CN102640183A - Method and device for adapting image information of an optical system - Google Patents
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- G06T2207/30168—Image quality inspection
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- G—PHYSICS
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- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
The invention relates to a method for adapting image information of an optical system (101) to quality standard requirements of at least one post-processing algorithm (103), comprising a step of receiving image information via a receiving interface, wherein the image information comprises intensity values provided by the optical system. At least one standardized image is subsequently determined (205) from the image information using a combination of at least one method for generating images and one method for correcting or analyzing images, so that the at least one standardized image meets the quality standard requirements of the at least one post-processing algorithm.
Description
Technical field
The present invention relates to a kind of method and a kind of corresponding device thereof and a kind of corresponding computer programs product that is used for the image information of matching optics system.
Background technology
When the optical device of changing optical system or image converter (imager); Must start anew to mate process of measurement based on image; So that accept the new characteristic of optical system, the contrast-response characteristic of image resolution ratio (pixel/grade, subtended angle ...), image, video camera effect of regulating or the like for example.Can be according to image with some algorithm parameterization.But this requires in computing unit, to analyze present image and it is stored in the storer, thus subsequently can be with to the treatment of picture step parameterization.This has produced memory bandwidth requirements and memory requirement, and it must realize and produce cost in system.
Come the characteristic of image converter (for example dead pixel) and dynamic range interior (the for example correction relevant of fixed pattern noise) in the matched static scope at present with temperature through suitable measure.Yet this analysis based on the hardware of optical system realizes and ignores basically the aspect and the requirement of process of measurement.
DE 10202163A1 discloses the night vision system that is used for image process method and device and is used for motor vehicle; Wherein responsive standard camera provides image near infrared, on the display device with resolution lower than said video camera, shows said image.Flame Image Process can be improved the original image of sensor by means of image clarification method and/or contrast enhancement process, thereby can realize that demonstration on the display device is to be observed by the observer.
Algorithm (like night vision) improves image in concrete application facet (observing image by the people at this).
Summary of the invention
Under said background, be used to make the image information of optical system to be matched with the method for at least one post-processing algorithm, the device and the corresponding computer programs product of the said method of use through the present invention proposes according to independent claims are described.Draw favourable configuration by corresponding dependent claims and following description.
The present invention is based on optical system with subsequently based on the foundation that separates between the process of measurement of image.
According to the present invention, introducing image abstraction layer---be so-called Image Abstraction Layer (IAL), it separates optical system with post-processing algorithm in system.On this meaning, the image abstraction layer is " standard picture " realized independently with optical system to the full extent.At this, standard picture not only is interpreted as an image, and it also can be a plurality of images of being derived by original image.In addition, image not only can be the image on the typical meaning, and can be the card based on image (Karte) of pre-processing stage.
The output data of optical system is the intensity level as data stream, wherein can be used as stream or comes the said data stream of analyzing and processing as image with picture traverse with combining.Before handling, can store the image in the storer through the IAL algorithm.Alternatively, direct analyzing and processing pixel stream.According to characteristic, this is the interface between optical system (imager) and the IAL.The output data of IAL is again pixel stream or image, and it can be stored in the storer or directly and handle subsequently.This depends on uses and timing.
IAL not only can realize also can realizing with software with hardware.Because use these methods, so for example the PLD of FPGA form is suitable for the hardware realization according to being used for.When realizing with software, it carries out on the microcontroller of freely programmable usually.
One of standard picture can be the reconstruction of lens errors.At this, the measurement through optical system obtains to describe the data of the optical parallax of lens combination.Can calculate the correction rule (for example being the pixel-shift form) that is used for original image by means of the model of optical parallax by said data.In suitable realization, can in FPGA, realize said pixel-shift.Form through pixel-shift and to have structurized image, said structuring is not to come from observed scene but come from pixel-shift.Therefore, computed image is level and smooth after skew, for example bilinear interpolation.In said concrete situation, at first with raw image storage in storer and in FPGA, calculate pixel-shift subsequently.Directly in FPGA, aspect level and smooth, further handle the result of image shift subsequently and subsequently said result is stored in the storer as pixel stream.The different lens errors effects that are of said standard picture and original image.In the respective design of said method, can not consider lens errors, obtain the advantage of IAL thus at this.
