performs fusion processing on the at least two image frames, the image processing device may further obtain at least two image areas that do not include a paddle blade from image frames before and after the target image frame.
- the motion vector and pixel value of the image frame, and determine the target of the target image frame by interpolation based on the motion vectors and pixel values of at least two image frames that do not include the paddle image area before and after the target image frame are obtained The pixel value, so that the obtained target pixel value of the target image is determined to replace the pixel value of the target image to obtain a fused image frame.
- the image processing device may also determine the target position area of the paddle in the target image frame, delete the image of the target position area in the target image frame, and the purpose of removing the paddle image area has been reached. Taking FIG. 4 as an example, the image processing device may delete the image of the target position area 411 in the first image frame 41 according to the target position area 411 of the blade in the first image frame 41.
- the image processing device when the image processing device performs fusion processing on the at least two image frames, the image processing device may also perform fusion processing on the image frames by using other fusion processing methods, which are not specifically limited in this embodiment of the present invention.
- the image processing device may use the fused image frame to replace the target image frame.
- the specific embodiments and examples are as described above, and are not repeated here.
- the image processing device selects at least two image frames from the obtained image frame sequence and removes the target image frame, performs fusion processing on the at least two image frames, and obtains a fused image frame, and Using the fused image frame to replace the target image frame. In this way, replacement or modification of the target image frame where the blade appears is improved, and the quality of the captured image is improved.
- FIG. 7 is a schematic structural diagram of an image processing device according to an embodiment of the present invention.
- the image processing device includes: a memory 701, a processor 702, and a data interface 703.
- the memory 701 may include a volatile memory (volatile memory); the memory 701 may also include a non-volatile memory (non-volatile memory); and the memory 701 may further include a combination of the foregoing types of memories.
- the processor 702 may be a central processing unit (central processing unit, CPU).
- the processor 702 may further include a hardware chip.
- the above hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. Specifically, it can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
- ASIC application-specific integrated circuit
- PLD programmable logic device
- FPGA field-programmable gate array
- the memory 701 is configured to store program instructions. When the program instructions are executed, the processor 702 may call the program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 for performing the following steps:
- the obtaining a blade rotation period of the aircraft includes:
- the blade rotation period of the aircraft is determined based on the motor rotation information obtained from the electronic governor.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- phase difference parameter which is a positive number less than 1
- the duration of the shooting interval is determined according to the blade rotation period and the determined phase difference parameter.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the detection result is yes, it is determined that the image frame including the blade image area is a target image frame.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the image frame includes a paddle image area.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the image frame includes a paddle image area.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the image frame includes a paddle image area.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the image frame includes a paddle image area.
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 for performing the following steps:
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- processor 702 invokes program instructions stored in the memory 701 to perform the following steps:
- the image processing device obtains an image frame sequence obtained by the photographing device, performs paddle detection on the image frames in the image frame sequence, and determines from the image frame sequence to determine that a paddle image area exists.
- the target image frame and modify or replace the target image frame to remove the paddle image area, thereby improving the quality of the captured image, reducing energy consumption, and saving costs.
- An embodiment of the present invention also provides an aircraft, including: a fuselage; a power system provided on the fuselage for providing flying power; the power system includes: a blade; a motor for driving the blade to rotate; electronic A governor for controlling the rotation of the motor; an electronic governor for controlling the rotation of the motor; a processor for obtaining motor rotation information to determine a rotation period of the blade of the aircraft according to the motor rotation information, and The blade rotation period, adjusting the shooting interval time of the shooting device, and controlling the shooting device mounted on the aircraft to shoot according to the shooting interval time to obtain an image frame sequence.
- the processor is configured to determine a blade rotation period of the aircraft based on the motor rotation information obtained from the electronic governor.
- the processor is configured to adjust the duration of the shooting interval according to the rotation period of the blade, wherein the duration of the shooting interval is a non-integer multiple of the rotation period of the blade.
- the processor is configured to determine a phase difference parameter, where the phase difference parameter is a positive number less than 1; and determine the duration of the shooting interval according to the blade rotation period and the determined phase difference parameter.
- the aircraft may be a quad-rotor drone, a six-rotor drone, a multi-rotor drone, or the like.
- the power system may include structures such as a motor, an ESC, and a propeller.
- the motor is responsible for driving the aircraft propeller, and the electronic governor is responsible for controlling the rotation speed of the motor of the aircraft.
- An embodiment of the present invention further provides an image processing system, including: an image processing device and an aircraft;
- the aircraft is configured to obtain motor rotation information to determine a blade rotation period of the aircraft according to the motor rotation information, adjust a shooting interval duration of a photographing device according to the blade rotation period, and control a mount on A shooting device on the aircraft shoots an image frame sequence according to the shooting interval duration;
- the image processing device is configured to obtain an image frame sequence obtained by a photographing device; perform paddle detection on the image frames in the image frame sequence, and detect, from the image frame sequence, a target that is determined to have an image area of the paddle blade. An image frame; modifying or replacing the target image frame to remove the paddle image area.
- the image processing device is configured to obtain a blade rotation period of the aircraft; and adjust a shooting interval duration of the photographing device according to the blade rotation period.
- the aircraft further comprises a motor for driving the rotation of the blades, and an electronic governor for controlling the rotation of the motor;
- the image processing device is configured to determine a blade rotation period of the aircraft based on motor rotation information obtained from an electronic governor.
- the image processing device is configured to determine the duration of the shooting interval according to the rotation period of the blade, wherein the duration of the shooting interval is a non-integer multiple of the rotation period of the blade.
- the image processing device is configured to determine a phase difference parameter, where the phase difference parameter is a positive number less than 1, and determine the duration of the shooting interval according to the blade rotation period and the determined phase difference parameter.
- the image processing device is configured to obtain data information of image frames in the image frame sequence; and detect whether there is an image frame including a paddle image area in the image frame according to the data information; If yes, the image frame including the blade image area is determined as the target image frame.
- the image processing device is configured to determine a comparison image frame sequence from the image frame sequence; compare the pixel values of each image frame in the determined comparison image frame sequence; if the comparison The difference in pixel values in the result satisfies the determination condition, and it is determined that the image frame includes a paddle image area.
- the image processing device is configured to determine a compared image frame sequence from the image frame sequence; determine a first position region of the image frame in the compared image frame sequence; and determine the determined ratio
- the pixel values of the first position region of each image frame in the image frame sequence are compared; if the difference in pixel values in the comparison result meets the determination condition, it is determined that the image frame includes a paddle image region.
- the image processing device is configured to determine a reference image frame from the image frame sequence; and detect a difference between a pixel value of the image frame obtained from the image frame sequence and a pixel value of the reference image frame If the pixel value difference satisfies a determination condition, determining that the image frame includes a paddle image area.
