CN101310520A - Image processing device - Google Patents
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- CN101310520A CN101310520A CNA2006800425895A CN200680042589A CN101310520A CN 101310520 A CN101310520 A CN 101310520A CN A2006800425895 A CNA2006800425895 A CN A2006800425895A CN 200680042589 A CN200680042589 A CN 200680042589A CN 101310520 A CN101310520 A CN 101310520A
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Abstract
A realistic circuit processing system is provided to prevent an image restoring device from becoming a large size. An image processing device has a processing section to process images. The processing section generates comparing data Io' from arbitrary image data Io by utilizing change-factor information data G resulting in image-change factors, compares original image data Img' subjected to processing with the comparing data Io', eliminates surrounding effects from a differential data s obtained from the comparison in accordance with the change-factor information data G, generates restored data Io + n resulting from return quantity by dividing such eliminated value by the change-factor information G ,provided that the information value is less than 1, uses the restored data Io + n in place of the arbitrary image data Io, and repeats similar processes, so that image processing is carried out to generate images before changes of the original images or their approximately restored data Io + n. The other methods, however, may be adopted for the calculations of the return value.
Description
Technical field
The present invention relates to image processing apparatus.
Background technology
The well-known situation that image deterioration can take place when utilizing camera etc. to take pictures under prior art.As the main cause of image deterioration, there are rocking when taking pictures, the various aberrations of optical system, the deflection of camera lens etc.
Rocking when taking pictures in order to correct, the known Method and circuits processing method that moving lens is arranged.For example, as the method for moving lens, known having by detecting rocking of camera makes the camera lens of regulation move corresponding to this detected rocking, thus the method for correcting (with reference to patent documentation 1).
In addition, as the processing of circuit method, known have a change that utilizes angular acceleration transducer to detect the camera optical axis, the transfer function of the fringe when obtaining expression and take pictures by detected angular speed etc., and photographic images carried out the inverse transformation of obtained transfer function, thereby with the method (with reference to patent documentation 2) of image restoration.
Patent documentation 1: day disclosure communique, spy open flat 6-317824 number (with reference to specification digest)
Patent documentation 2: day disclosure communique, spy open flat 11-24122 number (with reference to specification digest)
Summary of the invention
Invent problem to be solved
Adopt the camera that rocks rectification of patent documentation 1 record, owing to need the configuration space of the hardware of driving camera lens such as motor to cause maximization.In addition, owing to need this hardware self or drive the drive circuit of this hardware, so cost increases.
In addition, under the situation of rocking rectification of patent documentation 2 records,, there is following problem though can address the above problem a little.That is, setting up though carry out image restoration by the inverse transformation of obtained transfer function in theory, as practical problem, is difficult because following two reasons cause image restoration.
The first, obtained transfer function for noise or rock information error etc. very a little less than, these have change slightly, very big change just takes place in transfer function values.Therefore, the restored image by inverse transformation obtains differs greatly with the image of taking under the state that does not shake, and in fact can not utilize.Second, under the situation of the inverse transformation of having considered noise etc., also can adopt to decompose to wait and calculate the method for separating, still by the singular value of separating (particular value) of simultaneous equations, the calculated value that is used for this reckoning has astronomical figure so big, and that in fact can't answer is dangerous high.
As mentioned above, problem of the present invention is to provide a kind of maximization of preventing locking apparatus when restored image, simultaneously, is provided with the image processing apparatus of the processing of circuit mode with actuality.
Solve the means of problem
In order to solve above-mentioned problem, image processing apparatus of the present invention is, be provided with the image processing apparatus of handling treatment of picture portion, handling part becomes the data of the variation essential factor information of image change main cause and relatively uses data by the data generation of arbitrary image by utilization, to become process object original image data and relatively compare with data, and after from the data of resulting difference, removing influence on every side according to the data that change essential factor information, resulting value is divided by as the value of data that change essential factor information and less than 1 and as the amount of resetting, thereby generation restored data, and, become the original image before original image changes by using this restored data to replace the data of arbitrary image and repeating same processing, or with change before the restored data of data of the approximate image of original image.
Adopt this invention, generate the restored data approximate, therefore almost do not have the increase on the hardware, thereby device can not maximize with original image owing to only generate predetermined data by the essential factor information of utilizing image change.In addition, owing to repeat to make relatively with data, also this is relatively compared such processing with the data of the original image of data and process object by restored data, thereby obtain gradually with the variation that becomes the original image basis before the approaching restored data of image, the therefore comeback job that becomes a reality.In addition and since around removing the data of the difference after the influence divided by the value of less than 1, and will reset except that the calculation value, so can obtain high-quality restored data with less reprocessing number of times.Therefore, when restored image, can form the image processing apparatus that is provided with processing of circuit mode with actuality.
In addition, other inventive images processing unit are, in being provided with the image processing apparatus of handling treatment of picture portion, handling part becomes the data of the variation essential factor information of image change main cause and relatively uses data by the data generation of arbitrary image by utilization, to become process object original image data and relatively compare with data after, the data of resulting difference, or the data of the difference value that multiply by gained after the value of less than 1 is divided by as the value of data that change essential factor information and less than 1 and as the amount of resetting, and as the value of the restored data of specific pixel and determine, from the data of difference, removes because influencing on every side of causing of the value of this restored data according to the data that change essential factor information, thereby generate the restored data of each pixel, and, become the image before original image changes by using this restored data to replace the data of arbitrary image and repeating same processing, or with change before the restored data of data of image of image approximate.
Adopt this invention, generate the restored data approximate, therefore almost do not have the increase on the hardware, thereby device can not maximize with original image owing to only generate predetermined data by the essential factor information of utilizing image change.In addition, owing to repeat to make relatively with data, also this is relatively compared such processing with the data of the original image of data and process object by restored data, thereby obtain gradually with the variation that becomes the original image basis before the approaching restored data of image, the therefore comeback job that becomes a reality.In addition and since around removing the data of the difference after the influence divided by the value of less than 1, and should remove the calculation value and reset, so can obtain high-quality restored data with less reprocessing number of times.Therefore, when restored image, can form the image processing apparatus that is provided with processing of circuit mode with actuality.
