WO2022091213A1 - 動画像通信のためのシステム、受信装置、送信装置、方法、プログラム、及びプログラムを記録した記録媒体 - Google Patents
動画像通信のためのシステム、受信装置、送信装置、方法、プログラム、及びプログラムを記録した記録媒体 Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
- H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
- H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/65—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using error resilience
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
- H04N19/88—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression involving rearrangement of data among different coding units, e.g. shuffling, interleaving, scrambling or permutation of pixel data or permutation of transform coefficient data among different blocks
Definitions
- the present invention relates to a system for video communication, a receiving device, a transmitting device, a method, a program, and a recording medium on which the program is recorded.
- Japanese Patent Application Laid-Open No. 2008-193510 discloses the following techniques for transmitting a moving image of a camera in real time. That is, the moving image acquired by the camera is encoded and transmitted by the UDP (User Datagram Protocol) / IP protocol. Then, (1) on the receiving side, when an error such as packet loss occurs, an image in which the error is detected is retransmitted and the error is recovered based on the packet transmitted in response to the transmission request. Is decrypted and displayed. In addition, (2) when emphasizing real-time performance, a moving image including an error is displayed.
- UDP User Datagram Protocol
- the remote control system for example, considering the case where an unmanned moving object such as an unmanned aerial vehicle or an unmanned vehicle equipped with a camera is remotely controlled by viewing a moving image transmitted from the camera via a wireless LAN, there is a slight delay. When this occurs, there is a time lag between the actual movement of the unmanned vehicle and the movement of the unmanned vehicle in the moving image seen by the operator, and in the worst case, the unmanned vehicle collides with an obstacle or crashes. It may not be possible to avoid it.
- the moving image seen by the operator stops (so-called "image".
- image the moving image seen by the operator stops (so-called "image”.
- the operator may be looking at the displayed moving image without noticing that it is the previous image, such as (the phenomenon of "solidification” occurs), and in such a case, the deterioration of the communication status is recognized without delay. It cannot be done, and normally, the unmanned mobile unit must be stopped immediately in response to the significant deterioration of the communication situation or the situation where communication is impossible, but that cannot be done.
- Another object of the present invention is to provide a system, a receiving device, a transmitting device, a method, a program, and a recording medium on which the program is recorded, which can grasp the situation in real time without delay including deterioration of the communication situation. I will do it.
- each of the still image frames of a moving image composed of a plurality of still image frames is divided into a plurality of blocks, and the plurality of blocks are independently encoded and encoded for each block.
- the coded block reception period includes the current frame start time, which comprises reconstructing the still image frame by placing the decoded block generated by decoding the coded block of the still image frame at the corresponding position.
- the present invention provides a moving image communication method, which is a period from the above to the elapse of a time obtained by adding a margin time to an estimated time for receiving one frame of all coded blocks.
- Reconstructing the still image frame means that for each of the still image frames, the coding of the one still image frame received during the coding block reception period corresponding to the one still image frame.
- the decoded block generated by decoding the block may be placed at the corresponding position, and the other portion may include reconstructing the still image frame as an image corresponding to a no-image signal.
- One aspect of the present invention is a connectionless type in which each of the still image frames of a moving image composed of a plurality of still image frames is divided into a plurality of blocks, and the plurality of blocks are independently encoded for each block. Coding of the one still image frame received in the coded block reception period corresponding to the one still image frame for each of the still image frames transmitted by the communication method.
- the coded block reception period includes currently decoding the block to generate a decoded block and arranging the generated decoded block at a corresponding position to reconstruct a still image frame.
- the present invention provides an image receiving method which is a period from the frame start time of the above to the elapse of a time obtained by adding a margin time to an estimated time for receiving one frame of all coded blocks.
- Reconstructing the still image frame means that for each of the still image frames, the coding of the one still image frame received during the coding block reception period corresponding to the one still image frame.
- the decoded block generated by decoding the block may be placed at the corresponding position, and the other portion may include reconstructing the still image frame as an image corresponding to a no-image signal.
- Reconstructing the still image frame means that for each of the still image frames, the coded block of the one still image frame received during the coded block reception period corresponding to the one still image frame.
- the decoding block generated by decoding is placed at the corresponding position, and the other parts are a predetermined number from the frame immediately before the one still image frame to a predetermined number from the one said still image frame.
- the decoding block at the corresponding position may include preferentially arranging the decoding block of the still image frame that is close in time to the one still image frame to reconstruct the still image frame. ..
- the next frame start time is (1) within the coded block reception period when the coded block first transmitted in the one still image frame is received within the coded block reception period. It is set to a time corresponding to the time when one frame time elapses from the reception time of the coded block of the one still image frame first received in (2) within the one still image frame.
- the coded block transmitted first is not received, and the coded block transmitted in the one still image frame other than the coded block transmitted first in the one still image frame.
- the plurality of coded blocks may be transmitted in an order in which the positional order of the blocks in the still image frame is rearranged.
- the plurality of coded blocks may be transmitted in an order in which the positional order of the blocks in the still image frame is randomly rearranged.
- the moving image coding method can be a Motion JPEG-based method.
- the margin time is the difference between the one frame time, the estimated reception time of all the coded blocks of the one frame, and the drawing time of the one frame when all the blocks of the one frame are decoded. be able to.
- the time expected to receive the coded block having the earliest transmission order among the coded blocks and / or the drawing time is determined based on the corresponding measured value, and the moving image is being received. It can be updated at a predetermined timing.
- Estimated reception time of all coded blocks of the one frame determined based on the corresponding measured value, received within the coded block reception period from the coded block first transmitted in the one still image frame.