- the image processing device is configured to determine a reference image frame from the image frame sequence; determine a second position region in the reference image frame; and detect an image obtained from the image frame sequence
- the pixel value of the second position area of the frame is different from the pixel value of the second position area of the reference image frame; if the pixel value difference satisfies a determination condition, it is determined that the image frame includes a paddle image area.
- the image processing device is configured to determine a target position area where a paddle appears in the target image frame; and obtain a target corresponding to the target position area from an adjacent image frame of the target image frame. An image; using the target image, replacing an image of a target position area where a blade appears in the target image frame to obtain a replacement image frame.
- the image processing device is configured to select at least two image frames from the image frame sequence and remove a target image frame; perform fusion processing on the at least two image frames to obtain a fused image frame; and use the Fusion image frames, replacing the target image frames.
- the image processing device is configured to determine a target position area of a paddle in the target image frame; and acquire the selected one of the at least two image frames from the image frame sequence except the target image frame.
- a pixel value of a target position area determining an average pixel value of the target position area in the at least two image frames; using the average pixel value to replace the pixel value of the target position area in the target image frame, Get the fused image frame.
- the image processing device is configured to obtain pixel values of at least two image frames excluding a target image frame selected from the image frame sequence; determine an average pixel value of the at least two image frames; The average pixel value is substituted for the pixel value of the target image frame to obtain a fused image frame.
- the image processing device is configured to determine a target position area of a paddle in the target image frame; and delete an image of the target position area in the target image frame.
- the image processing device obtains an image frame sequence obtained by the photographing device, performs paddle detection on the image frames in the image frame sequence, and determines from the image frame sequence to determine that a paddle image area exists.
- the target image frame and modify or replace the target image frame to remove the paddle image area, thereby improving the quality of the captured image, reducing energy consumption, and saving costs.
- a computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the present invention.
- the image processing method described in the embodiment corresponding to FIG. 6 can also implement the image processing device according to the embodiment of the present invention described in FIG. 7, and details are not described herein again.
- the computer-readable storage medium may be an internal storage unit of the device according to any one of the foregoing embodiments, such as a hard disk or a memory of the device.
- the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), and a Secure Digital (SD) card equipped on the device. , Flash card (Flash card) and so on.
- the computer-readable storage medium may further include both an internal storage unit of the device and an external storage device.
- the computer-readable storage medium is used to store the computer program and other programs and data required by the device.
- the computer-readable storage medium may also be used to temporarily store data that has been or will be output.
- the program can be stored in a computer-readable storage medium.
- the program When executed, the processes of the embodiments of the methods described above may be included.