And then, other invention is on the basis of foregoing invention, what handling part carried out is treated to, when carrying out reprocessing, the data of the difference when number of repetition reaches stipulated number are to stop to handle during below the setting or less than setting, surpassing setting or being setting when above, repeat the processing of stipulated number once more.In this invention, owing to the value combination of number of processes and difference is handled, therefore, and only number of processes is increased restriction or the situation that the value of difference limits is compared, can become the processing that can keep the balance of good and processing time of image between short.
In addition, other inventive images processing unit are, in being provided with the image processing apparatus of handling treatment of picture portion, what handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of specified image, the data of the original image after the image that will become process object changes and relatively compare with data after, in the data of resulting difference is to stop to handle during below the setting or less than setting, and the image before will becoming relatively image with the regulation on data basis and changing as original image or with change before image approximate image and use, in difference greater than setting or be that setting is when above, after from the data of difference, removing influence on every side according to the data that change essential factor information, resulting value is divided by as the value of data that change essential factor information and less than 1 and as the amount of resetting, thereby the generation restored data, and replace the image of regulation and repeat same processing with this restored data.
Adopt the words of this invention, because utilizing the variation essential factor information of image deterioration etc. to generate relatively compares with data and with original image, and only when difference is big, generate the restored data approximate, therefore almost do not have the increase on the hardware, thereby device can not maximize with original image.In addition, owing to repeat to make relatively with data, also with this processing that relatively compares with the data of the original image of data and process object by restored data, thereby obtain gradually with the variation that becomes the original image basis before the approaching restored data of image, the therefore comeback job that becomes a reality.In addition and since around removing the data of the difference after the influence divided by the value of less than 1, and should remove the calculation value and reset, so can obtain high-quality restored data with less reprocessing number of times.Therefore, when the image of deterioration etc. restore to take place, can form the image processing apparatus that is provided with processing of circuit mode with actuality.
In addition, other inventive images processing unit are, in being provided with the image processing apparatus of handling treatment of picture portion, what handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of specified image, the data of the original image after the image that will become process object changes and relatively compare with data after, in the data of resulting difference is to stop to handle during below the setting or less than setting, and the image before will becoming relatively specified image with the basis of data and changing as original image or with change before image approximate image and use, in difference greater than setting or be that setting is when above, the data of difference, or the data of difference multiply by the value of value gained of less than 1 divided by as the value of data that change essential factor information and less than 1 and as the amount of resetting, and as the value of the restored data of specific pixel and determine, from the data of difference, removes the influence on every side that the value owing to this restored data causes according to the data that change essential factor information, thereby generate the restored data of each pixel, and replace the image of regulation and repeat same processing with this restored data.
Adopt the words of this invention, because utilizing the variation essential factor information of image deterioration etc. to generate relatively compares with data and with original image, and only when difference is big, generate the restored data approximate, therefore almost do not have the increase on the hardware, thereby device can not maximize with original image.In addition, owing to repeat to make relatively with data, also with this processing that relatively compares with the data of the original image of data and process object by restored data, thereby obtain gradually with the variation that becomes the original image basis before the approaching restored data of image, the therefore comeback job that becomes a reality.In addition and since around removing the data of the difference after the influence divided by the value of less than 1, and should remove the calculation value and reset, so can obtain high-quality restored data with less reprocessing number of times.Therefore, when the image of deterioration etc. restore to take place, can form the image processing apparatus that is provided with processing of circuit mode with actuality.
In addition, other inventions are on the basis of foregoing invention, and handling part carries out when reprocessing, if number of repetition reaches stipulated number, the processing that just stops.Adopt under the situation of this formation, all stop to handle, therefore can prevent long-timeization of handling because whether difference becomes " 0 ".In addition, continue to stipulated number, so restored data more approaches to become the image before the variation on basis of original image owing to make to handle.And then, having under the situation of noise etc., the situation that difference does not become " 0 " takes place in fact easily, can unrestrictedly repeat under these circumstances to handle, but adopt this formation, such problem can not take place.
And then other invention is on the basis of foregoing invention, is provided with the test section and the essential factor information storing section of preserving known variation essential factor information of change detected essential factor information.Adopt this formation, can obtain to have considered the outside essential factor and the restored data inner essential factor both sides, that corrected of image change.
In addition, the value with the component maximum in remove the data that employed value when calculating is a variation essential factor information with the data that change essential factor information is good.Adopt this formation, processing speed is improved more.
And then, depend on that with the order of calculating the amount of resetting the character of the data that change essential factor information is good.Adopt this formation, can select only processing method according to the character of the data that change essential factor information.
The effect of invention
Adopt words of the present invention, can be formed in when restoring the image that variations such as deterioration have taken place, can prevent the maximization of locking apparatus, simultaneously, be provided with the image processing apparatus of processing of circuit mode with actuality.
Description of drawings
Fig. 1 is the block diagram of the main composition of the image processing apparatus that relates to of expression first embodiment of the invention.
Fig. 2 is the stereoscopic figure of summary of expression image processing apparatus shown in Figure 1, is the figure that is used to illustrate the allocation position of angular-rate sensor.
Fig. 3 is the process chart that is used to illustrate the basic conception of the processing method (handling procedure) that the handling part that utilizes image processing apparatus shown in Figure 1 carries out.
Fig. 4 is the figure that is used to illustrate the notion of processing method shown in Figure 3.
Fig. 5 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is the table of the concentration of energy when representing not shake.
Fig. 6 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is the schematic diagram of the view data when not shaking.
Fig. 7 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is the schematic diagram that the energy when shaking disperses.
Fig. 8 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is to be used to illustrate the figure that is generated the situation of relatively using data by image arbitrarily.
Fig. 9 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is to be used to illustrate will be relatively compare and generate the figure of situation of the data of difference with data and the fuzzy original image that becomes process object.
Figure 10 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is to be used for illustrating by the data of difference being distributed and being appended to the figure that image arbitrarily generates the situation of restored data.
Figure 11 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, be to be used to illustrate by the restored data that is generated generate the new data of relatively using, these data and the fuzzy original image that becomes process object are compared and generate the figure of situation of the data of difference.
Figure 12 is to be that example specifically describes the figure that processing method shown in Figure 3 is used to rock, and is to be used to illustrate the figure that the data of newly-generated difference is distributed and generated the situation of new restored data.
Figure 13 is the figure that is used for the problem points of key diagram 5～processing method shown in Figure 12.
Figure 14 is the figure of the algorithm that is used to illustrate that image processing apparatus shown in Figure 1 carries out, is to be used to illustrate the viewpoint that adopts processing method shown in Figure 3 but the figure of the algorithm content of change takes place a part.