- the value of the time expected to receive the coded block having the earliest transmission order among the coded blocks of the one still image frame and / or the drawing time of the moving image is the value of the moving image. It can be updated at a predetermined timing during reception.
- One aspect of the present invention is to divide each of the still image frames of a moving image composed of a plurality of still image frames into a plurality of blocks, and to encode the plurality of blocks independently for each block. It provides an image transmission method including transmitting a coded block, which is a block, by a connectionless communication method.
- One aspect of the present invention is to provide a computer-readable recording medium on which the program is recorded.
- One aspect of the present invention is an image segmentation unit that divides each of the still image frames of a moving image composed of a plurality of still image frames into a plurality of blocks, and the plurality of blocks are independently encoded for each block.
- a decoding unit that decodes the coded block of the one still image frame received during the period to generate a decoded block, and the generated decoded block are arranged at corresponding positions to form a still image.
- a frame reconstructing unit for reconstructing a frame is provided, and the coded block reception period is a period from the current frame start time to the elapse of a time obtained by adding a margin time to an estimated time for receiving one frame of all coded blocks. It provides a moving image communication system.
- the frame reconstruction unit can arrange the generated decoding block at a corresponding position, and the other portion can reconstruct the still image frame as an image corresponding to a no-image signal.
- One aspect of the present invention is a connectionless type in which each of the still image frames of a moving image composed of a plurality of still image frames is divided into a plurality of blocks, and the plurality of blocks are independently encoded for each block. Coding of the one still image frame received in the coded block reception period corresponding to the one still image frame for each of the still image frames transmitted by the communication method.
- the coded block includes a decoding unit that decodes a block to generate a decoded block, and a frame reconstructing unit that arranges the generated decoded block at a corresponding position to reconstruct a still image frame.
- the reception period provides an image receiving device which is a period from the current frame start time to the elapse of a time obtained by adding a margin time to an estimated time for receiving one frame of all coded blocks.
- the frame reconstruction unit can arrange the generated decoding block at a corresponding position, and the other portion can reconstruct the still image frame as an image corresponding to a no-image signal.
- the frame reconstruction unit decodes the coded block of the one still image frame received in the coded block reception period corresponding to the one still image frame.
- the generated decryption block is placed at the corresponding position, and the other part is still by a predetermined number from the frame immediately before the one still image frame to the one before the still image frame.
- the position corresponding to the other part of the decoded block generated by decoding the coded block of the received past still image frame.
- the decoded block may be arranged with priority given to the decoded block of the still image frame that is close in time to the one still image frame to reconstruct the still image frame.
- the image receiving device sets the next frame start time (1) when the coded block first transmitted in the one still image frame is received within the coded block receiving period. It is set to a time corresponding to the time when one frame time elapses from the reception time of the coded block of the one still image frame first received within the coded block reception period, and (2) the one.
- the one still image frame other than the first encoded block transmitted in the still image frame and not the first transmitted coded block in the one still image frame.
- the one frame time is calculated from the time when the coded block in the one still image frame is first received.
- the frame start time setting unit sets the next frame start time, and if all the coded blocks of the one still image frame are not received within the coded block reception period, the current frame start time is set. It can be set to a time when one frame time elapses from the time.
- the plurality of coded blocks may be transmitted in an order in which the positional order of the blocks in the still image frame is rearranged.
- the plurality of coded blocks may be transmitted in an order in which the positional order of the blocks in the still image frame is randomly rearranged.
- One aspect of the present invention is an image segmentation unit that divides each of the still image frames of a moving image composed of a plurality of still image frames into a plurality of blocks, and the plurality of blocks are independently encoded for each block. It provides an image transmission device including a coding unit and a transmission unit that transmits a coded block, which is a coded block, by a connectionless communication method.
- One aspect of the present invention is to provide a remote control device including the image transmission device and an image pickup device that supplies a moving image to the image transmission device.
- the remote control device can be a mobile body.
- the moving body can be an unmanned moving body.
- independently encoded means encoding so that an image can be decoded only with the encoded data. Therefore, the coding method using the difference between the units to be coded is not an independently coded coding method.
- the coding target unit is a frame
- a coding method using the difference between the frames is used, and when the block in which the frame is divided is the coding target unit as in the present invention, the difference between the blocks is used.
- the coding method is not an independently encoded coding method.
- each of the frames is coded independently, but each of the tiles constituting the frame is not coded independently. This is because each of the tiles cannot be decrypted without the information in the main header.
- a system having the above configuration, a system, a receiving device, a transmitting device, a method, a program, and a program capable of reproducing a transmitted moving image in real time without delay and improving the reproducibility of the moving image can be provided.
- a recording medium for recording can be provided.
- a system a receiving device, a transmitting device, a method, a program, and a recording medium on which the program is recorded, which can grasp the situation in real time without delay including deterioration of the communication situation. can do.
- FIG. 1 is a diagram showing an overall configuration of a moving image communication system according to an embodiment of the present invention.
- the moving image communication system 1 includes an image transmitting device 10, an image pickup device 20, a network 30, an image receiving device 40, and a display device 50.
- the image transmitting device 10 and the image receiving device 40 are connected to each other via the network 30.
- Each of the image transmitting device 10, the image pickup device 20, the image receiving device 40, and the display device 50 does not have to be configured as one physical device, but may be configured by a plurality of physical devices.
- the image pickup device 20 captures a subject, acquires moving image data, and supplies the moving image data to the image transmitting device 10.
- the moving image supplied to the image transmitting device 10 can be composed of a plurality of still image frames.