- the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).
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Abstract
本发明实施例提供了一种图像处理方法、设备、飞行器、***及存储介质，其中，方法包括：获取拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。通过这种方式，提高了拍摄图像的质量，降低了能源损耗，节省了成本。
Description
本发明涉及控制技术领域，尤其涉及一种图像处理方法、设备、飞行器、***及存储介质。
随着计算机技术的发展，航拍摄影、摄像技术的应用越来越广，其中，以飞行器上的航拍摄影、摄像技术的应用最为广泛。以挂载有拍摄装置的飞行器为例，由于拍摄装置挂载在飞行器的桨叶下方，在飞行器飞行过程中，当飞行器的姿态进行调整时，拍摄装置的视角容易受到桨叶影响，造成拍摄装置拍摄的画面中出现桨叶的情况，影响航拍的质量。
目前为了提高飞行器航拍的质量，通常使用可变形的起落架等硬件解决方案来规避桨叶进入航拍画面中的问题。然而通过使用起落架这种硬件方案虽然在一定程度上规避了桨叶出现在拍摄画面中的问题，但是机械结构复杂，增加了机身重量，耗电快，成本高。因此如何更有效地提高拍摄图像的质量成为研究的重点。
发明内容
本发明实施例提供了一种图像处理方法、设备、***及存储介质，可自动去除拍摄图像中的桨叶，提高了拍摄图像的质量，同时降低了能源损耗和成本。
第一方面，本发明实施例提供了一种图像处理方法，应用于拍摄装置，所述拍摄装置挂载在带桨叶的飞行器上，包括：
获取所述拍摄装置拍摄得到的图像帧序列；
对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；
对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
第二方面，本发明实施例提供了一种图像处理设备，包括存储器和处理器；
所述存储器，用于存储程序指令；
所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所 述处理器用于执行如下步骤：
获取拍摄装置拍摄得到的图像帧序列；
对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；
对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
第三方面，本发明实施例提供了一种飞行器，包括：
机身；
设置在机身上的动力***，用于提供飞行动力；所述动力***包括：桨叶；
电机，用于驱动桨叶转动；电子调速器，用于控制电机转动；
处理器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列。
第四方面，本发明实施例提供了一种图像处理***，包括：图像处理设备和飞行器；
所述飞行器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列；
所述图像处理设备，用于获取拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
第五方面，本发明实施例提供了一种计算机可读存储介质，该计算机可读存储介质存储有计算机程序，该计算机程序被处理器执行时实现如上述第一方面所述的图像处理方法。
本发明实施例中，图像处理设备通过获取拍摄装置拍摄得到的图像帧序列，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。通过这种方式，提高了拍摄图像的质量，降低了能源损耗，节省了成本。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种图像处理***的结构示意图；
图2是本发明实施例提供的一种图像处理方法的流程示意图；
图3是本发明实施例提供的一种飞行器的结构示意图；
图4是本发明实施例提供的一种图像帧序列的示意图；
图5是本发明实施例提供的另一种图像处理方法的流程示意图；
图6是本发明实施例提供的又一种图像处理方法的流程示意图；
图7是本发明实施例提供的一种图像处理设备的结构示意图。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
本发明实施例中提供的图像处理方法可以由一种图像处理设备执行，所述图像处理设备可以设置在配置有拍摄装置的带桨叶的飞行器(如无人机)上，所述飞行器包括用于带动所述桨叶转动的电机，以及控制所述电机转动的电子调速器。在其他实施例中，所述图像处理设备可以设置在配置有拍摄装置的带桨叶的机器人、移动终端(如手机)等设备上。下面对应用于挂载在带桨叶的飞行器上的拍摄装置的图像处理方法进行举例说明。
本方案基于从飞行器的电子调速器上获取的电机转动信息，确定飞行器的桨叶转动周期，根据所述桨叶转动周期调整拍摄装置的拍摄间隔时长，使得拍摄间隔时长和桨叶转动周期形成相位差，并根据所述拍摄间隔时长，控制所述 拍摄装置拍摄得到图像帧序列。通过调整所述拍摄间隔时长和桨叶转动周期形成相位差，从而避免拍摄装置在所述拍摄间隔时长和桨叶转动周期没有相位差的情况下拍摄到桨叶时，所导致的每一帧图像帧均出现桨叶的情况。
本发明实施例中，通过从飞行器的电子调速器获取电机转动信息，其中，所述电机转动信息包括桨叶转动速度、桨叶转动频率、桨叶转动周期中的任意一种或多种信息。图像处理设备可以根据从所述电子调速器获取到的电机转到信息确定出所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长，从而获取到所述拍摄装置按照所述拍摄间隔时长拍摄得到的图像帧序列。所述图像处理设备通过对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述目标图像帧中的桨叶图像区域。本发明实施例以图像处理设备执行相应的处理为例来对图像处理方法进行说明。
请参见图1，图1是本发明实施例提供的一种图像处理***的结构示意图，如图1所示的图像处理***包括：图像处理设备11和飞行器12，所述图像处理设备11可以为飞行器12的控制终端，具体地可以为遥控器、智能手机、平板电脑、膝上型电脑、地面站、穿戴式设备(手表、手环)中的任意一种或多种。所述飞行器12可以是旋翼型飞行器，例如四旋翼飞行器、六旋翼飞行器、八旋翼飞行器，也可以是固定翼飞行器。飞行器包括动力***121，动力***用于为飞行器提供飞行动力，其中，动力***121包括螺旋桨、电机、电子调速器中的任意一种或多种，飞行器12还可以包括云台122以及摄像装置123，摄像装置123通过云台122搭载于飞行器的主体上。摄像装置123用于在飞行器12的飞行过程中进行图像或视频拍摄，包括但不限于多光谱成像仪、高光谱成像仪、可见光相机及红外相机等，云台122为多轴传动及增稳***，云台122电机通过调整转动轴的转动角度来对成像设备的拍摄角度进行补偿，并通过设置适当的缓冲机构来防止或减小成像设备的抖动。
本发明实施例中，所述图像处理***可以通过所述图像处理设备11获取所述拍摄装置123拍摄得到的图像帧序列，对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
在所述图像处理设备11获取所述拍摄装置123拍摄得到的图像帧序列之前，所述图像处理***可以通过图像处理设备11获取所述飞行器12的桨叶转动周期，其中所述桨叶转动周期是所述图像处理设备11基于飞行器12的电子调速器获取的电机转动信息确定得到所述飞行器12的桨叶转动周期。所述图像处理设备11可以根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
在一个实施例中，所述图像处理设备11在根据桨叶转动周期，调整所述拍摄间隔时长时，可以通过确定相位差参数，根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。其中，所述相位差参数为小于1的正数。
请参见图2，图2是本发明实施例提供的一种图像处理方法的流程示意图，所述方法可以由图像处理设备执行，其中，所述图像处理设备的具体解释如前所述。具体地，本发明实施例的所述方法包括如下步骤。
S201：获取拍摄装置拍摄得到的图像帧序列。
本发明实施例中，图像处理设备可以获取飞行器上挂载的拍摄装置拍摄得到的图像帧序列。具体实施过程中，图像处理设备在获取所述拍摄装置拍摄得到的图像帧序列之前，可以获取所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长，从而控制所述拍摄装置按照所述拍摄间隔时长拍摄得到所述图像帧序列。
所述图像处理设备获取到的飞行器的桨叶转动周期是根据从飞行器的电子调速器获取的电机转动信息确定的。具体可以图3为例进行说明，图3是本发明实施例提供的一种飞行器的结构示意图，由于飞行器的桨叶是由电机驱动的，因此如图3所示的飞行器的各个旋翼中均包括一个电机，即包括：电机31、电机32、电机33、电机34。除此之外，飞行器中还包括设置在机身上的动力***35，所述动力***35中包括电子调速器，所以电子调速器可以获取到所述飞行器的桨叶的转动速度、转动频率、转动周期等任意一种或多种数据信息。具体实施过程中，由于飞行器的桨叶的转动周期与电机的转速相同，因此图像处理设备可以从动力***35的电子调速器中获取电机的实时转速，从而确定出飞行器的桨叶转动周期。