Figure 15 is the figure of the employed algorithm of image processing apparatus that is used to illustrate that second embodiment of the invention relates to.
Symbol description
1,1A image processing apparatus
2 shoot parts
3 control system portions
4 handling parts
5 recording portion
6 test sections
7 essential factor information storing section
The data of Io initial pictures (data of arbitrary image)
Io ' relatively uses data
G changes the data (data of deterioration essential factor information) of essential factor information
The data of Img ' original image (image of shooting)
The data of σ difference
The k distribution ratio
Io+n restored data (data of restored image)
Img is the data of the former correct images of deterioration (base image) not
Embodiment
Below, with reference to accompanying drawing the image processing apparatus 1 that first embodiment of the invention relates to is described.And, this image processing apparatus 1 is as civilian camera, but, also can be used as monitoring camera, TV camera, perhaps also can be used in the instrument beyond image diagnosing system that microscope, binoculars and then NMR take etc. etc., the camera with other purposes such as camera, endoscope cameras.
Shoot part 2 is to be provided with the part that the light that will pass through to have the photographic optical system of camera lens or camera lens is converted to the picture pick-up device of the CCD (Charge Coupled Devices) of the signal of telecommunication or C-MOS (ComplementaryMetal Oxide Semiconductor) etc.Each one in control system portion 3 control shoot parts 2, handling part 4, recording portion 5, test section 6 and essential factor information storing section 7 etc., the image processing apparatus 1.
Handling part 4 is made of image processor, and is made of the such hardware of ASIC (Application Specific Integrated Circuit).In this handling part 4, also preserve the image that becomes the basis when generation is following relatively uses data.Handling part 4 also can be used as the formation of utilizing software to handle, rather than constitutes as the such hardware of ASIC.Recording portion 5 is made of semiconductor memory, but also can adopt the magnetic recording means of hard drive etc. or use the optical recording means etc. of DVD (DigitalVersatile Disk) etc.
As shown in Figure 2, test section 6 is provided with two angular-rate sensors of rotary speed that detection is X-axis, the Y-axis of vertical direction with respect to the Z axle as the optical axis of image processing apparatus 1.But, rocking when utilizing camera to take pictures also can take place to all directions of directions X, Y direction, Z direction move or around the rotation of Z axle, with respect to each change suffered what have the greatest impact is around the rotation of Y-axis with around the rotation of X-axis.These two kinds of changes only change a little, and the image of shooting just can be very fuzzy.Therefore, in this embodiment, only dispose Fig. 2 around X-axis with around two angular-rate sensors of Y-axis.But, more perfect in order to expect, also can further add angular-rate sensor around the Z axle, perhaps additional detected is to the transducer that moves of directions X or Y direction.In addition,, also can not adopt angular-rate sensor, and adopt angular acceleration transducer as employed transducer.
Essential factor information storing section 7 is recording portion of the variation essential factor information of preserving known deterioration essential factor information etc., the aberration of for example optical system etc.And, in this embodiment, in essential factor information storing section 7, preserve the aberration of optical system or the information of camera lens deflection, but do not utilize these information when rocking take place fuzzy in recovery described later.
Then, the notion on the processing method basis of the handling part 4 of the image processing apparatus 1 of formation describes to becoming as described above according to Fig. 3.
Among Fig. 3, " Io " is initial pictures arbitrarily, is the data of image that are stored in the recording portion of handling part 4 in advance." Io ' " represents the data of deterioration image of the data I o of this initial pictures, be used to compare relatively use data." G " is the data by test section 6 detected variation essential factor information (=deterioration essential factor information (some transform)), and is stored in the recording portion of handling part 4." Img ' " refer to shooting image, be the data of deterioration image, be the data that in this processing, become the original image of process object.
" σ " is the data I mg ' of original image and the data of relatively using the difference of data I o '." k " is based on the distribution ratio of the data G that changes essential factor information." Io+n " is the data (restored data) that the data σ of difference are allocated in restored image newly-generated behind the data I o of initial pictures according to the data G that changes essential factor information." Img " becomes the not base image of the data of the former correct images of deterioration, and wherein the former correct images of deterioration does not become basis as the data I mg ' of the original image of the deterioration image that is taken.At this, the relation of Img and Img ' is represented with following formula (1).
Img’＝Img×G …(1)
And the data σ of difference also can be the simple difference of respective pixel, still, and generally according to the difference of the data G that changes essential factor information and difference is represented with following formula (2).
σ＝f(Img’，Img，G) …(2)
The handling procedure of handling part 4 is at first from preparing the data I o (step S101) of arbitrary image.As the data I o of this initial pictures, can use the data I mg ' of the deterioration image that is taken, in addition, also can use the data of such image such as complete black, complete white, full ash, chequered with black and white tartan.In step S102, replace the Img of (1) formula and substitution becomes the data I o of the arbitrary image of initial pictures, and obtain and relatively use data I o ' as the deterioration image.Then, will and relatively use data I o ' to compare, calculate the data σ (step S103) of difference as the data I mg ' of the original image of the deterioration image that is taken.
Then, judge in step S104 whether the data δ of this difference is more than the setting, more than setting, in step S105, generate the processing of the data (=restored data) of new restored image.That is, with the data I o that the data δ of difference is allocated in arbitrary image, generate new restored data Io+n according to the data G that changes essential factor information.Then, repeating step S102, S103, S104.
In step S104, in the data δ of difference end process (step S106) during less than setting.Then, the restored data Io+n of the time point of handling being through with is inferred as correct image, i.e. the data I mg of deterioration image not, and with this data record in recording portion 5.And, also can in recording portion 5, write down the data I o of initial pictures or the data G of variation essential factor information in advance, thereby carry out the transition to handling part 4 as required.
The words that the viewpoint of above processing method is summarized are as described below.That is, in this processing method, separating as inverse problem of will not handling solves, but solves as obtaining the optimization problem of reasonably separating.When solving, also be possible in theory as the record of patent documentation 2, but be difficult as realistic problem as inverse problem.
Solving as optimization problem, is prerequisite with following condition.
That is, (1) is defined as unique value with respect to the output of input.
(2) if output is identical, then import identical.
(3), make and separate convergence by when upgrading input, carrying out repeated treatments in order to make output identical.