- the network 30 can be, for example, a wired / wireless public network such as the Internet, a telephone line network, a satellite communication network, various wired / wireless LANs including Ethernet (registered trademark), and a WAN.
- a wired / wireless public network such as the Internet
- a telephone line network such as the Internet
- a satellite communication network such as the Internet
- various wired / wireless LANs including Ethernet (registered trademark)
- a WAN wide area network
- any appropriate device such as a PC, a smartphone, or a tablet terminal can be used in addition to the dedicated device.
- the image transmission device 10 includes an image segmentation unit 101, a coding unit 103, a coding block storage unit 105, a block order changing unit 107, a packet generation unit 109, and a transmission unit 111.
- the image segmentation unit 101 divides each of the still image frames of a moving image composed of a plurality of still image frames into a plurality of blocks.
- the coding unit 103 independently encodes a plurality of blocks in which each of the still image frames is divided into a plurality of blocks by the image segmentation unit 101 to generate a coded block. Further, the coding unit 103 stores the generated coded block in the coded block storage unit 105 in association with the frame number and the block position number.
- the coded block storage unit 105 stores the coded block generated by the coded unit 103.
- the packet generation unit 109 reads the coded block, the frame number, the block transmission number, and the block position number associated with the coded block from the coded block storage unit 105, and puts the frame number, the block transmission number, and the block transmission number into the coded block. And, a packet for connectionless communication method is generated with a header including the block position number.
- the transmission unit 111 transmits the coded block by a connectionless type (non-procedure type) communication method.
- FIG. 3 is a block diagram showing a functional configuration of the image receiving device according to the embodiment of the present invention.
- the receiving unit 401 receives the packet of the coded block transmitted from the image transmitting device 10.
- the header detection unit 403 detects the frame number, block transmission number, and block position number from the packet header and supplies them to the decoding unit 405 and the frame start time setting unit 411.
- the decoding unit 405 decodes the coded block of the one still image frame received in the coded block reception period corresponding to the one still image frame for each of the still image frames and decodes the block. To generate. Further, the decoding unit 405 stores the decoding block together with the corresponding frame number, block transmission number, and block position number in the decoding block storage unit 407.
- the decryption block storage unit 407 stores the decryption block together with the corresponding frame number, block transmission number, and block position number.
- the moving image storage unit 413 stores the still image frame reconstructed by the frame reconstructing unit 409.
- FIG. 4 is a diagram showing a hardware configuration of the image transmission device 10 according to the embodiment of the present invention.
- the image transmission device 10 includes a CPU 10a, a RAM 10b, a ROM 10c, an external memory 10d, an input unit 10e, an output unit 10f, and a communication unit 10g.
- the RAM 10b, ROM 10c, external memory 10d, input unit 10e, output unit 10f, and communication unit 10g are connected to the CPU 10a via the system bus 10h.
- the CPU 10a comprehensively controls each device connected to the system bus 10h.
- the ROM 10c and the external memory 10d store the BIOS and OS, which are the control programs of the CPU 10a, and various programs and data necessary for realizing the functions executed by the computer.
- the external memory 10d is composed of, for example, a flash memory, a hard disk, a DVD-RAM, a USB memory, or the like.
- the input unit 10e receives an operation instruction or the like from a user or the like.
- the input unit 10e is composed of, for example, an input device such as an input button, a keyboard, a pointing device, a wireless remote controller, and a microphone.
- the output unit 10f outputs the data processed by the CPU 10a and the data stored in the RAM 10b, the ROM 10c, and the external memory 10d.
- the output unit 10f is composed of, for example, an output device such as a CRT display, an LCD, an organic EL panel, a printer, and a speaker.
- the communication unit 10g is an interface for connecting / communicating with an external device via a network or directly.
- the communication unit 10g is composed of an interface such as a serial interface or a LAN interface.
- FIG. 5 is a flowchart of an example of the image transmission process according to the embodiment of the present invention.
- the image segmentation unit 101 of the image transmission device 10 divides each of the still image frames constituting the moving image supplied from the image pickup device 20 into a plurality of blocks (S101). Then, the coding unit 103 encodes each divided block independently for each block to generate a coded block (S103).
- This moving image can be coded by, for example, a Motion JPEG-based method. That is, in the Motion JPEG method, each of the still image frames constituting the moving image is independently encoded / decoded in the JPEG format, and these are continuously displayed to form a moving image.
- each of a plurality of blocks further divided by each of the still image frames is individually encoded by the JPEG method for each block and decoded to obtain each of the still image frames. It is reconstructed and displayed continuously to make a moving image.
- the method for encoding a moving image is not limited to the Motion JPEG-based method, and each of a plurality of blocks in which each of the still image frames constituting the moving image is further divided is encoded independently for each block. Any other suitable method can be used as long as it does.
- independently encoded means encoding so that the image can be decoded only with the encoded data.
- the coding method using the difference between the units to be coded is not an independently coded coding method.
- the coding target unit is a frame
- a coding method using the difference between the frames is used, and when the block in which the frame is divided is the coding target unit as in the present invention, the difference between the blocks is used.
- the coding method is not an independently encoded coding method.
- each of the frames is independently encoded, but each of the tiles constituting the frame is not independently encoded. This is because each of the tiles cannot be decrypted without the information in the main header.
- the coding unit 103 stores the coded block in the coded block storage unit 105 in association with the frame number and the block position number (S105).
- the frame number is a serial number of the still image frame to which the coded block belongs.
- the block position number is a number assigned in the order of position in the still image frame of each coded block, and indicates the position of each coded block in each still image frame.
- the block position numbers are 1, 2, ..., 30 in order from left to right for each row from the top row to the bottom row, with the block in the upper left corner of the frame as 1.
