CN100481937C - Equipment for reconstructing high dynamic image in high resolution - Google Patents
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Abstract
The method uses multi low resolution and low dynamic imagers to incorporates the sub-pixel dynamical image formation technology with the technology of multi image reconstructing high dynamical image, and uses a special site distribution of image sensor to implement the reconstructing of ultra-high resolution image, and uses image gray level interpolation to reconstruct image gray level so as to get a high dynamic range and high resolution image.
Description
Technical field
The present invention is a kind of high dynamic, super-resolution image reconstruction device, belongs to technical field of image acquisition.
Background technology
We or calculating function are obtained any information from piece image, be subjected to obtaining the restriction of image.Present image-taking system is subjected to the restriction of spatial resolution, the angle of visual field and dynamic range.In technical field of image acquisition, the method for various these restrictions of breakthrough has been proposed.As problem at the angle of visual field, omnidirectional's imaging technique has been proposed, omnidirectional's video camera is applied in fields such as robot, monitoring.In order to break through the restriction of spatial resolution, people have studied the super-resolution image reconstruction method, attempt to come image reconstruction better quality, image that spatial resolution is higher from a series of images second-rate, that resolution is lower.The super-resolution image reconstruction method can be improved the spatial resolution decline that imaging system causes, remedy the deficiency of original image spatial resolution, break through the spatial resolution limit of existing image obtaining means, excavate the potentiality of existing image data (as multi-angle, multidate, multi-platform remote sensing image, sequential images etc.).
From present research with should be used for, the super-resolution image reconstruction algorithm mainly can be divided into two classes, i.e. frequency domain method and spatial domain method.Frequency domain method is the image interpolation problem that solves in frequency domain, and it observes the shift characteristics that model is based on Fourier transform.The processing of the motion model of complexity and corresponding interpolation, iteration and filtering resampling being put together of spatial domain method is as the full content of image reconstruction.The image sequence that super-resolution rebuilding generally obtains according to single camera, the image that perhaps adopts a plurality of imageing sensors to obtain is rebuild, as the super-resolution rebuilding based on the half-pix dynamic imaging.The super-resolution rebuilding technology has obtained using widely in fields such as identification and location, satellite remote sensing imaging, video enhancing and recovery, medical computer tomographies at present.
For this class image device of CCD/CMOS, the dynamic range of imaging is by the maximum amount of charge that can store in the potential well (saturation signal) with by the ratio decision of the lowest charge amount of noise decision.The maximum amount of charge that potential well can be stored depends on the size of pixel, and Pixel Dimensions is more little, and saturation current decreases, and the noise of sense amplifier is big more; Simultaneously, the dynamic range of transducer reduces, and sensitivity reduces.Otherwise,, then wish to increase the size of pixel if improve dynamic range.Therefore from the design of sensor devices, there is certain contradiction between raising resolution and the raising dynamic range.What is more important, for the natural scene that will take, its dynamic range is often greater than the restriction of this class imageing sensor, thereby causes the loss of information after the imaging.
In order to solve the little problem of ccd video camera imaging dynamic range, people such as Mann take the lead in proposing the method for the dynamic range of expanding digital camera.This method is utilized the low dynamic image sequence of several different exposures, and by the synthetic image that obtains a panel height dynamic range, this method is called as multiexposure method.Subsequently, many researchers are based on this thought, the image acquiring method of various high dynamic range is proposed, synthetic as many target exposure surfaces, the integrated a plurality of photosensitive units of single pixel, the exposure of self adaptation pixel, the spatial variations pixel exposure, optical attenuator method, digital micro-mirror array technique, based on the logarithmic transformation method of CMOS, and the local auto-adaptive method.
From present present Research, super-resolution rebuilding and high dynamic imaging technology are independent mutually, also do not have the precedent with the two combination.From the angle that information is obtained, super-resolution imaging and high dynamic imaging have all utilized multiple image, owing to do not have good combination, so do not make full use of the information that can access.In addition, general camera is subjected to the restriction of imaging dynamic range, can't obtain high-dynamics image, and the device that can access high-dynamics image generally adopts complicated processing technology, and cost is very high.