In other words, shown in Fig. 4 (A), (B), if can generate with as the data I mg ' of original image of the image that is taken approximate relatively use data I o ' (Io+n '), then become the data I o or the restored data Io+n of initial pictures of the basic data of this generation, be the data I mg of the correct images on the basis of the data I mg ' that becomes original image or the data approximate with these correct images data.
In addition, in this embodiment, the angular velocity detection transducer just detects angular speed every 5 μ sec.In addition, become the value of criterion of the data σ of difference, under with the situation of each data, form " 6 " in this embodiment with eight (bit) (0～255) expressions.That is, less than 6, just be 5 when following, end process.In addition, by the initial data of rocking that the angular velocity detection sensor goes out, when the calibration of transducer self is insufficient, be not corresponding with rocking of reality.Therefore, for corresponding, when transducer is not calibrated, must carry out the initial data that goes out by sensor be multiply by the rectification of regulation multiplying power with rocking of reality.
Then, according to Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11 and Figure 12 the object lesson of Fig. 3 and processing method shown in Figure 4 is described.
(the recovery algorithm that rocks)
When not shaking,, in the time for exposure, concentrate on this pixel corresponding to the luminous energy of determined pixel.In addition, when shaking, luminous energy is scattered in the time for exposure in the pixel of rocking.And then, if know rocking in the time for exposure,, therefore can make unambiguous image by fuzzy image just know the dispersing mode of energy in the time for exposure.
Below, for oversimplifying, describe with horizontal one dimension.With pixel begin from a left side in turn to be made as n-1, n, n+1, n+2, n+3 ..., and note a certain pixel n.Because the concentration of energy in the time for exposure is in this pixel when not shaking, so the energy concentration degree is " 1.0 ".This information slip is shown in Fig. 5.The shooting results of this moment is shown in the table of Fig. 6.Data shown in Figure 6 become the correct images data I mg when deterioration does not take place.And each data is with the data representation of eight (0～255).
Rock in time for exposure, and the time that is respectively for 50% in the time for exposure shakes in n number pixel, time of 30% shakes in n+1 number pixel, time of 20% shakes in n+2 number pixel.The dispersing mode of energy table is as shown in Figure 7 put down in writing.This becomes the data G that changes essential factor information.
Because rocking all is identical in all pixels, if therefore there is not the top to rock (vertically rocking), the situation of rocking table is as shown in Figure 8 put down in writing.Conduct among Fig. 8 " shooting results " and the data of expression are the data I mg of former correct images is as " blurred picture " and the data of expression are the data I mg ' of the deterioration image taken.Specifically, " 120 " of the pixel of " n-3 " for example, according to the distribution ratio of " 0.5 " " 0.3 " " 0.2 ", in the pixel of " n-3 ", disperse to disperse in the pixel of " 60 ", " n-2 " to disperse " 24 " in the pixel of " 36 ", " n-1 " as the data G that rocks change in information essential factor information.Similarly, as " 60 " of the data of the pixel of " n-2 ", in the pixel of " n-2 ", disperse to disperse in the pixel of " 30 ", " n-1 " to disperse " 12 " in the pixel of " 18 ", " n ".Data G by the data I mg ' of this deterioration image and variation essential factor information shown in Figure 7 calculates unambiguous shooting results.
Data I o as the arbitrary image shown in the step S101 can adopt data arbitrarily, uses the data I mg ' of the original image of taking when carrying out this explanation.That is, begin to handle as Io=Img '." input " in the table of Fig. 9 is equivalent to the data I o of initial pictures.By step S 102, at this data I o, be to multiply by the data G that changes essential factor information on the Img '.That is, for example " 60 " of the pixel of the data I o of initial pictures " n-3 " disperse in the pixel of dispersion " 18 ", " n-1 " in the pixel of dispersion " 30 ", " n-2 " in the pixel of " n-3 " respectively " 12 ".Pixel for other is distributed similarly, generate as " output Io ' " and expression relatively use data I o '.Therefore, the data δ of the difference of step S103 is shown in one hurdle, bottom of Fig. 9.
Then, judge the size of the data δ of difference by step S104.Specifically, become 5 end process when following entirely at the absolute value of the data σ of all difference, still, the data σ of difference shown in Figure 9 does not meet this condition, therefore enters step S105.That is, use the data G that changes essential factor information that the data σ of difference is assigned to the data I o of arbitrary image, and generate the restored data Io+n that represents as " input next time " among Figure 10.At this moment, owing to be for the first time, therefore in Figure 10, be expressed as Io+1.
The distribution of the data σ of difference, for example will on the data " 30 " of the pixel of " n-3 ", multiply by the pixel that is allocated in " n-3 " as " 15 " of 0.5 gained of himself (pixel of=" n-3 ") distribution ratio, in addition, be distributed in and multiply by on the data " 15 " of the pixel of " n-2 " as " 4.5 " that should result from 0.3 gained of the distribution ratio in this " n-2 " pixel, and then, be distributed on the data " 9.2 " of the pixel of " n-1 " and multiply by as " 1.84 " that should result from 0.2 gained of the distribution ratio in this " n-1 " pixel.The total amount that is allocated in the pixel of " n-3 " is " 21.34 ", and data I o (using the data I mg ' of the original image that the is taken here) addition with this value and initial pictures generates restored data Io+1.
As shown in figure 11, this restored data Io+1 becomes the data (the data I o of=initial pictures) of the input picture of step S102, implementation step S102 and to step S103 transition, thus obtain the data σ of new difference.Judge the size of the data σ of the difference that this is new by step S104, greater than setting the time, the data σ of new difference is allocated among the last restored data Io+1, generate new restored data Io+2 (with reference to Figure 12) by step S105.Then, by the carrying out of step S102, generate the new data I o+2 ' that relatively uses by restored data Io+2.Like this, after implementation step S102, S103, enter step S104, and advance or to step S106 transition to step S105 by the judgement among the step S104.Repeat such processing.
The inventor has found out that adopting such algorithm to make the number of occurrence is tens thousand of inferior circulations very repeatedly, and restored data Io+n can be very approximate with respect to original base image.But under the situation of considering commercialization, tens thousand of times repeated treatments is unpractical.Must so make repeated treatments repeat tens thousand of time reasons is because very slow of convergence rate.