- the order of assigning block position numbers is not limited to this, and the block in the upper left corner of the frame is set to 1, and from the top of each column from the left column to the right column. Any other appropriate granting order, such as granting 1, 2, ..., 30 in order below, can be used.
- the block order changing unit 107 randomly rearranges the positional order of the coded blocks in each still image frame stored in the coded block storage unit 105 (S107). Specifically, the order of the coded blocks according to the block position numbers is randomly changed, and the block transmission numbers are assigned in order from the beginning of the coded blocks whose order has been changed to 1, 2, ..., 30 and the codes. It is stored in the coded block storage unit 105 in association with the coded block.
- the change in the order of the coded blocks may be a change according to a predetermined rule other than the random change so that the effect that the portion not reproduced at the time of the still image frame reconstruction described later is dispersed can be expected. This block order change process may be omitted.
- the transmission unit 111 transmits the packets generated by the packet generation unit 109 to the image receiving device 40 via the network 30 in the order of frame numbers and block transmission numbers (S111).
- the position order of the coded blocks is rearranged after the coding of each block.
- the configuration is such that the coded block is transmitted, the configuration is not limited to this, and any other appropriate configuration may be used.
- the coding may be performed after the positional order of each block is rearranged before the coding of each block, and the coded block may be transmitted.
- the encoded block may be transmitted every time one of the blocks rearranged before encoding is encoded. According to such a configuration, the transmission of the coded block is performed faster, so that the delay time can be reduced.
- FIG. 8 is a flowchart of an example of the image reception process according to the embodiment of the present invention. Further, FIG. 9 is a flowchart of an example of details of the setting process of the next frame start time.
- the receiving unit 401 of the image receiving device 40 receives the packet transmitted from the image transmitting device 10 (S201).
- the header detection unit 403 detects a frame number, a block transmission number, and a block position number from the packet header and supplies the frame number, the block transmission number, and the block position number to the decoding unit 405 and the frame start time setting unit 411 (S203).
- the decoding unit 405 receives one frame full coded block reception estimated time (all coded blocks constituting one still image frame) from the frame start time set by the frame start time setting unit 411 described later.
- the coded block reception period which is the period until the time obtained by adding the margin time to the time assumed in the image transmission device 10 elapses
- the coded block constituting the corresponding frame of the packets received from the image transmission device 10 is used. It is decoded and the decrypted block is stored in the decoded block storage unit 407 together with the corresponding frame number, block transmission number, and block position number (S205).
- the decoding unit 405 discards the packet received outside the coded block reception period.
- the frame reconstruction unit 409 reads out the decoding block stored in the decoding block storage unit 407, arranges the decoding block at the position corresponding to the block position number, and does not receive the decoding block within the coded block reception period. If there is a coded block, the area of the position corresponding to the block position number of the coded block that was not received within the coded block reception period is set as an image corresponding to a no-image signal (for example, a black image). The still image frame is reconstructed (S207). If all the coded blocks are not received within the coded block reception period, the entire frame becomes an image corresponding to a no-image signal.
- the image corresponding to the no-image signal is not limited to the black image, but may be a white image or any other suitable image.
- FIG. 10A is an example of a reconstructed frame when all coded blocks are received within the coded block reception period.
- FIG. 10B is an example of a reconstructed frame when a part of the coded blocks is not received within the coded block reception period due to deterioration of the communication condition or the like.
- the frame reconstruction unit 409 sends the reconstructed still image frames to the display device 50 in order (S209).
- the frame reconstructing unit 409 may store the reconstructed still image frame in the moving image storage unit 413 of the image receiving device 40 and / or an external storage device.
- the display device 50 displays a moving image by sequentially displaying still image frames sent from the frame reconstruction unit 409.
- the decoding unit 405 discards the packet received outside the coded block reception period, but the decoding unit 405 receives the packet received outside the coded block reception period without discarding it.
- the image is decoded and stored in the decoding block 407, and the frame reconstruction unit 409 receives the image in the coding block reception period of the decoding blocks stored in the decoding block 407 after the coding block reception period elapses.
- the still image frame may be reconstructed based on the decoding block obtained by decoding the coding block constituting the corresponding frame in the packet received from the transmission device 10.
- the still image frame is reconstructed as an image corresponding to a non-image signal in the area of the position corresponding to the block position number of the coded block that was not received within the coded block reception period. Instead, the area of the position corresponding to the block position number of the coded block that was not received within the coded block reception period is moved from the frame immediately before the still image frame to be reconstructed to the stillness of the object to be reconstructed.
- Coding block corresponding to the still image frame to be reconstructed The decoding block at the position corresponding to the area corresponding to the block position number of the coding block not received within the reception period is to be reconstructed.
- the still image frame may be reconstructed by preferentially arranging the decoding block of the still image frame that is close in time to the still image frame.
- the decoding unit 405 receives and decodes the packet received outside the coded block reception period without discarding it, and stores it in the decoding block storage unit 407.
- the reconstruction frame of FIG. 10B as a black image in which the region of the position corresponding to the block position number other than 4, 6, 15, 19, 22, and 27 is an image corresponding to a no-image signal.
- the still image frame has been reconstructed.
- the past frame from the frame immediately before the received still image frame to be reconstructed to the still image frame a predetermined number before the still image frame to be reconstructed.
- a decoding block at a position corresponding to this black image portion of the decoding block of the still image frame is arranged.
- priority is given to the still image frame decoding block that is close in time to the still image frame to be reconstructed.