Another standard picture can be the standard picture that has through the colouring information of analyzing and processing.In order to write down colouring information, can on imager, apply the pattern (pattern) of color filter, said pattern can take on a different character according to using.On 2 * 2 image pixel zones, can use pattern such as red-intensity-intensity-intensity (no filter) (so-called R3I), R-G-B-intensity (RGBI), green grass or young crops-intensity-intensity-intensity (C3I) or the like.
Also can for example derive information based on local white balance, that is to say, partly white and redness compared and estimate redness with respect to white by pattern about " red (Rotheit) " of picture point.According to employed imager pattern, method is different.Yet result and optical system are irrelevant, draw the advantage of IAL thus.In concrete situation, handle the more or less bigger image-region of a picture point on every side and generate red tolerance (Rotheitsma β) according to employed pattern analysis.Said result data is stored in the storer as image.Then post-processing algorithm can be visited said image to carry out redness classification, for example be used to survey the algorithm of traffic sign (speed(-)limit sign) with red edge can be according to pixels based on the classify edge pixel of the plate that detects of red image (Rotheitsbild).
For realization according to the present invention, except that image producing method, can make up other suitable methods.Image producing method for example can comprise that dead pixel is proofreaied and correct or fixed pattern noise is proofreaied and correct; In said dead pixel is proofreaied and correct, proofread and correct, in said fixed pattern noise is proofreaied and correct, proofread and correct through the corrected value match value of storing based on sheet format through interior the inserting of picture point (pixel) on every side.Suitable method for example can relate to lens errors, red image or edge image at this.
At this, the purpose of combination is to produce the standard picture of certain strict quality standard and confirm said quality standard.Exemplary quality standard for example is the histogram of grey value profile, the frequency analysis of image, time variation of frequency spectrum or the like at this.
On the edge of in the standard picture, can be with the length of edge section as quality standard.The edge standard picture for example is the basis that use in the track in the vehicular field.In image, calculating and passing threshold are estimated the gradient of each picture point.The passing threshold evaluation is used to the gradient of classifying.
Subsequently, the gradient through classification with each picture point is linked into the edge, connection or interruption during wherein the classification of gradient decision chain forms.Subsequently, the average length and the distribution of chain length around mean value of chain are measured as Q.Regulate the threshold value of image subsequently subsequently based on said tolerance.Guaranteed that through said image abstraction track algorithm subsequently can expect the quality that remains unchanged and the adjusting of the marginal information in the image.
Quality standard can be used for the parametrization of algorithm subsequently subsequently, that kind of for example setting forth by the embodiment of edge image.
In addition, based on quality standard, also can be used as the whole monitoring that realizes optical system.This can for example be used for the supervisory system availability again in the safety approach category.
If definite duration that is adjusted in of edge image goes up or stops enduringly, promptly cannot regulate the average length of chain, then this can infer the damage of optical system---the for example pollution of viewing area or the inefficacy of imager.This blind identification can be safety approach a part and based on edge image.
In addition, for the image that settles the standard can use the method for correcting image, for example reverse calculating and/or the coloured image of nonlinear characteristic curve that video camera regulates pseudomorphism proofreaied and correct, is used to compensate to lens errors to the conversion of gray-value image.
Different functions or post-processing algorithm have different requirement to image, and these requirements may cause the conflict in System Component Design.Therefore, difference possibly greatly hinder the property capable of being combined of function as requested.At least must be in some functions or all functions the tolerance loss of energy.For example, can quote process of measurement " track detection " and " Traffic Sign Recognition in dim ".The image that Traffic Sign Recognition need have the least possible motion indistinctness comes group indication because otherwise for example the numeral in the traffic sign become and be beyond recognition.Because cannot be on the velocity range of vehicle in the availability of function aspects limitation function, so this causes the requirement of short exposure time.On the contrary, lane identification depends on contrast, and this finally realizes through the long time shutter.But the finally long time shutter is not the track Testing requirement.