The slow reason of this convergence rate thinks as follows.That is, owing to carry out the evaluation of restored data Io+n with the deterioration image space, around the difference in the therefore original base image space is scattered in, thereby value also diminishes.In addition, the feedback renewal amount of being calculated by this difference also utilizes the data G that changes essential factor information to calculate, thereby becomes littler value, and originally the difference that should not feed back is also charged in the renewal amount.Therefore, can think, thereby cause very slow of convergence rate because the feedback renewal amount is little and feedback contains error part (the not amount that should feed back) in the renewal amount.
According to Figure 13 this situation is described.The data G that Figure 13 (A) expression changes essential factor information is that each disperses the example of " 0.1 " at ten places for deterioration essential factor information, pixel value " 1 ".Figure 13 (B) is the schematic diagram according to the deployment conditions of the pixel A of the data G of the variation essential factor information of (A).Figure 13 (C) is illustrated among the step S101 among Fig. 3 as arbitrary image and " k σ " among " the Io+k σ " during substitution " 0 ".
When observing the pixel A among Figure 13 (B), the target desire of feedback is 10, only is " 1 " but feed back like that shown in Figure 13 (C).In addition, with respect to pixel B, C on every side ... Deng the expanded scope of the data G that changes essential factor information, originally as the difference of the influence of pixel A also to pixel B, C ... feedback.Like this, in the algorithm of Fig. 5～shown in Figure 12, with respect to target, feedback quantity is very little, and feedback quantity has also been calculated in the zone that originally should not feed back.
Like this in handling procedure shown in Figure 3, adopt as distribution ratio k under the situation of distribution method of Fig. 5～shown in Figure 12, therefore the amount of feedback is little, just in case error takes place be difficult to eliminate, though its influence dies down and but constantly as the ripple spreads towards periphery in addition.Can think that this is the slow reason of convergence rate, and be near the reason that is called as " ring (ringing) " phenomenon that takes place the edge of image.
The image processing apparatus 1 of this execution mode is to utilize as the reprocessing (circular treatment) on the basis of handling procedure shown in Figure 3, the device that simultaneously convergence rate is improved tremendously.The algorithm of algorithm that improves to studying as sendout " k σ ".
At first, the summary to the algorithm that improves describes.The deterioration of image is the result that on every side data are assigned with by the data G that changes essential factor information.Therefore, the data of a certain pixel of deterioration image are known as long as change the data G of essential factor information, can infer roughly just what himself occupies in the data that change essential factor information.Thereby, owing to also can generally infer self ratio among the data σ of difference, therefore can estimate the difference in the original image space (space of Img and Img ').Therefore, feedback quantity becomes the value that approaches the difference in the original image space.In addition owing to utilize the data σ of the difference of this estimation to feed back to the pixel of self, therefore can not take place to around bring the such feedback of harmful effect.
According to Figure 14 above notion is described particularly.
Shown in Figure 14 (A), the data G that changes essential factor information is made of α, β, γ, and has the α part on the position of self, is assigned β in next adjacent pixels, is being assigned γ in next adjacent pixels again.At this is " alpha+beta+γ=1 ".
The data of the pixel ao of correct images data I mg originally are scattered in pixel ao ', a1 ', the a2 ' of the data I mg ' of deterioration image.Pixel ao ' becomes ao * α, distributes ao * β to pixel a1 ', distributes ao * γ to pixel a2 '.Similarly, relatively use data I o+n ', become bo ', b 1 ', b2 ' by what the additional data G that changes essential factor information in restored data Io+n obtained ... pixel column.Pixel bo ' becomes bo * α, distributes bo * β to pixel b1 ', distributes bo * γ to pixel b2 '.
The value of pixel a1 is distributed in each pixel a1 ', a2 ', a3 '.Distribute a1 * α to pixel a1 ', distribute a1 * β, distribute a1 * γ to pixel a3 ' to pixel a2 '.Similarly, the value of pixel b 1 also is distributed in pixel b1 ', b2 ', b3 ' with the ratio of α, β, γ.Pixel a2 ', a3 ', a4 ' ... value be assigned with pixel b2 ', b3 ', b4 ' similarly ... value be assigned with similarly.
The data volume do of difference becomes " ao '-bo '=ao * α-bo * α=(ao-bo) * α ".Consequently, become ao-bo=do ÷ α, and become ao=bo+do ÷ α.That is,, become " do ÷ α " to the amount of resetting of pixel bo '.Similarly, to the amount of resetting of pixel b1, calculate as described below.That is, for " d1=a1 '-b1 '=(ao * β+a1 * α)-(bo * β+b1 * α)=(ao-bo) * β+(a1-b1) * α ".And, become " d1-(ao-bo) β=(a1-b1) * α " and become " a1=b1+ (d1-(ao-bo) * β) ÷ α ".At this, " ao-bo " is considered as the data volume do of difference, and becomes " a1=b1+ (d1-do * β) ÷ α) ", and the amount of resetting of pixel b1 is become " (d1-do * β) ÷ α) ".
Similarly, the amount of resetting to pixel b2 becomes " (d2-d1 * β-do * γ) ÷ α ".With the general words of such amount of resetting, the amount of resetting that pixel bn is resetted becomes " (dn-dn-1 * β-dn-2 * γ) ÷ α ".Like this, among the step S105 in handling process shown in Figure 3, by the reset amount of conduct to the restored data Io+n of last time, after the influence around employing is removed from the difference component of the data σ of difference according to the data G that changes essential factor information, resulting value can significantly reduce the number of repetition of the handling procedure of Fig. 3 divided by the value of the data G gained that changes essential factor information.According to the inventor's experiment as can be known, adopt the words of the Processing Algorithm of Fig. 5～Figure 12, repeated treatments by tens of times almost is impossible be similar to correct original image, but adopts algorithm shown in Figure 14, by the just roughly convergence of 5～6 times repeated treatments.
And, under the above-mentioned situation, as feedback quantity (amount of resetting) to bn, be that value by the data σ gained of difference is divided by the value as " α " gained of one among the data G that changes essential factor information, adopt this method, the α in α, β, γ can restrain when being component maximum (ratio maximum) effectively.For example, when β is component maximum (ratio maximum), so that be used as the formula of d1, the d2 of the data volume of difference, the recovery utilization of d3 " a1=b1+ (the ÷ β of d2-do * γ-d2 * α) ", be that " (d2-do * γ-d2 * α) ÷ β " is for good to the amount of resetting of pixel b 1.With its general words, the amount of resetting that pixel bn is resetted is " (dn+1-dn-1 * γ-dn+1 * α) ÷ β ".Similarly, when γ was component maximum (ratio maximum), the amount of resetting that pixel bn is resetted was " (dn+2-dn+2 * α-dn+1 * β) ÷ γ ".In addition, less considering under the situation about effectively handling, also can be not do not removing and calculate with the carrying out of component maximum (ratio maximum).