- the number of still image frames in the past can be a small number that does not impair the real-time property according to the scene. Since the past still image frame often contains a decoding block at a position different from the position of the decoding block of the still image frame to be reconstructed, a part or all of the above black image portion is the past still image. Displayed in the image frame decryption block. As described above, since the number of past still image frames is a small number that does not impair the real-time property, the visibility of the image can be improved without impairing the real-time property.
- the number of past still image frames can be determined in consideration of the required balance between real-time performance and image visibility. If you want to improve the real-time property, you can reduce the number of past still image frames. That is, when the real-time property is the highest, the number of past still image frames is one frame. On the other hand, if the visibility of the image is to be improved, the number of past still image frames may be increased, but the real-time property is lowered accordingly. Therefore, the visibility of the image can be improved by lowering the real-time property to the extent that the required real-time property can be guaranteed.
- the number of past still image frames can be set to 800 ms or less, preferably 400 ms or less, and more preferably 200 ms or less.
- the frame start time setting unit 411 sets the next frame start time (S211).
- S211 next frame start time
- the frame start time setting unit 411 monitors the block number supplied from the header detection unit 403. Then, (1) the coded block having the block number 1 which is the coded block first transmitted in one still image frame is received within the coded block reception period tbr corresponding to the one still image frame. (S301: Yes), the next frame start time is the time when one frame time elapses from the reception time of the coded block of the one still image frame that was first received within the coded block reception period. It is set to the time corresponding to (S303). That is, as shown in FIG.
- next frame start time nTfr (Reception time Tr of the coded block of the one still image frame first received within the coded block reception period) + (1 frame time tfr) To set the next frame start time.
- the time corresponding to the time when one frame time elapses from the reception time of the coded block of the one still image frame, which was first received within the coded block reception period was first transmitted in one frame. It may be the time when one frame time elapses from the reception time of the coded block of block number 1, which is a coded block.
- the time corresponding to the time when one frame time elapses from the reception time of the coded block of the one still image frame, which is first received within the coded block reception period is not limited to these. It can be any suitable time.
- the coded block first transmitted in one still image frame is not received within the coded block reception period corresponding to the one still image frame, and is the first in the one still image frame.
- the coded block transmitted in the one still image frame other than the coded block transmitted to is received within the coded block reception period corresponding to the one still image frame (S305: Yes)
- the next frame starts at the time when the time difference from the time expected to receive up to the coded block having the earliest transmission order among the coded blocks of the one still image frame received in is elapsed.
- Set the time (S307). That is, as shown in FIG.
- next frame start time nTfr (Reception time Tr of the first received coded block) + (1 frame time tfr)-(Of the coded blocks received from the first coded block transmitted Estimated time to receive up to the coded block with the earliest transmission order tpe)))
- the coded block having the earliest transmission order among the coded blocks of the one still image frame received within the coded block reception period is usually within the one still image frame received first.
- the transmission order of the coded blocks of the one still image frame received within the coded block reception period from the coded block first transmitted in one still image frame is The estimated time to receive up to the earliest coded block is from the first coded block transmitted in one still image frame to the first coded block received in that one still image frame. May be the expected time to receive. Receives from the coded block first transmitted in one still image frame to the coded block with the earliest transmission order among the coded blocks of the one still image frame received within the coded block reception period. The time expected to do so is not limited to these, but may be any other suitable time.
- the coded block reception period can be set more appropriately by using a value based on the measured value in the system.
- a moving image taken by the image pickup device 20 from a drone equipped with an image transmission device 10 and an image pickup device 20 is an image of an operator via a wireless LAN.
- An example of transmission to and displayed on a PC equipped with a receiving device 40 and a display device 50 will be described.
- the measured values are measured, and each value is obtained and set based on the measured values.
- the average frame interval can be, for example, the average value of the measured values of the time between the reception times of the first coded blocks transmitted in the adjacent frames.
- the average 1-frame all-encoding which is the average value of the measured values of the time required for the PC to receive all the coded blocks of 1 frame.
- the block reception time can be used.
- the "margin time tmg” can be obtained by (1 frame time tfr)-[(1 frame full coded block reception estimated time tae) + (drawing time tdr)].
- the "drawing time tdr” mainly depends on the processing performance of the PC and the performance of the rendering software, but the frame reconstructed based on the decoding block of all the coding blocks received by the PC for one frame is used.
- the average drawing time which is the average value of the measured values of the drawing time, can be used.
- each value is recalculated, updated, and reset based on the measured value at a predetermined timing.
- the measured value used for the recalculation can exclude the value when the radio wave condition is bad.
- the steps are shown in sequence, but in some examples these steps are performed in parallel and / or in a different order than described herein. You may. Also, based on the desired embodiment, the various steps can be combined into fewer steps, divided into additional steps, and / or deleted.
- the frame is divided into a plurality of blocks, and each divided block is encoded independently for each block. Therefore, the error rate of the packet is reduced by reducing the data capacity of the packet.
- the fact that the image cannot be reproduced because the packet could not be received due to the loss or delay of the packet can be set as a block unit smaller than the frame unit, that is, a part of the frame can be reproduced, so that the image can be received. On the side, it is possible to reproduce the transmitted moving image without delay and improve the reproducibility of the moving image.
- the next frame start time is received within the coded block reception period, and the reception time of the coded block having the earliest transmission order among the coded blocks of the one still image frame. Since it is set based on, the communication status, the performance and processing status of the device (for example, the frame rate of the image pickup device is unstable, the processing speed and operation of the image transmitting device are unstable, and the processing speed and operation of the image receiving device are not stable. It is possible to synchronize according to (stable), etc., and the coded block reception period can be set more appropriately, so that more coded blocks can be received and the image reproducibility on the receiving side can be improved. Can be done.