在一个实施例中，图像处理设备在根据所述桨叶转动周期调整所述拍摄装置的拍摄间隔时长时，可以通过确定相位差参数，根据获取到的桨叶转动周期 和确定的所述相位差参数，确定所述拍摄间隔时长。其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍，所述相位差参数为小于的正数。具体可举例说明，假设获取到的飞行器的桨叶的转动周期为T，确定的相位差参数为α，则图像处理设备可以根据所述转动周期T和相位差参数α，确定拍摄间隔时长t＝(n+α)T，其中，n为正整数，α为小于1的正数。在一个实施例中，所述相位差参数α可以是预设值，所述拍摄间隔时长t可以是根据所述桨叶转动周期T的变换以及对正整数n的调整确定的。当然在其他实施例中，所述相位差参数α可以通过对所述拍摄间隔时长进行盲调确定得到。
本发明实施例，通过该实施方式获取飞行器的桨叶转动周期，以使所述图像处理设备可以根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长，从而使拍摄装置按照所述拍摄间隔时长进行拍摄。
S202：对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧。
本发明实施例中，图像处理设备可以对获取到的所述拍摄装置拍摄得到的图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧。具体实施过程中，所述图像处理设备可以获取所述图像帧序列中各图像帧的数据信息，并根据所述数据信息，检测该图像帧序列中是否存在包括桨叶图像区域的图像帧，如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。通过这种实施方式，图像处理设备可以从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，以便后续对所述目标图像帧进行替换或修改。
具体可以图4为例进行说明，图4是本发明实施例提供的一种图像帧序列的示意图，假设图像处理设备获取到的所述拍摄装置按照一个拍摄间隔时长t拍摄得到的图像帧包括4帧图像帧，即如图4所示的第一图像帧41、第二图像帧42、第三图像帧43和第四图像帧44。所述图像处理设备可以分别获取所述图像帧序列中第一图像帧41的数据信息、第二图像帧42的数据信息、第三图像帧43的数据信息、第四图像帧44的数据信息，并通过对各图像帧的数据信息进行对比，来检测该图像帧序列中是否存在包括桨叶图像区域的图像帧，如果检测到第一图像帧41包括桨叶图像区域411，则确定所述第一图像帧41为目标图像帧。
S203：对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
本发明实施例中，图像处理设备在确定出目标图像帧之后，可以对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。通过这种实施方式，图像处理设备可以对出现桨叶的图像帧进行修改或替换处理，以去除图像帧中桨叶，从而提高拍摄图像的质量。
在一个实施例中，所述图像处理设备在确定出目标图像帧之后，还可以通过确定桨叶在所述目标图像帧中出现的目标位置区域，从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像，并利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。需要说明的是，由于拍摄装置拍摄图像帧的速度较快，相邻图像帧的内容相似，因此可以利用目标图像帧的相邻图像帧来对该目标图像帧进行替换处理。在本发明实施例中，所述目标位置区域可以是预设的目标位置区域，在其他实施例中，所述目标位置区域也可以是通过预设算法计算得到的目标位置区域，本发明实施例不做具体限定。
具体可以图4为例进行说明，假设所述图像处理设备确定出的目标图像帧为第一图像帧41，如果确定出桨叶出现在所述第一图像帧41中的目标位置区域411，则从所述第一图像帧41的相邻图像帧如第二图像帧42中获取与所述第一图像帧41中目标位置区域411对应的目标图像，并利用所述目标图像，替换所述第一图像帧41中出现桨叶的目标位置区域411的图像，得到替换图像帧。
在一个实施例中，所述图像处理设备在确定出目标图像帧之后，还可以从所述图像帧序列中选取除去目标图像帧的至少两个图像帧，对所述至少两个图像帧进行融合处理得到融合图像帧，并利用所述融合图像帧，替换所述目标图像帧。具体可以图4为例进行说明，假设所述图像处理设备确定出的目标图像帧为第一图像帧41，所述图像处理设备可以从图4的图像帧序列中选取除去第一图像帧41的至少两个图像帧，如第二图像帧42和第三图像帧43，并对选取的第二图像帧42和第三图像帧43进行融合处理得到融合图像帧，从而利用所述融合图像帧，替换所述第一图像帧41。
本发明实施例中，图像处理设备通过获取拍摄装置拍摄得到的图像帧序列，对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确 定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域，从而提高了拍摄图像的质量、降低了能源损耗，节省了成本。
请参见图5，图5是本发明实施例提供的另一种图像处理方法的流程示意图，所述方法可以由图像处理设备执行，其中，图像处理设备的具体解释如前所述。本发明实施例与上述图2所述实施例的区别在于，本发明实施例是对如何根据获取到的图像帧序列中图像帧的数据信息，来检测图像帧中是否存在桨叶图像区域，从而将包括桨叶图像区域的图像帧确定为目标图像帧的过程进行详细的说明。
S501：获取拍摄装置拍摄得到的图像帧序列。
本发明实施例中，图像处理设备可以获取拍摄装置拍摄得到的图像帧序列。具体实施过程的举例说明如前所述，此处不再赘述。
S502：获取所述图像帧序列中图像帧的数据信息。
本发明实施例中，图像处理设备在获取到所述拍摄装置拍摄得到的图像帧序列后，可以获取所述图像帧序列中各图像帧的数据信息。
S503：根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧。
本发明实施例中，所述图像处理设备可以根据获取到的图像帧的数据信息，检测图像帧中是否包括桨叶图像区域，其中，所述数据信息包括所述图像帧序列中各图像帧的像素值。在一个实施例中，所述图像处理设备可以通过获取图像帧的像素值，来检测图像帧中是否包括桨叶图像区域。
在一个实施例中，所述图像处理设备在根据获取到的图像帧的像素值确定图像帧是否包括桨叶图像区域时，可以从所述图像帧序列中确定出比对图像帧序列，并将确定的所述比对图像帧序列中各图像帧的像素值进行比对，如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。其中，所述比对结果中像素值差异满足判断条件，是指比对图像帧序列中图像帧的像素值与比对图像帧序列中其他图像帧的像素值的像素值差异，明显大于比对图像帧序列中其他图像帧的像素值与各图像帧的像素值的像素值差异。当然，在其他实施例中，所述比对结果中像素值差异满足判断条件也可以是指其他的判定条件如像素值差异大于预设阈值等判定条件，本发明实施例不做具体 限定。
具体可举例说明，假设图像处理设备获取到的图像帧序列中包括100个图像帧，为了提高检测效率，从这100个图像帧中确定出50个图像帧作为比对图像帧序列，通过获取比对图像帧序列中50个图像帧的像素值，将比对图像帧序列中各图像帧的像素值进行比对。如果比对图像帧序列中的第一图像帧与第二图像帧比对的像素值差异大于预设差异值，则可以将该第一图像帧确认为是第一像素图像帧序列中的图像帧，将该第二图像帧确认为是第二像素图像帧序列中的图像帧。同理，通过计算该比对图像帧序列中其他图像帧之间的像素值差异，如果比对结果中两图像帧之间的像素值差异小于预设差异值，则可以将进行比对的两个图像帧确认为是第二像素图像帧序列中的图像帧；如果比对结果中两个图像帧之间的像素值差异大于预设差异值，由于像素值由低到高对应颜色是从黑到白，因此将进行比对的像素值差异大于预设差异值两图像帧中像素值较小的图像帧确认为是第一像素图像帧序列中的图像帧，将像素值较大的图像帧确认为是第二像素图像帧序列中的图像帧。在比对结束后，将确认为是第一像素图像帧序列中的图像帧的数量与确认为是第二像素图像帧序列中的图像帧的数量进行对比，确定数量较小的图像帧序列为出现桨叶的目标图像帧。如果第一像素图像帧序列中图像帧的数量小于第二像素图像帧序列中图像帧的数量，则确定该第一像素图像帧序列中的图像帧为出现桨叶图像区域的目标图像帧。
所述图像处理设备在检测图像帧中是否存在桨叶图像区域时，还可以通过对比对图像帧序列中图像帧的预设位置区域进行比对，来检测图像帧中是否存在桨叶图像区域。在一个实施例中，所述图像处理设备可以从确定的所述比对图像帧序列中确定出图像帧的预设位置区域，将确定的所述比对图像帧序列中各图像帧的所述预设位置区域的像素值进行比对，如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