In above-mentioned example, the data G that changes essential factor information is α, β, γ three, but as long as it is plural words, also can be five, seven or ten.Each value vague generalization is represented representing as Psf1 as α being expressed as Psfo, β, become Psfn (n is the integer value more than 0).Under general like this situation, also can use above-mentioned viewpoint and calculate the amount of resetting.
As described above, in the image processing apparatus 1 that this first execution mode relates to, because the data σ of difference is divided by the data G of " 1 " following variation essential factor information, therefore the amount of resetting becomes very large value.Therefore, even the small noise amount of resetting also enlarges.For to should problem, remove in this embodiment in the data volume that is contained in specific difference around after the influence, the data after this removals are fed back divided by the data G (being one of them under the actual conditions) of variation essential factor information.
And, on the basis of this correspondence, also can be by to the ratio that the amount of resetting of utilizing above-mentioned viewpoint to obtain multiply by regulation such as 0.3 or 0.5 or 0.7 amount of resetting being reduced with the relation of the reliability of data.Multiply by the value of less than 1 like this, convergence rate is slack-off, but can more positively restore.On the other hand, the amount of resetting that obtains be multiply by surpass 1 value, convergence rate is further improved.
Then, according to Figure 15 the image processing apparatus that second execution mode relates to is described.The image processing apparatus 1 that this image processing apparatus and first execution mode relate to is basic identical on parts formation or handling procedure, and difference only is aforementioned algorithm (how calculating the amount of resetting).Therefore, when carrying out the following description, be marked with identical symbol and describe for the parts identical with first execution mode.In addition, give the symbol of " 1A " for the device that second execution mode relates to, but this symbol " 1A " is not shown on the figure.
The image processing apparatus 1A that second execution mode relates to uses the reprocessing (circular treatment) as the basis of handling procedure shown in Figure 3.But the amount of resetting during this processing (being k σ in Fig. 3) as shown below.That is, observe component maximum (being the place of ratio maximum) in the data G that changes essential factor information in example before, after certain ratio of this difference of credit or this difference of credit, this value is divided by the data G that changes essential factor information.Then, this is removed the calculation value as the amount of resetting to restored data Io+n.Thereafter, according to the data G that changes essential factor information removes from the data volume (amount of resetting) of this difference that the value of being restored owing to quilt causes to influence on every side, to the processing transition of ensuing pixel.Repeat by this, obtain the restored data Io+n once of all pixels.
Below describe particularly.Suppose the data G of the variation essential factor information that Figure 15 (A) is such, obtain the data relationship shown in Figure 15 (B).In such relation, the initial value of supposing to become the basis of relatively using data I o+n ' is " 0 ", and Io ' also is " 0 ".Like this, become σ=Img '.Four pixels shown in Figure 15 (B) are studied, become " do=ao * α " and become " d1=ao * β+a1 * α ", " d2=ao * γ+a1 * β+a2 * α ".D3 becomes " a1 * γ+a2 * β+a3 * α ".
Consequently, by the data I mg ' of deterioration image relation, become " ao=do ÷ α ", " a1=(the ÷ α of d1-ao * β) ", " a2=(the ÷ α of d2-a1 * β-ao * γ) ", " a3=(the ÷ α of d3-a2 * β-a1 * γ) " to original correct images data I mg.Calculate under the situation of the concrete amount of resetting, at first calculate " ao ", therefore with " do ÷ α " conduct amount of resetting by " do " and " α " (being known).Then, consider " a1=(the ÷ α of d1-ao * β) ", at this moment " d1 " " α " " β " for known and " ao " in previous, obtained, therefore obtain " a1 " by the value substitution that this quilt is obtained.Therefore, will be somebody's turn to do the value conduct amount of resetting of " a1 "." d1-ao * β " in this value be, removes from the d1 as the data volume of difference as owing to the value after " ao * β " of the influence that is caused by the previous restored data of obtaining " ao ".
Then, obtain adjacent pixels a2 (being b2).Be " a2=(the ÷ α of d2-a1 * β-ao * γ) " as described above, wherein " d2 ", " α ", " β ", " γ " be known.And, owing to also obtained, therefore can obtain " a2 " by two processing " ao " before, the value of " a1 ".At this, " d2-a1 * β-ao * γ " is, from as the value of removing the d2 of the data volume of difference after " ao * γ " and " ao * β ", wherein, " ao * γ " is the influence that " ao " owing to the restored data of obtaining as two quilts in advance is subjected to, and " ao * β " is the influence that is subjected to owing to " a1 " as the previous restored data of being obtained.
Similarly, obtain " a3 " by " a3=(the ÷ α of d3-a2 * β-a1 * γ) ".Like this, each pixel value of restored data Io+n is in turn obtained.In circulation next time, will relatively use the data I mg ' of data I o+n ' and deterioration image (original image) to compare, obtain the data σ of new difference.In addition, if α, β, γ are correct, and do, d1 ..., or ao, a1 ... also be right value, then the recovery by once is treated as Io+1=Img, but owing to contain error in each value, so can not set up.Thereby, carry out the reprocessing identical with Fig. 3.
Use the do of data volume of difference of the data I mg ' of data I o+1 ' (general words are Io+n ') and deterioration image (original image) as a comparison, become as described above " (ao-bo) * α ".Therefore, become " ao=bo+do ÷ α ", the amount of resetting of known pixel bo is become " do ÷ α ".Similarly, to the amount of resetting of pixel b1, become as described above " (d1-(ao-bo) * β) ÷ α ".Therefore at this, " d1 ", " α ", " β ", " bo " are known, and also become knownly by previous processing " ao ", the amount of resetting of pixel b1 are obtained.The aggregate value of the amount of this amount of resetting and pixel b1 becomes the value of pixel a1.