In order to satisfy different requirement like this; Finally can use the filter image that settles the standard; Said filter is for example illustrated by the example of lane identification and Traffic Sign Recognition; Even for example under the situation of short exposure time also contrast work with improving, be similar to the mode of operation in the night vision, but be not optimally to observe image for the people but be matched with process of measurement or the requirement of post-processing algorithm.
If the requirement of function to be made up maybe be not simultaneously, then the image abstraction layer also can comprise a plurality of images and/or present wave filter result's the card based on image.For example can use traffic sign red image, be used for the edge image of measuring in the track and be used for traffic sign and lens errors that the track is measured is proofreaied and correct.
Advantageously, the selection through can be through optical device and pictcure generator and be combined in the aspect of performance panntographic system of system according to the realization of scheme of the present invention, and need not to recalibrate basically respectively the system component that carries out Flame Image Process.In addition, the design that can combination with one another has system component has the very function of different requirement of possibility.
The present invention proposes the method that quality standard that a kind of image information that is used to make optical system is matched with at least one post-processing algorithm requires; Said method comprises the steps: to receive image information through receiving interface, and wherein said image information comprises the intensity level that is provided by optical system; And using at least one image producing method and one to be used for confirming at least one standard picture under the situation of combination of method and/or a method that is used for image analysis processing of image rectification, thereby said at least one standard picture satisfies the quality standard requirement of said at least one post-processing algorithm.
Said optical system can have image detection device or video camera or pictcure generator.For example, optical system can relate to the system based on video of vehicle.Optical system can detect the surrounding environment zone of vehicle and will offer according to the method for the invention further to handle through receiving interface about the respective image information in surrounding environment zone.Image information can comprise one or more original images.Said one or more original image can be by optical system, for example provided by imager or image converter.Intensity level can relate to the brightness of the image relevant with image information and relate to Color Channel where necessary.Method by means of employed image generation, image rectification or image analysis processing can so change or matching image information, makes it satisfy quality requirements.Promptly can for example produce the standard picture that satisfies quality requirements by the original image that does not satisfy quality requirements.For this reason, can mate determined image parameter or picture characteristics.Said at least one post-processing algorithm (it satisfies quality requirements) can relate to the algorithm of being realized by driver assistance system.For example, it can relate to the algorithm that is used for Traffic Sign Recognition or traveling lane identification.Standard picture based on the image information of optical system can be the input quantity of post-processing algorithm.For this reason, standard picture can offer post-processing algorithm or offer the device of realizing post-processing algorithm through output interface.In order further to handle standard picture, predetermined quality standard requirement has been proposed by post-processing algorithm.Predetermined quality standard requires can be specifically to coordinate mutually with one or one group of post-processing algorithm.Said method can be configured to optical system irrespectively and therefore with the image information image that irrespectively so settles the standard, make standard picture have and satisfy the quality standard that quality standard requires.For example, the quality standard requirement can limit the effective range of the quality standard of permission.It can be the boundary value of image parameter that quality standard requires.Such image parameter can relate to edge length, grey value profile or the frequency spectrum of edge section.
For example, said at least one post-processing algorithm can be configured to implement Traffic Sign Recognition and/or track detection based on standard picture.Guaranteed that through the combination of method standard picture and employed optical system irrespectively satisfy the quality standard requirement of said at least one post-processing algorithm; Can further handle standard picture by said at least one post-processing algorithm thus, need not other aftertreatments or coupling.Need not make post-processing algorithm be matched with presently used optical system yet.
At least one image producing method can comprise to be inserted in the picture point and/or the color value coupling.Thus, for example not only in tatic range but also in dynamic range, consider the characteristic of pictcure generator.For example can implement the correction relevant of fixed cycle interference (fixed pattern noise) with temperature.