例如，从确定出的比对图像帧序列中确定出各图像帧的预设位置区域，将所述比对图像帧序列中各图像帧的所述预设位置区域的像素值进行比对，如果将比对图像帧序列中的第一图像帧的预设位置区域的像素值与第二图像帧的预设位置区域的像素值进行比对，像素值差异大于预设差异值，且第一图像帧的像素值小于第二图像帧的像素值，则将该第一图像帧确认为是第一像素图像 帧序列中的图像帧，将该第二图像帧确认为是第二像素图像帧序列中的图像帧；如果比对结果中两图像帧之间的像素值差异小于预设差异值，则可以将进行比对的两个图像帧确认为是第二像素图像帧序列中的图像帧。同理在比对结束后，可得到第一像素图像帧序列和第二像素图像帧序列，并将确认为是第一像素图像帧序列中的图像帧的数量与确认为是第二像素图像帧序列中的图像帧的数量进行对比，确定数量较小的图像帧序列为出现桨叶的目标图像帧。
在一个实施例中，所述图像处理设备在根据获取到的图像帧的像素值确定图像帧是否包括桨叶图像区域时，可以从所述图像帧序列中确定出参考图像帧，并检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的像素值差异，如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。其中，所述像素值差异满足判断条件是指，图像帧序列中某图像帧的像素值与参考图像帧的像素值的像素值差异明显大于图像帧序列中其他图像帧的像素值与参考图像帧的像素值的像素值差异。当然，在其他实施例中，所述像素值差异满足判断条件也可以是指其他的判定条件如像素值差异大于预设阈值等判定条件，本发明实施例不做具体限定。
具体可以图4为例进行说明，假设从图4的图像帧序列中确定出第三图像帧43为参考图像帧，如果检测到所述第一图像帧41的像素值与所述第三图像帧43的像素值的像素值差异大于预设差异值，则可以将所述第一图像帧41确认为是第一像素图像帧序列中的图像帧，将所述第三图像帧43确认为是第二像素图像帧序列中的图像帧。同理，如果检测到所述第二图像帧42的像素值与所述第三图像帧43的像素值的像素值差异小于预设差异值，则可以将所述第二图像帧42确认为是第二像素图像帧序列中的图像帧。如果检测到所述第四图像帧44的像素值与所述第三图像帧43的像素值的像素值差异小于预设差异值，则可以将所述第四图像帧44确认为是第二像素图像帧序列中的图像帧。比对结果得到确认为是第一像素图像帧序列中的图像帧的数量为1，确认为是第二像素图像帧序列中的图像帧的数量为3，则可以确定所述第一图像帧41包括桨叶图像区域。
所述图像处理设备在检测图像帧中是否存在桨叶图像区域时，还可以通过确定参考图像帧中的预设位置区域，将从所述图像帧序列中获取到的图像帧的该预设位置区域的像素值与所述参考图像帧的该预设位置区域的像素值差异 进行比对，来检测图像帧中是否存在桨叶图像区域。在一个实施例中，所述图像处理设备可以从所述参考图像帧中确定出预设位置区域，并检测从所述图像帧序列中获取到的图像帧的预设位置区域的像素值与所述参考图像帧的预设位置区域的像素值差异，如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
具体可以图4为例进行说明，假设从图4所示的图像帧序列中确定出第三图像帧43为参考图像帧，且确定出第三图像帧43的预设位置区域，如果检测到所述第一图像帧41中预设位置区域的像素值与所述第三图像帧43中预设位置区域的像素值的像素值差异大于预设差异值，则可以将所述第一图像帧41确认为是第一像素图像帧序列中的图像帧，将所述第三图像帧43确认为是第二像素图像帧序列中的图像帧。同理，如果检测到所述第二图像帧42中预设位置区域的像素值与所述第三图像帧43中预设位置区域的像素值的像素值差异小于预设差异值，则可以将所述第二图像帧42确认为是第二像素图像帧序列中的图像帧。如果检测到所述第四图像帧44中预设位置区域的像素值小于预设差异值，则可以将所述第四图像帧44确认为是第二像素图像帧序列中的图像帧。比对结果得到确认为是第一像素图像帧序列中的图像帧的数量为1，确认为是第二像素图像帧序列中的图像帧的数量为3，则可以确定所述第一图像帧41包括桨叶图像区域。
S504：如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
本发明实施例中，图像处理设备如果检测到图像帧序列中存在包括桨叶图像区域的图像帧，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
S505：对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
本发明实施例中，图像处理设备在确定出目标图像帧之后，可以修改或替换目标图像帧中出现桨叶的目标位置区域的图像，以去除所述桨叶图像区域；或者，从所述图像帧序列中选取除去目标图像帧的至少两个图像帧，对所述至少两个图像帧进行融合处理得到融合图像帧，并利用所述融合图像帧对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。具体实施过程的举例说明如前所述，此处不再赘述。
本发明实施例中，图像处理设备通过获取所述图像帧序列中图像帧的数 据，根据所述数据信息，如果检测到所述图像帧序列中存在包括桨叶图像区域的图像帧，则确定所述包括桨叶图像区域的图像帧为目标图像帧，以对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。通过这种方式，提高了确定目标图像帧的准确率。
请参见图6，图6是本发明实施例提供的又一种图像处理方法的流程示意图，所述方法可以由图像处理设备执行，其中，图像处理设备的具体解释如前所述。本发明实施例与上述图5所述实施例的区别在于，本发明实施例阐述的是一种对所述目标图像帧进行修改或替换的详细过程。
S601：获取拍摄装置拍摄得到的图像帧序列。
本发明实施例中，图像处理设备可以获取拍摄装置拍摄得到的图像帧序列，具体实施例及举例说明如前所述，此处不再赘述。
S602：对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧。
本发明实施例中，图像处理设备可以对获取到的所述拍摄装置拍摄得到的图像帧序列中的图像帧进行桨叶检测，并从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，具体实施例及举例说明如前所述，此处不再赘述。
S603：从所述图像帧序列中选取除去目标图像帧的至少两个图像帧。
本发明实施例中，所述图像处理设备可以从获取到的图像帧序列中选取去除目标图像帧的至少两个图像帧。
S604：对所述至少两个图像帧进行融合处理，得到融合图像帧。
本发明实施例中，图像处理设备可以对选取到的去除目标图像帧的至少两个图像帧进行融合处理，得到融合图像帧。以图4为例，假设确定出的目标图像帧为第一图像帧41，则可以选取的去除第一图像帧41的第二图像帧42和第三图像帧进行融合处理，得到融合图像帧。
图像处理设备在对所述至少两个图像帧进行融合处理时，可以采用平均值堆栈的方式来进行图像帧的融合。在一个实施例中，图像处理设备可以通过确定桨叶在所述目标图像帧中的目标位置区域，获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值，确定所述至少两个图像帧中的所述目标位置区域的平均像素值，并利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。其 中，所述平均像素值可以是加权平均像素值，本发明实施例不做具体限定。
具体可以图4为例进行说明，假设目标图像帧为第一图像帧41，且桨叶处于第一图像帧41中的目标位置区域411，如果图像处理设备从所述图像帧序列中获取到除去第一图像帧41的第二图像帧42和第三图像帧43，则可以根据所述第二图像帧42中所述目标位置区域的像素值和所述第三图像帧43中的所述目标位置区域的像素值，确定出所述第二图像帧42中所述目标位置区域和第三图像帧43中的所述目标位置区域的平均像素值，图像处理设备可以利用所述平均像素值，替换所述第一图像帧41中的目标位置区域411的像素值，得到融合图像帧。
在一个实施例中，图像处理设备可以通过获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧的像素值，确定所述至少两个图像帧的平均像素值，并利用所述平均像素值，替换所述目标图像帧的像素值得到融合图像帧。以图4为例，假设目标图像帧为第一图像帧41，如果图像处理设备从所述图像帧序列中获取到除去第一图像帧41的第二图像帧42和第三图像帧43，则可以根据获取到的所述第二图像帧42的像素值和获取到的所述第三图像帧43的像素值，确定所述第二图像帧42和第三图像帧43的平均像素值，图像处理设备可以利用所述平均像素值，替换所述第一图像帧41的像素值，得到融合图像帧。
在一个实施例中，所述图像处理设备在对所述至少两个图像帧进行融合处理时，还可以从所述目标图像帧的前后各图像帧中，获取至少两个不包括桨叶图像区域的图像帧的运动矢量和像素值，并根据获取到所述目标图像帧前后至少两个不包括桨叶图像区域的图像帧的运动矢量和像素值，通过插值的方法确定出目标图像帧的目标像素值，从而将确定得到的所述目标图像的目标像素值，替换所述目标图像的像素值，得到融合图像帧。