Similarly, to the amount of resetting of pixel b2, as when first execution mode is described illustrated, become " (d2-(a1-b1) * β-(ao-bo) * γ) ÷ α ".Therefore at this, " d2 ", " α ", " β ", " γ ", " ao ", " bo ", " b1 " are known, and also become knownly by previous processing " a1 ", the amount of resetting of pixel b2 are obtained." d2-(a1-b1) * β-(ao-bo) * γ " in the value of this amount of resetting be, the value after the influence of the pixel remove two from the d2 as the data volume of difference before and the influence of previous pixel.Like this, determining more accurate feedback quantity thereby utilize the value by previous processing gained and remove based on the influence from the data G of the variation essential factor information of other pixels, is the algorithm of the image processing apparatus 1A that relates to of this second execution mode.And, with first execution mode in the same manner, feedback quantity is to remove calculation with the data G that changes essential factor information, the quantitative change that resets is big, cycle-index tails off, convergence rate accelerates.
In the above description, the all values that for example be made as ao=do ÷ α, also will calculate feeds back, will the amount of resetting as " (do ÷ α) * 0.5 ", be made as half or be 60% or be 30% but also can utilize, thereby the reliability of recovery is improved with the relation of the credit rating of the value of " do ".In addition, in the above description, the size of undeclared " α ", " β ", " γ ", but when the component of self-position big (ratio is big), when promptly α is greater than β or γ, particularly when α＞β＞γ, above-mentioned algorithm (removing calculation with α) is only, but with first execution mode in the same manner,, also can utilize with α and remove the algorithm of calculating during at β or γ greater than α.
In this image processing apparatus 1,1A, when handling, in step S104, can set any one party or both sides in the criterion value of data σ of number of processes and difference in advance.For example, as number of processes, can be set at three times, ten inferior number of times arbitrarily.In addition, the value that makes the data σ that handles the difference stop can be set at " 5 " in eight (0～255), and become 5 end process when following, perhaps be set at " 0.5 " and becoming " 0.5 " end process when following.Can at random set this set point.Under the both sides' that imported number of processes and criterion value situation, when satisfying any one party, just stop to handle.In addition, both sides' setting all be possible the time, serve as preferentially with the criterion value, when the processing by stipulated number does not enter in the criterion value, also can repeat the processing of stipulated number once more.
In the explanation of this each execution mode, utilize the information be stored in essential factor information storing section 7, but also can use the data of the deflection that is stored in known deterioration essential factor, for example optical aberration or camera lens in the essential factor information storing section 7 etc.Under this situation, for example in the processing method of Fig. 3, make up and be treated to goodly as a deterioration essential factor with the information of the information of will rock and optical aberration, still, also can rock the rectification that utilize the information of optical aberration after information processing finishes in utilization.In addition, also this essential factor information storing section 7 can be set, and only the dynamic essential factor when taking, for example only image revised or restored by rocking.
More than, image processing apparatus 1,1A that each execution mode of the present invention is related to are illustrated, but only otherwise breaking away from purport of the present invention can implement various changes.For example, the processing that utilizes handling part 4 to carry out is made of software, still, also can constitute by the hardware of being made up of the parts of bearing part processing respectively.
In addition, in turn restore processing from left end to right-hand member in the respective embodiments described above, but, be under the data conditions that circulates on the direction from right to left side for example at the data G that changes essential factor information, good in turn to be treated to from right to left side.In addition similarly, even the direction of the data G of variation essential factor information under the situation of α＜β＜γ, also is treated to good to use γ for from right to left from left to right successively.Like this, determine that with character processing sequence is good according to the data G that changes essential factor information.
In addition, as the original image that becomes process object, except that photographic images, also can be for this photographic images being carried out complementary color or carrying out Fourier transform etc., implemented the image of processing.And then, use data as a comparison, except that the data of using the data G generation that changes essential factor information, the data after also can applying complementary color or carry out Fourier transform for the data that generate to the data G that uses variation essential factor information.In addition, as the data that change essential factor information, not only be the data of deterioration essential factor information, also can be for containing the information that only makes image change or making the data of the information that image improves on the contrary with deterioration.
In addition, automatically or under the situation about being set regularly, also can change the number of times of this setting in image processing apparatus 1,1A side in the number of occurrence of handling by the data G that changes essential factor information.For example, also can increase the number of occurrence owing to rocking under the situation that is scattered in a plurality of pixels, disperse to reduce the number of occurrence under few situation in the data of certain pixel.
And then, in repeated treatments, in the time of also can dispersing, just make when becoming big and handle to end at the data σ of difference.About whether dispersing, if be judged as the method for dispersing greater than the last time just for example can adopt behind the mean value of the data σ that observes difference this mean value to become.In addition, can be after dispersing generation once abort process immediately, doublely the method for back abort process takes place or disperses the method that continues abort process behind the stipulated number but also can adopt to disperse.In addition, in repeated treatments, also can when desire changes to exceptional value with input, make to handle and end.For example, under eight situation, be when surpassing 255 value in the value of desiring to be changed, make to handle and end.In addition, in the repeated treatments, when desire will change to unusual value as the input of new data, also can not use this value, and form normal value.For example, eight 0～255 in, will be above 255 value during in desire as the input data, handle as maximum 255.Promptly, in restored data, contain when allowing in addition unusual numerical value of numerical value (being 0～255) (in above-mentioned example for surpassing 255 value) in above-mentioned example, can end this processing, perhaps, when in restored data, containing the unusual numerical value of allowing beyond the numerical value, this unusual numerical value is changed to allow numerical value and proceed and handle.
In addition, when generation becomes the restored data of output image, there is the data conditions that exceeds the image-region of desire recovery owing to the difference of the data G that changes essential factor information.Under this situation, the data that exceed the zone are transfused to opposition side.In addition, existing under the data conditions that outside the zone, to import, be good to be taken into these data from opposition side.For example, by be positioned at the zone below the data conditions of the data of pixel XN1 (capable 1 row of the N) pixel below being allocated in more under, this position is in outside the zone.Therefore, these data carry out being allocated in the processing that is positioned at uppermost pixel X11 (1 row, 1 row) directly over pixel XN1.For the adjacent pixels XN2 of pixel XN1 (capable 2 row of N), similarly directly over be allocated in the pixel X12 (1 row, 2 row on the next door of=pixel X11) that goes up the hurdle most.Like this, when generating restored data, become under the data conditions of restoring outside the subject area, be disposed at this data occurrence positions vertically, laterally or any one party in oblique to the recovery subject area of opposition side position in, can carry out certain recovery for the subject area that desire is restored.