The method that is used for image rectification can be configured to the error of the lens combination of correcting optical system.Can confirm standard picture based on image information through the lens errors correction.Can be through said mode at standard picture by eliminating the image disruption that causes by lens errors before the post-processing algorithm aftertreatment.
The method that is used for image analysis processing can be configured to the colouring information or the structural change of analyzing and processing image information.Colouring information for example is important for Traffic Sign Recognition.Structural change can be represented edge variation, and it possibly be important for lane identification.
Therefore according to a form of implementation, the method that is used for image analysis processing can be configured to confirm the value of color tolerance for different image areas based on image information, so that based on the value of the color tolerance image that settles the standard.Image-region can be the zone around a picture point.Color tolerance for example can be confirmed to red color.
Alternatively or additionally, the method that is used for image analysis processing can be configured to confirm marginal information and confirm the edge standard picture based on marginal information based on image information.Edge standard picture or edge image are cards.Wherein store for example comprise have be associated the former and the latter's marginal information (row for example or below row in the horizontal range of ensuing picture point) data.It is based on image or towards the card of picpointed coordinate, and its data are not corresponding to the intensity data of image.In said situation, quality standard requires and can the edge length of the edge section of edge standard picture be claimed.
Usually, quality standard requires to comprise that time of frequency spectrum of frequency analysis and/or standard picture of histogram, the standard picture of the grey value profile of standard picture changes.Can use the knowledge of definite quality standard through different methods.For example, can the service property (quality) standard, so that the monitoring optical system.Additionally or alternatively, can the service property (quality) standard come said at least one post-processing algorithm of parametrization.
According to a form of implementation, can comprise at least one standard picture of analyzing and processing according to the method for the invention so that functional step of monitoring optical system.
In the step of confirming, can confirm first standard picture of the quality standard requirement of satisfied first post-processing algorithm, and can confirm second standard picture of the quality standard requirement of satisfied second post-processing algorithm.Can be concurrently or one after the other carry out confirming of first standard picture and second standard picture.Through confirming different standard pictures, can consider the demands of different of different post-processing algorithm.
For example can confirm different standard pictures about lens errors correction, edge image or red image.Can calculate lens errors concurrently and proofread and correct and red image, because must calculate the red image on original image.In addition, scioptics error correction and be mainly used in the level and smooth interior blend color information (the for example red and white among the R3I) inseparably of inserting.Subsequently must be according to being used for skew rule that lens errors the proofreaies and correct red image that squints, because otherwise the picture position is no longer consistent.Subsequently in edge calculation information on the image of lens errors correction.Guaranteed that like this relevant position explanation in the standard picture of IAL is consistent originally physically.
In addition, the present invention proposes a kind of device, it is configured to implement or realize step according to the method for the invention.Through the enforcement deformation program of device form of the present invention also can be fast and solve efficiently the present invention based on task.
Computer program with program code also is favourable; Said program code is stored on the machine-readable carrier containing (like semiconductor memory, harddisk memory or optical memory), and when executive routine on said device, is used to implement the described method of one of embodiment according to above description.
Description of drawings
Below exemplarily set forth the present invention in detail by accompanying drawing.Accompanying drawing illustrates:
Fig. 1: the block diagram of one embodiment of the present of invention; And
Fig. 2: the process flow diagram of another embodiment of the present invention.
Embodiment
In the following description of the preferred embodiments of the present invention, for shown in the different accompanying drawings and the effect similar elements use identical or similar Reference numeral, wherein save being repeated in this description to these elements.
Fig. 1 illustrates optical system according to an embodiment of the invention 101, post-processing algorithm 103 and is used to make the image information of optical system 101 to be matched with the synoptic diagram of the device 105 of post-processing algorithm 103.Said device 105 may be embodied as opertaing device and is configured to implement or realizes the method that is used for matching image information according to of the present invention.Especially, said device 105 interface that can be used as the definition between optical system 101 and the post-processing algorithm 105 provides standard picture.