First purpose of the present invention provides a kind of high dynamic, super-resolution image reconstruction device, this device adopts common low resolution, the image device of low-dynamic range, by special installation site and Processing Algorithm, can obtain dynamic range above general camera, and the image that also is greatly improved of resolution.
Second purpose of the present invention provides a kind of high dynamic, super-resolution image reconstruction device, and this device is rebuild by high-dynamics image and the super-resolution imaging method combines, and broken through the past with the present situation of the two isolated research with application.In the time of can solving video camera imaging, the contradiction between dynamic range and the resolution.
The 3rd purpose of the present invention provides a kind of high dynamic, super-resolution image reconstruction device, this device not only can obtain the image of static scene, also can be used in the video imaging of dynamic scene, solution when the high dynamic range imaging, multiple image obtain the constant restriction of illumination that requires scene.
Summary of the invention
Of the present invention a kind of high dynamically, the super-resolution image reconstruction device, by image sensing module (a), image is synthetic and output module (b), Computer Processing and demonstration (c) three parts are formed.Wherein, image sensing module comprises that imaging lens (3), Amici prism (4), luminous flux control (5), image Sensitive Apparatus (6), analog to digital converter (7), synchronizing signal produce and control circuit (2); Image is synthetic to comprise signal processing and control unit (1), memory (8), memory (9), D/A change-over circuit (10), digital picture output interface (11) with output module; Computer Processing and display part comprise computer (12), computer connecting line (13).Behind the natural scene image process imaging lens (3), with the imaging of Same Scene demultiplexing, after luminous flux control (5), go up imaging, obtain a plurality of imagings of Same Scene at image Sensitive Apparatus (6) by Amici prism (4).Under the control of luminous flux control (5) or synchronizing signal generation and control circuit (2), the image that each image Sensitive Apparatus (6) obtains, its exposure is different.The picture signal of image Sensitive Apparatus (6) output is converted to data image signal through analog to digital converter (7) with analog picture signal, under the control of signal processing and control unit (1), store in the memory (9), signal processing and control unit synthesize processing to several input pictures, reconstruction obtains dynamically high, after the digital picture of super-resolution, the result is stored in the memory (8), dynamically high, the digital picture of super-resolution is under the control of signal processing and control unit (1), can perhaps pass through digital picture output interface (11) by D/A change-over circuit (10) output analog signal image, computer connecting line (13) sends to and shows in the computer (12) and further processing.
With a width of cloth scene demultiplexing, under the control of luminous flux control (5) or synchronizing signal generation and control circuit (2), obtain the different image of several exposures by imaging optical system (mainly forming) by 3 and 4.With the optical system of Same Scene demultiplexing imaging, can adopt imaging lens and Amici prism to realize, also can adopt mode such as optical fiber to realize.Exposure can be controlled the size that (5) control incident intensity by luminous flux, also can come the exposure of control chart image sensor spare (6) to realize the time of integration by control circuit.
Imaging Sensitive Apparatus (6) can adopt CCD class device, also can adopt CMOS class device, the image device difference of employing, and synchronizing signal generation and control circuit (2) are slightly different, if adopt cmos device, then do not need A/D conversion (7).Imaging Sensitive Apparatus (6) also can adopt the linear array device to realize, can be monochrome, gray scale and color mode.
During by the optical system spectroscopic imaging, the image that obtains different exposures can be 2 width of cloth or more than two width of cloth; Multiple image obtains synchronously, goes for obtaining of static and dynamic image.
The synthetic high algorithm dynamic, super-resolution image of the image that several exposures are different is realized, can be to realize with hardware by signal processing and control unit (1), or software and hardware combining realizes, perhaps the multiple image that obtains is transferred to computer by the digital picture output interface, by computer realization.
Height dynamically, the super-resolution digital picture can be through behind signal processing and control unit (1) and the D/A change-over circuit (10), and the method output with simulation obtains with traditional camera and similarly simulates output; Also can directly be transferred in the computer by digital picture output interface (11).
Adopt certain relative position relation to install between a plurality of image Sensitive Apparatuses, differ fixing value between the respective pixel of every width of cloth image, just can carry out super-resolution rebuilding by Polaroid.