在一个实施例中，图像处理设备还可以通过确定桨叶在所述目标图像帧中的目标位置区域，删除所述目标图像帧中目标位置区域的图像，已到达去除桨叶图像区域的目的。以图4为例，图像处理设备可以根据桨叶在所述第一图像帧41中的目标位置区域411，删除所述第一图像帧41中的目标位置区域411的图像。
在其他实施例中，所述图像处理设备在对所述至少两个图像帧进行融合处 理时，还可以采用其他融合处理方式对图像帧进行融合处理，本发明实施例不做具体限定。
S605：利用所述融合图像帧，替换所述目标图像帧。
本发明实施例中，图像处理设备可以利用所述融合图像帧，替换所述目标图像帧，具体实施例及举例说明如前所述，此处不再赘述。
本发明实施例中，图像处理设备通过从获取到的所述图像帧序列中选取除去目标图像帧的至少两个图像帧，对所述至少两个图像帧进行融合处理，得到融合图像帧，并利用所述融合图像帧，替换所述目标图像帧。通过这种方式，实现了对出现桨叶的目标图像帧的替换或修改，提高了拍摄图像的质量。
请参见图7，图7是本发明实施例提供的一种图像处理设备的结构示意图。具体的，所述图像处理设备包括：存储器701、处理器702以及数据接口703。
所述存储器701可以包括易失性存储器(volatile memory)；存储器701也可以包括非易失性存储器(non-volatile memory)；存储器701还可以包括上述种类的存储器的组合。所述处理器702可以是中央处理器(central processing unit，CPU)。所述处理器702还可以进一步包括硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。具体例如可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)或其任意组合。
进一步地，所述存储器701用于存储程序指令，当程序指令被执行时所述处理器702可以调用存储器701中存储的程序指令，用于执行如下步骤：
获取拍摄装置拍摄得到的图像帧序列；
对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；
对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
获取所述飞行器的桨叶转动周期；
根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如 下步骤：
所述获取所述飞行器的桨叶转动周期，包括：
基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
根据所述桨叶转动周期，调整所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
确定相位差参数，所述相位差参数为小于1的正数；
根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
获取所述图像帧序列中图像帧的数据信息；
根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧；
如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
从所述图像帧序列中确定出比对图像帧序列；
将确定的所述比对图像帧序列中各图像帧的像素值进行比对；
如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
从所述图像帧序列中确定出比对图像帧序列；
确定出所述比对图像帧序列中图像帧的第一位置区域；
将确定的所述比对图像帧序列中各图像帧的所述第一位置区域的像素值进行比对；
如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
从所述图像帧序列中确定出参考图像帧；
检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的像素值差异；
如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
从所述图像帧序列中确定出参考图像帧；
确定出所述参考图像帧中的第二位置区域；
检测从所述图像帧序列中获取到的图像帧的第二位置区域的像素值与所述参考图像帧的第二位置区域的像素值差异；
如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
确定桨叶在所述目标图像帧中出现的目标位置区域；
从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像；
利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
从所述图像帧序列中选取除去目标图像帧的至少两个图像帧；
对所述至少两个图像帧进行融合处理，得到融合图像帧；
利用所述融合图像帧，替换所述目标图像帧。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如 下步骤：
确定桨叶在所述目标图像帧中的目标位置区域；
获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值；
确定所述至少两个图像帧中的所述目标位置区域的平均像素值；
利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧的像素值；
确定所述至少两个图像帧的平均像素值；
利用所述平均像素值，替换所述目标图像帧的像素值，得到融合图像帧。
进一步地，所述处理器702调用存储器701中存储的程序指令用于执行如下步骤：
确定桨叶在所述目标图像帧中的目标位置区域；
删除所述目标图像帧中目标位置区域的图像。
本发明实施例中，图像处理设备通过获取拍摄装置拍摄得到的图像帧序列，对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域，从而提高了拍摄图像的质量、降低了能源损耗，节省了成本。
本发明实施例还提供了一种飞行器，包括：机身；设置在机身上的动力***，用于提供飞行动力；所述动力***包括：桨叶；电机，用于驱动桨叶转动；电子调速器，用于控制电机转动；电子调速器，用于控制电机转动；处理器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列。
进一步地，所述处理器，用于基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
进一步地，所述处理器，用于根据所述桨叶转动周期，调整所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
进一步地，所述处理器，用于确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
其中，飞行器可以是四旋翼无人机、六旋翼无人机、多旋翼无人机等类型的飞行器。所述动力***可以包括电机、电调、螺旋桨等结构，其中，电机负责带动飞行器螺旋桨，电子调速器负责控制飞行器的电机的转速。
本发明实施例还提供了一种图像处理***，包括：图像处理设备和飞行器；
所述飞行器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列；
所述图像处理设备，用于获取拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
进一步地，所述图像处理设备，用于获取所述飞行器的桨叶转动周期；根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长。
进一步地，所述飞行器还包括用于带动所述桨叶转动的电机，以及控制所述电机转动的电子调速器；
所述图像处理设备，用于基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
进一步地，所述图像处理设备，用于根据所述桨叶转动周期，确定所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
进一步地，所述图像处理设备，用于确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
进一步地，所述图像处理设备，用于获取所述图像帧序列中图像帧的数据信息；根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧；如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像 帧。
进一步地，所述图像处理设备，用于从所述图像帧序列中确定出比对图像帧序列；将确定的所述比对图像帧序列中各图像帧的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
进一步地，所述图像处理设备，用于从所述图像帧序列中确定出比对图像帧序列；确定出所述比对图像帧序列中图像帧的第一位置区域；将确定的所述比对图像帧序列中各图像帧的所述第一位置区域的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