Said device 105 can have the receiving interface of the image information that is used for receiving optics 101.Based on said image information, said device 105 can be configured to the image that settles the standard.Said for this reason device 105 can be configured to the combination of carries out image production method and other appropriate method, so that by the image information image that settles the standard, said standard picture satisfies the predetermined quality standard requirement of at least one post-processing algorithm 105.Said device 105 can have output interface, and standard picture can offer post-processing algorithm 105 through said output interface.Therefore, said device 105 can be arranged on the image abstraction layer between optical system 101 and the post-processing algorithm 105.
Fig. 2 illustrates the process flow diagram that the image information that is used to make optical system according to an embodiment of the invention is matched with the method for at least one post-processing algorithm.
In first step 201, carry out the reception of image information through receiving interface.Image information for example can be by providing in the optical system shown in Fig. 1 101.In second step 205, carry out confirming of standard picture by said image information.For example can in the device shown in Fig. 1 105, carry out said definite.
For example, can select two kinds of approach basically in order can suitably to make a response to the replacing of optical device or pictcure generator.A kind of approach is that so parameterisable ground and designing treatment algorithm steadily make said Processing Algorithm be competent at the great fluctuation input signal---the for example very different optical system and the image of pictcure generator.Another kind of approach is to handle input signal as follows: said input signal only also fluctuates according to optical system after handling very littlely.Then can in narrower border, confirm Processing Algorithm for example to be used for lane identification.
According to the present invention, realized the modification that input signal is handled.Can be used for video ASSP according to scheme of the present invention.At this, can guarantee through standard picture: for the post-processing algorithm of in hardware, confirming can guarantee to have a series of maybe in addition the system of unknown optical device/pictcure generators combination operate as normal all the time.Realize the interface that defines through scheme according to the present invention through standard picture, no longer needed the parameterisable of algorithm through said interface.This is favourable, because such parameterisable must partly directly be cost with the chip area in hardware.Said problem can solve through the interface of said definition.
According to the present invention, can set up standard picture through handling original image, said standard picture separates optical system with disposal system.Be that image access does not have standardization, thereby, do not carry out the processing of original image no matter original image exists (for example JPEG, GIF, BMP...) to carry out access all the time through plug-in unit with which kind of coding identically.
Can be through interface according to the present invention with different video cameras and different algorithms combination in any.
Described and embodiment illustrated in the accompanying drawings only is exemplary selection.Various embodiment can be fully or in each characteristic aspect combination with one another.An embodiment also can replenish through the characteristic of another embodiment.In addition, can repeat and carry out steps of a method in accordance with the invention in proper order with other that are different from described order.If one embodiment comprises between first characteristic and second characteristic " and/or " connect, then this can so understand: said embodiment not only has first characteristic according to an embodiment but also has second characteristic and according to another embodiment or only have first characteristic or only have second characteristic.
Claims (13)
1. the method that the quality standard that is used to make the image information of optical system (101) to be matched with at least one post-processing algorithm (103) requires said method comprising the steps of:
Receive (201) image information through receiving interface, wherein, said image information comprises the intensity level that is provided by said optical system; And
Using at least one image producing method and one to be used for confirming (205) at least one standard picture by said image information under the situation of combination of method and/or a method that is used for image analysis processing of image rectification, make said at least one standard picture satisfy the quality standard requirement of said at least one post-processing algorithm.
2. method according to claim 1, wherein, said at least one post-processing algorithm (103) is configured to implement Traffic Sign Recognition and/or track detection based on said at least one standard picture.
3. according to each described method in the above claim, wherein, said at least one image producing method comprises to be inserted in the picture point and/or the color value coupling.
4. according to each described method in the above claim, wherein, the said method that is used for image rectification is configured to proofread and correct the error of the lens combination of said optical system, so that confirm the standard picture proofreaied and correct through lens errors based on said image information.
5. according to each described method in the above claim, wherein, the said method that is used for image analysis processing is configured to the colouring information or the structural change of the said image information of analyzing and processing.
6. according to each described method in the above claim; Wherein, The said method that is used for image analysis processing is configured to try to achieve the value of color tolerance for different image areas based on said image information, so that confirm said graphics standard based on the value of said color tolerance.