In super-resolution, when high-dynamics image is rebuild, after proofreading and correct, merge by position to multiple image, the reconstruction of high dynamic range can be adopted simply and average, weighted interpolation, surface fitting interpolation etc., can also be by earlier the response curve of image Sensitive Apparatus being demarcated, based on response curve multiple image is merged then, form a virtual high-dynamics image.
Several digital pictures can directly be carried out fusion treatment, and directly output then also can be stored in several digital pictures of input earlier in the memory (9), the result who obtains after the fusion treatment are stored in the memory (8), then output as required.
The present invention has following advantage:
(1) can obtain high dynamically, the high quality graphic of super-resolution, greatly improved the performance of video camera;
(2) when multiple image obtains, adopt Polaroidly, do not need mobile camera, can realize the imaging of static scene or dynamic scene;
(3) adopt low dynamic, low resolution image device, realize that principle is simple.
The present invention has very application fields, as area of pattern recognition, intelligent transportation system, based on the modeling of image and play up, video monitoring, tracking, during the navigational guidances of robot visual guidance, industrial detection, remote sensing remote measurement, military surveillance, weapon etc. are used.
Description of drawings
Fig. 1-overall structure schematic diagram,
Wherein: (1)-signal processing and control unit, (2)-synchronizing signal produces and control circuit, (3)-imaging lens, (4)-Amici prism, (5)-and luminous flux control, (6)-image Sensitive Apparatus, (7)-analog to digital converter, (8)-memory, (9)-and memory, (10)-D/A change-over circuit, (11)-digital picture output interface, (12)-and computer, (13)-computer connecting line
The pixel distribution schematic diagram of Fig. 2-four width of cloth image co-registration.
The pixel distribution schematic diagram of Fig. 3-two width of cloth image co-registration.
Many image acquisition that Fig. 4-three ccd image sensor and Amici prism constitute.
Many image acquisition that Fig. 5-three cmos image sensor and Amici prism constitute.
Fig. 6-optical attenuator control luminous flux schematic diagram.
Image after Fig. 7-several different exposure images are synthetic.
High dynamic, the super-resolution image that Fig. 8-employing interpolation reconstruction obtains.
Embodiment
The invention will be further described below in conjunction with drawings and Examples
Embodiment 1
Height is dynamic, the super-resolution image reconstruction device is synthesized with output module (b), Computer Processing and demonstration (c) three parts by image sensing module (a), image and forms.When shown in Figure 2 is four width of cloth images are synthetic, a kind of mutual alignment relation that each plane of delineation adopts, i.e. half-pix skew.Be between image Sensitive Apparatus 0 (circle is represented the location of pixels of this transducer) and the image Sensitive Apparatus 1 (little triangle is represented the location of pixels of this transducer), phase difference of half pixel on trunnion axis only, be parallel in vertical direction, the location of pixels of other two width of cloth images as shown in the figure.
Fig. 3 is when adopting two width of cloth images synthetic, locations of pixels relation on two sensor plane.Fig. 4, Fig. 5 are when adopting three figure image sensors, the schematic diagram that beam splitting system adopts Amici prism to realize.
Place a luminous flux control section before each figure image sensor, luminous flux control can have a variety of implementations, as optical attenuator, as shown in Figure 6, weakens through the incident intensity behind the optical attenuator, and how much that weakens is controlled by controller.Like this, when imaging, the exposure of each image is different.
With the pixel value of a plurality of planes of delineation, according to position distribution, combine, just obtain the image that a size is exaggerated, by relation shown in Figure 2, can obtain an image that amplifies twice.
Because the exposure difference of every width of cloth image, the image after synthesizing as shown in Figure 7.As seen from the figure, for zone very bright in the image, as the window part, in the big image of exposure, pixel value is saturated, but the little value of exposure does not have; Otherwise, for zone dark in the image, exposure hour, image substantially all is a noise, but in the big image of exposure, exposure but is normal.That is to say, in the image after synthesizing, no matter be bright zone, or dark areas, in each width of cloth image, can find the normal consecutive points of exposure.
When high-dynamics image is rebuild, manage to recover in the above-mentioned image after synthetic those gray values saturated, the dim spot pixel again.The simplest method is exactly directly to carry out the method that neighborhood is asked average or weighted sum on the image after the merging.A better way is, set maximum, minimum threshold earlier, greater than maximum (being considered as saturation point), remove, multiple image by after the exposure normalization, is obtained the gray value of these points that are removed again by the surface fitting interpolation method less than the point of minimum value (being considered as noise spot).