进一步地，所述图像处理设备，用于从所述图像帧序列中确定出参考图像帧；检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
进一步地，所述图像处理设备，用于从所述图像帧序列中确定出参考图像帧；确定出所述参考图像帧中的第二位置区域；检测从所述图像帧序列中获取到的图像帧的第二位置区域的像素值与所述参考图像帧的第二位置区域的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
进一步地，所述图像处理设备，用于确定桨叶在所述目标图像帧中出现的目标位置区域；从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像；利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。
进一步地，所述图像处理设备，用于从所述图像帧序列中选取除去目标图像帧的至少两个图像帧；对所述至少两个图像帧进行融合处理，得到融合图像帧；利用所述融合图像帧，替换所述目标图像帧。
进一步地，所述图像处理设备，用于确定桨叶在所述目标图像帧中的目标位置区域；获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值；确定所述至少两个图像帧中的所述目标位置区域的平均像素值；利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。
进一步地，所述图像处理设备，用于获取从所述图像帧序列中选取的除去 目标图像帧的至少两个图像帧的像素值；确定所述至少两个图像帧的平均像素值；利用所述平均像素值，替换所述目标图像帧的像素值，得到融合图像帧。
进一步地，所述图像处理设备，用于确定桨叶在所述目标图像帧中的目标位置区域；删除所述目标图像帧中目标位置区域的图像。
本发明实施例中，图像处理设备通过获取拍摄装置拍摄得到的图像帧序列，对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧，并对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域，从而提高了拍摄图像的质量、降低了能源损耗，节省了成本。
在本发明的实施例中还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明图2、图5、或图6所对应实施例中描述的图像处理方法方式，也可实现图7所述本发明所对应实施例的图像处理设备，在此不再赘述。
所述计算机可读存储介质可以是前述任一项实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述设备所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。
Claims (50)
- 一种图像处理方法，其特征在于，应用于拍摄装置，所述拍摄装置挂载在带桨叶的飞行器上，所述方法包括：获取所述拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
- 根据权利要求1所述的方法，其特征在于，所述获取所述拍摄装置拍摄得到的图像帧序列，之前还包括：获取所述飞行器的桨叶转动周期；根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长。
- 根据权利要求2所述的方法，其特征在于，所述飞行器还包括用于带动所述桨叶转动的电机，以及控制所述电机转动的电子调速器；所述获取所述飞行器的桨叶转动周期，包括：基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
- 根据权利要求2所述的方法，其特征在于，所述根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长，包括：根据所述桨叶转动周期，确定所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
- 根据权利要求4所述的方法，其特征在于，所述根据所述桨叶转动周期，确定所述拍摄间隔时长，包括：确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
- 根据权利要求1所述的方法，其特征在于，所述从所述图像帧序列中 检测确定出存在桨叶图像区域的目标图像帧，包括：获取所述图像帧序列中图像帧的数据信息；根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧；如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
- 根据权利要求6所述的方法，其特征在于，所述数据信息包括像素值；所述根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧，包括：从所述图像帧序列中确定出比对图像帧序列；将确定的所述比对图像帧序列中各图像帧的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求6所述的方法，其特征在于，所述数据信息包括像素值；所述根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧，包括：从所述图像帧序列中确定出比对图像帧序列；确定出所述比对图像帧序列中图像帧的第一位置区域；将确定的所述比对图像帧序列中各图像帧的所述第一位置区域的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求6所述的方法，其特征在于，所述数据信息包括像素值；所述根据所述数据信息，检测图像帧中是否存在包括桨叶图像区域的图像帧，包括：从所述图像帧序列中确定出参考图像帧；检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的 像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求6所述的方法，其特征在于，所述数据信息包括像素值；所述根据所述数据信息，检测图像帧中是否存在包括桨叶图像区域的图像帧，包括：从所述图像帧序列中确定出参考图像帧；确定出所述参考图像帧中的第二位置区域；检测从所述图像帧序列中获取到的图像帧的第二位置区域的像素值与所述参考图像帧的第二位置区域的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求1所述的方法，其特征在于，所述对所述目标图像帧进行修改或替换，包括：确定桨叶在所述目标图像帧中出现的目标位置区域；从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像；利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。
- 根据权利要求1所述的方法，其特征在于，所述对所述目标图像帧进行修改或替换，包括：从所述图像帧序列中选取除去目标图像帧的至少两个图像帧；对所述至少两个图像帧进行融合处理，得到融合图像帧；利用所述融合图像帧，替换所述目标图像帧。
- 根据权利要求12所述的方法，其特征在于，所述对所述至少两个图像帧进行融合处理，得到融合图像帧，包括：确定桨叶在所述目标图像帧中的目标位置区域；获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值；确定所述至少两个图像帧中的所述目标位置区域的平均像素值；利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。
- 根据权利要求12所述的方法，其特征在于，所述对所述至少两个图像帧进行融合处理，得到融合图像帧，包括：获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧的像素值；确定所述至少两个图像帧的平均像素值；利用所述平均像素值，替换所述目标图像帧的像素值，得到融合图像帧。
- 根据权利要求1所述的方法，其特征在于，所述对所述目标图像帧进行修改或替换，包括：确定桨叶在所述目标图像帧中的目标位置区域；删除所述目标图像帧中目标位置区域的图像。
- 一种图像处理设备，其特征在于，包括：处理器和存储器；所述存储器，用于存储程序指令；所述处理器，执行所述存储器存储的程序指令，当程序指令被执行时，所述处理器用于执行如下步骤：获取拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
- 根据权利要求16所述的设备，其特征在于，所述处理器，具体用于获取飞行器的桨叶转动周期；根据所述桨叶转动周 期，调整所述拍摄装置的拍摄间隔时长。
- 根据权利要求17所述的设备，其特征在于，所述处理器，用于基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
- 根据权利要求17所述的设备，其特征在于，所述处理器，用于根据所述桨叶转动周期，确定所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