- the values of "time tpe expected to receive up to the coded block having the earliest transmission order among the coded blocks of the one still image frame” and "margin time tmg" received within the period correspond to each other. Since it is determined based on the measured value to be measured, the coded block reception period can be set more appropriately, and the reproducibility of the image on the receiving side can be further improved. Further, since the values based on these actually measured values are updated at a predetermined timing during the reception of the moving image, the coded block reception period can be set more appropriately, and the reproducibility of the image on the receiving side is further improved. Can be improved.
- the coded blocks are transmitted by randomly rearranging the positional order of the divided blocks in the still image frame, there is a packet delay or burst-like loss of packets. In this case, it is possible to prevent the portion that is not reproduced on the receiving side from concentrating on a specific portion of the image, disperse the portion that is not reproduced, and improve the visibility.
- an image pickup device and an image transmission device are mounted on a drone, but the present invention is not limited to this.
- an unmanned moving object such as an unmanned vehicle other than a drone, a moving object other than the unmanned moving object, and a remote control device other than the moving object equipped with an image pickup device and an image transmission device can achieve the above effects.
- Dynamic image communication system 10 Image transmission device 101 Image division unit 103 Coding unit 105 Coding block storage unit 107 Block order change unit 109 Packet generation unit 111 Transmission unit 10a CPU 10b RAM 10c ROM 10d External memory 10e Input unit 10f Output unit 10g Communication unit 10h System bus 20 Imaging device 30 Network 40 Image receiving device 401 Reception unit 403 Header detection unit 405 Decoding unit 407 Decoding block storage unit 409 Frame reconstruction unit 411 Frame start time Setting unit 50 Display device 6 Still image frame 7 Packet
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Abstract
Description
図5は、本発明の実施形態に係る画像送信処理の一例のフローチャートである。
図8は、本発明の実施形態に係る画像受信処理の一例のフローチャートである。また、図9は、次のフレーム開始時刻の設定処理の詳細の一例のフローチャートである。
(次のフレーム開始時刻nTfr)=(符号化ブロック受信期間内に最初に受信された、該1つの静止画像フレームの符号化ブロックの受信時刻Tr)+(1フレーム時間tfr)
により、次のフレーム開始時刻を設定する。ここで、符号化ブロック受信期間内に最初に受信された、該1つの静止画像フレームの符号化ブロックは、通常、該1つの静止画像フレーム内で最初に送信された符号化ブロックであるから、符号化ブロック受信期間内に最初に受信された、該1つの静止画像フレームの符号化ブロックの受信時刻から1フレーム時間が経過する時刻に相当する時刻を、1つのフレーム内で最初に送信された符号化ブロックであるブロック番号1の符号化ブロックの受信時刻から1フレーム時間が経過する時刻としてもよい。符号化ブロック受信期間内に最初に受信された、該1つの静止画像フレームの符号化ブロックの受信時刻から1フレーム時間が経過する時刻に相当する時刻は、これらに限定されるものではなく、他の任意の適切な時刻とすることができる。
(次のフレーム開始時刻nTfr)=(最初に受信された符号化ブロックの受信時刻Tr)+(1フレーム時間tfr)-(最初に送信された符号化ブロックから、受信した符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間tpe))
により、次のフレーム開始時刻を設定する。ここで、符号化ブロック受信期間内に受信した、該1つの静止画像フレームの符号化ブロックのうちで送信順序が最も早い符号化ブロックは、通常、最初に受信された該1つの静止画像フレーム内の符号化ブロックであるから、1つの静止画像フレーム内で最初に送信された符号化ブロックから符号化ブロック受信期間内に受信した、該1つの静止画像フレームの符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間は、1つの静止画像フレーム内で最初に送信された符号化ブロックから最初に受信された該1つの静止画像フレーム内の符号化ブロックまでを受信するのに想定される時間としてもよい。1つの静止画像フレーム内で最初に送信された符号化ブロックから符号化ブロック受信期間内に受信した、該1つの静止画像フレームの符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間は、これらに限定されるものではなく、他の任意の適切な時間とすることができる。
(次のフレーム開始時刻nTfr)=(現在フレーム開始時刻Tfr)+(1フレーム時間tfr)
により、次のフレーム開始時刻を設定する。
10 画像送信装置
101 画像分割部
103 符号化部
105 符号化ブロック記憶部