In addition, also can with above-mentioned various algorithms, for example round about processing, multiply by any a plurality of of various algorithms such as a certain proportion of processing and be stored in the handling part 4, thereby can according to the kind of user's selection or image or change essential factor information data G character and automatically or manually select processing method.In addition, also can select a plurality of arbitrarily in these methods, alternately or in turn utilize in each program, perhaps initial several is handled in a certain mode, otherwise handles then.And, image processing apparatus 1,1A except that above-mentioned various algorithms any one or a plurality of, also can have the processing method different with them.
In addition, above-mentioned each processing method also can be by sequencing.In addition, also can will be deposited in recording medium, for example CD (Compact Disc), DVD, USB (UniversalSerial Bus) memory by the processing method of sequencing, and can read by computer.Under this situation, image processing apparatus 1 has the means of reading in of reading in the program in this recording medium.And then, also the processing method of this sequencing can be deposited in image processing apparatus 1 external server, download as required and use.Under this situation, image processing apparatus 1 has the means of communication that the program in this recording medium is downloaded.
Claims (9)
1. image processing apparatus, be provided with the treatment of picture portion that handles, it is characterized in that, what above-mentioned handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of arbitrary image, to become process object original image data and above-mentionedly relatively compare with data, and according to after the influence of the data of above-mentioned variation essential factor information around from the data of resulting difference, removing, resulting value is divided by as the value of the data of above-mentioned variation essential factor information and less than 1 and as the amount of resetting, thereby generation restored data, and, change preceding image thereby become above-mentioned original image by using this restored data to replace the data of above-mentioned arbitrary image and repeating same processing, or with change before the restored data of data of image of image approximate.
2. image processing apparatus, be provided with the treatment of picture portion that handles, it is characterized in that, what above-mentioned handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of arbitrary image, to become process object original image data and above-mentioned relatively compare with data after, the data of resulting difference, or the data of the difference value that multiply by gained after the value of less than 1 is divided by as the value of the data of above-mentioned variation essential factor information and less than 1 and as the amount of resetting, and as the value of the restored data of specific pixel and determine, according to the data of above-mentioned variation essential factor information remove from the data of above-mentioned difference that value owing to this restored data causes around influence, thereby generate the restored data of each pixel, and, change preceding image thereby become above-mentioned original image by using this restored data to replace the data of above-mentioned arbitrary image and repeating same processing, or with change before the restored data of data of image of image approximate.
3. image processing apparatus as claimed in claim 1 or 2, it is characterized in that, what said handling part carried out is treated to, when carrying out above-mentioned reprocessing, the data of the above-mentioned difference when number of repetition reaches stipulated number are that setting is following or stop to handle during less than setting, surpassing setting or being setting when above, repeat the processing of stipulated number once more.
4. image processing apparatus, be provided with the treatment of picture portion that handles, it is characterized in that, what above-mentioned handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of specified image, original digital image data after the image that will become process object changes and above-mentioned relatively compare with data after, in the data of resulting difference is to stop to handle during below the setting or less than setting, and will become above-mentioned before relatively changing as above-mentioned original image with the image of the afore mentioned rules on data basis image or with change before image approximate image and use, in above-mentioned difference greater than setting or be that setting is when above, after the influence of the data of above-mentioned variation essential factor information around from the data of above-mentioned difference, removing, resulting value is divided by as the value of the data of above-mentioned variation essential factor information and less than 1 and as the amount of resetting, thereby the generation restored data, and replace the image of afore mentioned rules and repeat same processing with this restored data.
5. image processing apparatus, be provided with the treatment of picture portion that handles, it is characterized in that, what above-mentioned handling part carried out is treated to, the data that become the variation essential factor information of image change main cause by utilization are relatively used data by the data generation of specified image, original digital image data after the image that will become process object changes and above-mentioned relatively compare with data after, in the data of resulting difference is to stop to handle during below the setting or less than setting, and will become above-mentioned before relatively changing as above-mentioned original image with the image of the afore mentioned rules on data basis image or with change before image approximate image and use, in above-mentioned difference greater than setting or be that setting is when above, the data of above-mentioned difference, or the data of the difference value that multiply by gained after the value of less than 1 is divided by as the value of the data of above-mentioned variation essential factor information and less than 1 and as the amount of resetting, and as the value of the restored data of specific pixel and determine, according to the data of above-mentioned variation essential factor information remove from the data of above-mentioned difference that value owing to this restored data causes around influence, thereby generate the restored data of each pixel, and replace the image of afore mentioned rules and repeat same processing with this restored data.
6. as claim 4 or 5 described image processing apparatus, it is characterized in that, when said handling part carries out above-mentioned reprocessing, if number of repetition reaches stipulated number, just the processing that stops.
7. as any described image processing apparatus in the claim 1～6, it is characterized in that, be provided with test section that detects above-mentioned variation essential factor information and the essential factor information storing section of preserving known variation essential factor information.
8. as any described image processing apparatus in the claim 1～7, it is characterized in that employed value when removing calculation with the data of above-mentioned variation essential factor information is the value of the component maximum in the data of above-mentioned variation essential factor information.
9. as any described image processing apparatus in the claim 1～8, it is characterized in that the order of calculating the above-mentioned amount of resetting depends on the character of the data of above-mentioned variation essential factor information.
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| EP0611125B1 (en) * | 1993-02-12 | 2000-11-22 | Sony Corporation | Electronic zoom control and image stabilization |
| JP2002300459A (en) * | 2001-03-30 | 2002-10-11 | Minolta Co Ltd | Image restoring device through iteration method, image restoring method and its program, and recording medium |
| JP2003060916A (en) * | 2001-08-16 | 2003-02-28 | Minolta Co Ltd | Image processor, image processing method, program and recording medium |
| US20050018051A1 (en) * | 2003-07-25 | 2005-01-27 | Nikon Corporation | Shooting lens having vibration reducing function and camera system for same |
-
2006
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- 2006-09-06 JP JP2007547861A patent/JP5007234B2/en not_active Expired - Fee Related
- 2006-09-06 WO PCT/JP2006/317668 patent/WO2007063630A1/en active Application Filing
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| JP5007234B2 (en) | 2012-08-22 |
| WO2007063630A1 (en) | 2007-06-07 |
| CN101310520B (en) | 2010-12-01 |
| JPWO2007063630A1 (en) | 2009-05-07 |
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