- 根据权利要求19所述的设备，其特征在于，所述处理器，用于确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
- 根据权利要求16所述的设备，其特征在于，所述处理器，用于获取所述图像帧序列中图像帧的数据信息；根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧；如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
- 根据权利要求21所述的设备，其特征在于，所述处理器，用于从所述图像帧序列中确定出比对图像帧序列；将确定的所述比对图像帧序列中各图像帧的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求21所述的设备，其特征在于，所述处理器，还用于从所述图像帧序列中确定出比对图像帧序列；确定出所述比对图像帧序列中图像帧的第一位置区域；将确定的所述比对图像帧序列中各图像帧的所述第一位置区域的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求21所述的设备，其特征在于，所述处理器，还用于从所述图像帧序列中确定出参考图像帧；检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求21所述的设备，其特征在于，所述处理器，还用于从所述图像帧序列中确定出参考图像帧；确定出所述参考图像帧中的第二位置区域；检测从所述图像帧序列中获取到的图像帧的第二位置区域的像素值与所述参考图像帧的第二位置区域的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求16所述的设备，其特征在于，所述处理器，用于确定桨叶在所述目标图像帧中出现的目标位置区域；从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像；利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。
- 根据权利要求16所述的设备，其特征在于，所述处理器，还用于从所述图像帧序列中选取除去目标图像帧的至少两个图像帧；对所述至少两个图像帧进行融合处理，得到融合图像帧；利用所述融合图像帧，替换所述目标图像帧。
- 根据权利要求27所述的设备，其特征在于，所述处理器，用于确定桨叶在所述目标图像帧中的目标位置区域；获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值；确定所述至少两个图像帧中的所述目标位置区域的平均像素值；利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。
- 根据权利要求27所述的设备，其特征在于，所述处理器，还用于获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧的像素值；确定所述至少两个图像帧的平均像素值；利用所述平均像素值，替换所述目标图像帧的像素值，得到融合图像帧。
- 根据权利要求16所述的设备，其特征在于，所述处理器，用于确定桨叶在所述目标图像帧中的目标位置区域；删除所述目标图像帧中目标位置区域的图像。
- 一种飞行器，其特征在于，包括：机身；设置在机身上的动力***，用于提供飞行动力；所述动力***包括：桨叶；电机，用于驱动桨叶转动；电子调速器，用于控制电机转动；处理器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列。
- 根据权利要求31所述的飞行器，其特征在于，所述处理器，用于基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
- 根据权利要求31所述的飞行器，其特征在于，所述处理器，用于根据所述桨叶转动周期，调整所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
- 根据权利要求33所述的方法，其特征在于，所述处理器，用于确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
- 一种图像处理***，其特征在于，包括：图像处理设备和飞行器，所述飞行器，用于获取电机转动信息，以根据所述电机转动信息确定所述飞行器的桨叶转动周期，并根据所述桨叶转动周期，调整拍摄装置的拍摄间隔时长，以及控制挂载在飞行器上的拍摄装置按照所述拍摄间隔时长拍摄得到图像帧序列；所述图像处理设备，用于获取拍摄装置拍摄得到的图像帧序列；对所述图像帧序列中的图像帧进行桨叶检测，从所述图像帧序列中检测确定出存在桨叶图像区域的目标图像帧；对所述目标图像帧进行修改或替换，以去除所述桨叶图像区域。
- 根据权利要求35所述的***，其特征在于，所述图像处理设备，用于获取所述飞行器的桨叶转动周期；根据所述桨叶转动周期，调整所述拍摄装置的拍摄间隔时长。
- 根据权利要求36所述的***，其特征在于，所述图像处理设备，用于基于从电子调速器获取的电机转动信息确定所述飞行器的桨叶转动周期。
- 根据权利要求36所述的***，其特征在于，所述图像处理设备，用于根据所述桨叶转动周期，调整所述拍摄间隔时长，其中，所述拍摄间隔时长为所述桨叶转动周期的非整数倍。
- 根据权利要求38所述的***，其特征在于，所述图像处理设备，用于确定相位差参数，所述相位差参数为小于1的正数；根据所述桨叶转动周期和确定的相位差参数，确定所述拍摄间隔时长。
- 根据权利要求35所述的***，其特征在于，所述图像处理设备，用于获取所述图像帧序列中图像帧的数据信息；根据所述数据信息，检测所述图像帧中是否存在包括桨叶图像区域的图像帧；如果检测结果为是，则确定所述包括桨叶图像区域的图像帧为目标图像帧。
- 根据权利要求40所述的***，其特征在于，所述图像处理设备，用于从所述图像帧序列中确定出比对图像帧序列；将确定的所述比对图像帧序列中各图像帧的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求40所述的***，其特征在于，所述图像处理设备，用于从所述图像帧序列中确定出比对图像帧序列；确定出所述比对图像帧序列中图像帧的第一位置区域；将确定的所述比对图像帧序列中各图像帧的所述第一位置区域的像素值进行比对；如果比对结果中像素值差异满足判定条件，则确定该图像帧中包括桨叶图像区域。
- 根据权利要求40所述的***，其特征在于，所述图像处理设备，用于从所述图像帧序列中确定出参考图像帧；检测从所述图像帧序列中获取到的图像帧的像素值与所述参考图像帧的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求40所述的***，其特征在于，所述图像处理设备，用于从所述图像帧序列中确定出参考图像帧；确定出所述参考图像帧中的第二位置区域；检测从所述图像帧序列中获取到的图像帧的第二位置区域的像素值与所述参考图像帧的第二位置区域的像素值差异；如果所述像素值差异满足判定条件，则确定所述图像帧包括桨叶图像区域。
- 根据权利要求35所述的***，其特征在于，所述图像处理设备，用于确定桨叶在所述目标图像帧中出现的目标位置区域；从所述目标图像帧的相邻图像帧中，获取与所述目标位置区域对应的目标图像；利用所述目标图像，替换所述目标图像帧中出现桨叶的目标位置区域的图像，得到替换图像帧。
- 根据权利要求35所述的***，其特征在于，所述图像处理设备，用于从所述图像帧序列中选取除去目标图像帧的至少 两个图像帧；对所述至少两个图像帧进行融合处理，得到融合图像帧；利用所述融合图像帧，替换所述目标图像帧。
- 根据权利要求46所述的***，其特征在于，所述图像处理设备，用于确定桨叶在所述目标图像帧中的目标位置区域；获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧中的所述目标位置区域的像素值；确定所述至少两个图像帧中的所述目标位置区域的平均像素值；利用所述平均像素值，替换所述目标图像帧中所述目标位置区域的像素值，得到融合图像帧。
- 根据权利要求46所述的***，其特征在于，所述图像处理设备，用于获取从所述图像帧序列中选取的除去目标图像帧的至少两个图像帧的像素值；确定所述至少两个图像帧的平均像素值；利用所述平均像素值，替换所述目标图像帧的像素值，得到融合图像帧。
- 根据权利要求35所述的***，其特征在于，所述图像处理设备，用于确定桨叶在所述目标图像帧中的目标位置区域；删除所述目标图像帧中目标位置区域的图像。
- 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1至15任一项所述方法。
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| CN114439702A (zh) * | 2022-01-28 | 2022-05-06 | 华能盐城大丰新能源发电有限责任公司 | 一种风力发电机的叶片状态监测方法和装置 |
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