7. according to each described method in the above claim, wherein, the said method that is used for image analysis processing is configured to confirm marginal information and confirm the edge standard picture based on said marginal information based on said image information.
8. method according to claim 7, wherein, said quality standard requires the edge length of the edge section of said edge standard picture is claimed.
9. according to each described method in the above claim, wherein, said quality standard requires to comprise that time of frequency spectrum of frequency analysis and/or the said standard picture of the histogram of the grey value profile of said standard picture, said standard picture changes.
10. according to each described method in the above claim, said method has at least one standard picture of analyzing and processing so that monitor functional step of said optical system.
11. according to each described method in the above claim; Wherein, In said definite step, second standard picture of first standard picture that definite quality standard that satisfies first post-processing algorithm requires and the quality standard requirement of confirming satisfied second post-processing algorithm.
12. device (105), said device is configured to implement the step according to each described method in the claim 1 to 11.
13. computer program, it has program code, and it is stored on the computer-readable carrier, is used for when executive routine on device, implementing according to each described method of claim 1 to 11.
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| DE102009047437.4 | 2009-12-03 | ||
| DE102009047437A DE102009047437A1 (en) | 2009-12-03 | 2009-12-03 | Method and device for adapting image information of an optical system |
| PCT/EP2010/068524 WO2011067249A1 (en) | 2009-12-03 | 2010-11-30 | Method and device for adapting image information of an optical system |
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| CN102640183A true CN102640183A (en) | 2012-08-15 |
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| EP (1) | EP2507765A1 (en) |
| CN (1) | CN102640183A (en) |
| DE (1) | DE102009047437A1 (en) |
| WO (1) | WO2011067249A1 (en) |
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| DE102012108860A1 (en) * | 2012-09-20 | 2014-03-20 | Conti Temic Microelectronic Gmbh | Method for performing automatic color matching of a vehicle-mounted color camera |
| DE102012108861A1 (en) * | 2012-09-20 | 2014-05-28 | Continental Teves Ag & Co. Ohg | Method for calibrating a color-resolving vehicle camera |
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| US20070280534A1 (en) * | 2006-06-05 | 2007-12-06 | Benjamin Perkins Foss | Method for capturing and presenting test using video image capture for optical character recognition |
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| JP4953498B2 (en) * | 2000-07-12 | 2012-06-13 | 富士重工業株式会社 | Outside vehicle monitoring device with fail-safe function |
| US6531707B1 (en) * | 2000-12-29 | 2003-03-11 | Cognex Corporation | Machine vision method for the inspection of a material for defects |
| DE10202163A1 (en) | 2002-01-22 | 2003-07-31 | Bosch Gmbh Robert | Process and device for image processing and night vision system for motor vehicles |
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- 2009-12-03 DE DE102009047437A patent/DE102009047437A1/en active Pending
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- 2010-11-30 EP EP10788289A patent/EP2507765A1/en not_active Withdrawn
- 2010-11-30 WO PCT/EP2010/068524 patent/WO2011067249A1/en active Application Filing
- 2010-11-30 CN CN2010800546843A patent/CN102640183A/en active Pending
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| US6744910B1 (en) * | 1999-06-25 | 2004-06-01 | Cross Match Technologies, Inc. | Hand-held fingerprint scanner with on-board image normalization data storage |
| US20070280534A1 (en) * | 2006-06-05 | 2007-12-06 | Benjamin Perkins Foss | Method for capturing and presenting test using video image capture for optical character recognition |
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| PING KUANG ET AL: "A Road Lane Recognition Algorithm Based on Color Features in AGV Vision Systems", 《CIRCUITS AND SYSTEMS PROCEEDINGS, 2006 INTERNATIONAL CONFERENCE ON COMMUNICATIONS》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011067249A1 (en) | 2011-06-09 |
| EP2507765A1 (en) | 2012-10-10 |
| DE102009047437A1 (en) | 2011-06-09 |
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