107 ブロック順序変更部
109 パケット生成部
111 送信部
10a CPU
10b RAM
10c ROM
10d 外部メモリ
10e 入力部
10f 出力部
10g 通信部
10h システムバス
20 撮像装置
30 ネットワーク
40 画像受信装置
401 受信部
403 ヘッダ検出部
405 復号化部
407 復号化ブロック記憶部
409 フレーム再構成部
411 フレーム開始時刻設定部
50 表示装置
6 静止画像フレーム
7 パケット
Claims (29)
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々を複数のブロックに分割し、該複数のブロックをブロック毎に独立に符号化し、符号化されたブロックである符号化ブロックを、コネクションレス型通信方式で送信することと、
前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して生成された復号化ブロックを対応する位置に配置して静止画像フレームを再構成すること、
を含み、
前記符号化ブロック受信期間は、現在のフレーム開始時刻から、1フレーム全符号化ブロック受信想定時間に余裕時間を加えた時間が経過するまでの期間である、動画像通信方法。 - 前記静止画像フレームを再構成することは、前記前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して生成された復号化ブロックを対応する位置に配置し、それ以外の部分は無画像信号に相当する画像として静止画像フレームを再構成することを含む請求項1に記載の動画像通信方法。
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々が複数のブロックに分割され、該複数のブロックがブロック毎に独立に符号化され、コネクションレス型通信方式で送信された符号化ブロックであって、前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの符号化ブロックを復号化して復号化ブロックを生成することと、
生成された前記復号化ブロックを対応する位置に配置して静止画像フレームを再構成することと、
を含み、
前記符号化ブロック受信期間は、現在のフレーム開始時刻から、1フレーム全符号化ブロック受信想定時間に余裕時間を加えた時間が経過するまでの期間である、画像受信方法。 - 前記静止画像フレームを再構成することは、前記前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して生成された復号化ブロックを対応する位置に配置し、それ以外の部分は無画像信号に相当する画像として静止画像フレームを再構成することを含む請求項3に記載の画像受信方法。
- 前記静止画像フレームを再構成することは、前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して生成された復号化ブロックを対応する位置に配置し、それ以外の部分は、前記1つの前記静止画像フレームの1つ前のフレームから前記1つの前記静止画像フレームよりも所定の数だけ前の静止画像フレームまでの過去の静止画像フレームの各々について、受信された前記過去の静止画像フレームの符号化ブロックを復号化して生成された復号化ブロックのうちで、前記それ以外の部分に対応する位置の該復号化ブロックを、前記1つの前記静止画像フレームに時間的に近い静止画像フレームの復号化ブロックを優先して配置して静止画像フレームを再構成することを含む請求項3に記載の画像受信方法。
- 次のフレーム開始時刻は、
(1)前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックが、前記符号化ブロック受信期間内に受信された場合、前記符号化ブロック受信期間内に最初に受信された、前記1つの前記静止画像フレームの前記符号化ブロックの受信時刻から1フレーム時間が経過する時刻に相当する時刻に設定され、
(2)前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックが受信されず、且つ、前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロック以外の、前記1つの前記静止画像フレーム内で送信された前記符号化ブロックが、前記符号化ブロック受信期間内に受信された場合、前記1つの前記静止画像フレーム内の前記符号化ブロックを最初に受信した時刻から、前記1フレーム時間と、前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックから前記符号化ブロック受信期間内に受信した、前記1つの前記静止画像フレームの前記符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間との差の時間が経過する時刻に設定される請求項3~5のいずれか1項に記載の画像受信方法。 - 次のフレーム開始時刻は、前記1つの前記静止画像フレームのすべての前記符号化ブロックが、前記符号化ブロック受信期間内に受信されなかった場合、前記現在のフレーム開始時刻から1フレーム時間が経過する時刻に設定される請求項3~6のいずれか1項に記載の画像受信方法。
- 前記複数の符号化ブロックは、前記静止画像フレーム内での前記ブロックの位置順が並び替えられた順序で送信される請求項3~7のいずれか1項に記載の画像受信方法。
- 前記複数の符号化ブロックは、前記静止画像フレーム内での前記ブロックの位置順がランダムに並び替えられた順序で送信される請求項8に記載の画像受信方法。
- 前記動画像の符号化の方式はMotion JPEGベースの方式である請求項3~9のいずれか1項に記載の画像受信方法。
- 前記余裕時間は、前記1フレーム時間と、前記1フレームの全符号化ブロック受信想定時間と前記1フレームのすべてのブロックが復号化された場合の前記1フレームの描画時間の和との差である請求項3~10のいずれか1項に記載の画像受信方法。
- 前記1フレームの全符号化ブロック受信想定時間、前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックから前記符号化ブロック受信期間内に受信した、前記1つの前記静止画像フレームの前記符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間、及び/又は前記描画時間は、対応する実測値に基づいて決定され、前記動画像の受信中に所定のタイミングで更新される請求項6~11のいずれか1項に記載の画像受信方法。
- 対応する実測値に基づいて決定される前記1フレームの全符号化ブロック受信想定時間、前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックから前記符号化ブロック受信期間内に受信した、前記1つの前記静止画像フレームの前記符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間、及び/又は前記描画時間の値は、前記動画像の受信中に所定のタイミングで更新される請求項12に記載の画像受信方法。
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々を複数のブロックに分割することと、
前記複数のブロックをブロック毎に独立に符号化し、符号化されたブロックである符号化ブロックを、コネクションレス型通信方式で送信することと、
を含む画像送信方法。 - 請求項1~14に記載の方法をコンピュータに実行させるためのプログラム。
- 請求項15に記載のプログラムを記録したコンピュータ読み取り可能な記録媒体。
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々を複数のブロックに分割する画像分割部と、
前記複数のブロックをブロック毎に独立に符号化する符号化部と、
符号化されたブロックである符号化ブロックを、コネクションレス型通信方式で送信する送信部と、