Image after undergoing reconstruction is exactly that a panel height is dynamic, the image of super-resolution, as shown in Figure 8.At this moment, can also carry out some post processing of image, to remove noise.The result is stored in the memory, perhaps send to computer by output interface.
Height is dynamic, super-resolution image reconstruction also can adopt following process to obtain:
(1) the exposure time of integration of four figure image sensors of setting, the time for exposure of each width of cloth image is proportional, for example: e
1=4e
2By that analogy;
(2) four width of cloth images are exposed synchronously, the line position of going forward side by side is proofreaied and correct preliminary treatment, makes the image after the correction satisfy position relation shown in Figure 2;
(3) four width of cloth images are pressed Fig. 2 and merged, obtain the image that a width of cloth size increases, this image size is original four times;
(4) setting threshold removes the saturation point in the image of synthetic back, noise spot etc., after the normalization, adopts the gray-level interpolation method to reconstruct the gray value of these points;
(5) image is carried out reprocessing, obtain high dynamic, super-resolution image output result.
Claims (5)
- One kind high dynamically, the super-resolution image reconstruction device, it is characterized in that: it is synthesized with output module (b), Computer Processing and demonstration (c) three parts by image sensing module (a), image and forms, wherein, image sensing module comprises that imaging lens (3), Amici prism (4), luminous flux control (5), image Sensitive Apparatus (6), analog to digital converter (7), synchronizing signal produce and control circuit (2); Image is synthetic to comprise signal processing and control unit (1), first memory (8), second memory (9), D/A change-over circuit (10), digital picture output interface (11) with output module; Computer Processing and display part comprise computer (12), computer connecting line (13); Behind the natural scene process imaging lens (3), with the imaging of Same Scene demultiplexing, after luminous flux control (5), go up imaging, obtain a plurality of imagings of Same Scene at image Sensitive Apparatus (6) by Amici prism (4); Under the control of luminous flux control (5) or synchronizing signal generation and control circuit (2), the image that each image Sensitive Apparatus (6) obtains, its exposure is different; The picture signal of image Sensitive Apparatus (6) output is converted to data image signal through analog to digital converter (7) with analog picture signal, under the control of signal processing and control unit (1), store in the second memory (9), signal processing and control unit synthesize processing to several input pictures, reconstruction obtains dynamically high, after the digital picture of super-resolution, the result is stored in the first memory (8), dynamically high, the digital picture of super-resolution is under signal processing and control unit (1) control, by D/A change-over circuit (10) output analog signal image, perhaps pass through digital picture output interface (11), computer connecting line (13) sends to and shows in the computer (12) and handle.
- 2. a kind of high dynamic, super-resolution image reconstruction device according to claim 1, it is characterized in that: by the imaging optical system formed by imaging lens (3), Amici prism (4) with a width of cloth scene demultiplexing, under the control of luminous flux control (5) or synchronizing signal generation and control circuit (2), obtain the different image of several exposures, through image is synthetic handle after, obtain high dynamically, the image of super-resolution.
- 3. according to claim 1 a kind of high dynamically, the super-resolution image reconstruction device, it is characterized in that: during imaging optical system spectroscopic imaging by forming, obtain the image of several different exposures by imaging lens (3), Amici prism (4); Multiple image obtains synchronously, comprises obtaining of static and dynamic image.
- 4. a kind of high dynamic, super-resolution image reconstruction device according to claim 1, it is characterized in that: the synthetic high algorithm dynamic, super-resolution image of the image that several exposures are different is realized, be to realize with hardware realization, software and hardware combining by signal processing and control unit (1), perhaps the multiple image that obtains is transferred to computer by digital picture output interface (11), by computer realization.
- 5. a kind of high dynamic, super-resolution image reconstruction device according to claim 1, it is characterized in that: high dynamically, the super-resolution digital picture through signal processing and control unit (1) and D/A change-over circuit (10) after, method output with simulation obtains simulation output; Perhaps directly be transferred in the computer by digital picture output interface (11).
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