前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して復号化ブロックを生成する復号化部と、
生成された前記復号化ブロックを対応する位置に配置して静止画像フレームを再構成するフレーム再構成部と、
を備え、
前記符号化ブロック受信期間は、現在のフレーム開始時刻から、1フレーム全符号化ブロック受信想定時間に余裕時間を加えた時間が経過するまでの期間である、動画像通信システム。 - 前記フレーム再構成部は、生成された前記復号化ブロックを対応する位置に配置し、それ以外の部分は無画像信号に相当する画像として静止画像フレームを再構成する請求項17に記載の動画像通信システム。
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々が複数のブロックに分割され、該複数のブロックがブロック毎に独立に符号化され、コネクションレス型通信方式で送信された符号化ブロックであって、前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの符号化ブロックを復号化して復号化ブロックを生成する復号化部と、
生成された前記復号化ブロックを対応する位置に配置して静止画像フレームを再構成するフレーム再構成部と、
を備え、
前記符号化ブロック受信期間は、現在のフレーム開始時刻から、1フレーム全符号化ブロック受信想定時間に余裕時間を加えた時間が経過するまでの期間である、画像受信装置。 - 前記フレーム再構成部は、生成された前記復号化ブロックを対応する位置に配置し、それ以外の部分は無画像信号に相当する画像として静止画像フレームを再構成する請求項19に記載の画像受信装置。
- 前記フレーム再構成部は、前記静止画像フレームの各々について、1つの前記静止画像フレームに対応する符号化ブロック受信期間において受信された、前記1つの前記静止画像フレームの前記符号化ブロックを復号化して生成された復号化ブロックを対応する位置に配置し、それ以外の部分は、前記1つの前記静止画像フレームの1つ前のフレームから前記1つの前記静止画像フレームよりも所定の数だけ前の静止画像フレームまでの過去の静止画像フレームの各々について、受信された前記過去の静止画像フレームの符号化ブロックを復号化して生成された復号化ブロックのうちで、前記それ以外の部分に対応する位置の該復号化ブロックを、前記1つの前記静止画像フレームに時間的に近い静止画像フレームの復号化ブロックを優先して配置して静止画像フレームを再構成する請求項19に記載の画像受信装置。
- 次のフレーム開始時刻を、
(1)前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックが、前記符号化ブロック受信期間内に受信された場合、前記符号化ブロック受信期間内に最初に受信された、前記1つの前記静止画像フレームの前記符号化ブロックの受信時刻から1フレーム時間が経過する時刻に相当する時刻に設定し、
(2)前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロックが受信されず、且つ、前記1つの前記静止画像フレーム内で最初に送信された前記符号化ブロック以外の、前記1つの前記静止画像フレーム内で送信された前記符号化ブロックが、前記符号化ブロック受信期間内に受信された場合、前記1つの前記静止画像フレーム内の前記符号化ブロックを最初に受信した時刻から、前記1フレーム時間と、前記1フレーム内で最初に送信された前記符号化ブロックから前記符号化ブロック受信期間内に受信した、前記1つの前記静止画像フレームの前記符号化ブロックのうちで送信順序が最も早い符号化ブロックまでを受信するのに想定される時間との差の時間が経過する時刻に設定する、
フレーム開始時刻設定部を更に備える請求項19~21のいずれか1項に記載の画像受信装置。 - 前記フレーム開始時刻設定部は、次のフレーム開始時刻を、前記1つの前記静止画像フレームのすべての前記符号化ブロックが、前記符号化ブロック受信期間内に受信されなかった場合、前記現在のフレーム開始時刻から1フレーム時間が経過する時刻に設定する請求項19~22のいずれか1項に記載の画像受信装置。
- 前記複数の符号化ブロックは、前記静止画像フレーム内での前記ブロックの位置順が並び替えられた順序で送信される請求項19~23のいずれか1項に記載の画像受信装置。
- 前記複数の符号化ブロックは、前記静止画像フレーム内での前記ブロックの位置順がランダムに並び替えられた順序で送信される請求項24に記載の画像受信装置。
- 複数の静止画像フレームから構成される動画像の静止画像フレームの各々を複数のブロックに分割する画像分割部と、
前記複数のブロックをブロック毎に独立に符号化する符号化部と、
符号化されたブロックである符号化ブロックを、コネクションレス型通信方式で送信する送信部と、
を備える画像送信装置。 - 請求項26に記載の画像送信装置と、前記画像送信装置に動画像を供給する撮像装置とを備える遠隔操作装置。
- 前記遠隔操作装置は、移動体である請求項27に記載の遠隔操作装置。
- 前記移動体は、無人移動体である請求項28に記載の遠隔操作装置。
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JPH08140091A (ja) * | 1994-11-07 | 1996-05-31 | Kokusai Electric Co Ltd | 画像伝送システム |
JPH09247464A (ja) * | 1996-03-07 | 1997-09-19 | Kokusai Electric Co Ltd | 静止画像伝送方法 |
JPH1023424A (ja) * | 1996-06-28 | 1998-01-23 | Sanyo Electric Co Ltd | 動画像圧縮データ復号装置 |
JPH10164573A (ja) * | 1996-11-26 | 1998-06-19 | Kokusai Electric Co Ltd | 画像伝送方法及び画像伝送装置 |
JP2002027470A (ja) * | 2000-07-06 | 2002-01-25 | Matsushita Electric Ind Co Ltd | 画像データ復号装置および画像データ復号方法 |
JP2017208802A (ja) * | 2016-03-09 | 2017-11-24 | パロット ドローンズ | ドローンのビデオを符号化および復号する方法ならびに関連するデバイス |
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JPH08140091A (ja) * | 1994-11-07 | 1996-05-31 | Kokusai Electric Co Ltd | 画像伝送システム |
JPH09247464A (ja) * | 1996-03-07 | 1997-09-19 | Kokusai Electric Co Ltd | 静止画像伝送方法 |
JPH1023424A (ja) * | 1996-06-28 | 1998-01-23 | Sanyo Electric Co Ltd | 動画像圧縮データ復号装置 |
JPH10164573A (ja) * | 1996-11-26 | 1998-06-19 | Kokusai Electric Co Ltd | 画像伝送方法及び画像伝送装置 |
JP2002027470A (ja) * | 2000-07-06 | 2002-01-25 | Matsushita Electric Ind Co Ltd | 画像データ復号装置および画像データ復号方法 |
JP2017208802A (ja) * | 2016-03-09 | 2017-11-24 | パロット ドローンズ | ドローンのビデオを符号化および復号する方法ならびに関連するデバイス |
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