CN101945284B - Motion estimation device and method - Google Patents
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Abstract
The invention provides a motion estimation device. The motion estimation device comprises an image acquisition unit, a down sampling unit, a motion detection and tracking unit and a motion searching unit, wherein the image acquisition unit acquires frame images; the down sampling unit performs down sampling on the frame images; the motion detection and tracking unit performs motion detection and tracking on a down-sampled current frame so as to acquire a motion target, determines a corresponding motion target of the current macro block of the original current frame on the current frame after the down sampling and a motion vector of the corresponding motion target, and performs up sampling on the motion vector of the corresponding motion target; and the motion searching unit determines an initial position in an original reference frame according to the motion vector of the corresponding motion target after the up sampling and the position of the current macro block of the original current frame, sets a search box in the original reference frame based on the initial position, and searches a search box for a block matched with the current macro block of the original current frame, wherein the position difference between the searched matching block and the current macro block of the original current frame is used as the motion vector of the current macro block of the original current frame.
Description
[technical field]
The present invention relates to the transmission of video images field, especially about the apparatus and method of estimation in the video image.
[background technology]
Along with popularizing that digital technology is used, the application of video is also more and more extensive, especially video monitoring.In the process of video monitoring, will with picked-up to video data be transferred in real time monitoring client, so generally can first coding video data be compressed to be conducive to transmission at the shooting end, can increase the burden of channel if video data is too large in the transmission of video process, therefore in the process of carrying out Video coding, will fully take into account and how video data be carried out the maximum compression coding.
Usually need piece base Motion estimation and compensation to come current video image is compressed in the Video coding at present.Described basic estimation is take piece as unit, in present frame, find out the position corresponding to macro block in the reference frame, and centered by described position, mate to find the best match position piece, according to the motion vector of the described macro block of position calculation of the position of macro block in the reference frame and optimum Match obtained above.That is to say, to in present frame, find corresponding position for each macro block in the reference frame, then carry out motion search in present frame centered by the position of correspondence, the position that search obtains then is the motion vector of corresponding macro block with the alternate position spike in the reference frame.In the process of carrying out Video coding, only need to know that the position of each macro block in the reference frame and the motion vector of each macro block just can obtain the position of each macro block in present frame.
Yet in object of which movement, the piece that belongs to same object has the same or analogous characteristics of motion usually, when this speed of moving body is fast, is difficult to find match block if search window is limited.See also shown in Figure 1, Fig. 1 is the schematic diagram that the prior art estimation is searched in search box, suppose that wherein left figure is reference frame image, right figure is current frame image, the motion personage moves, dotted line is take interior square frame as search window among its left figure, can search for the motion personage in search window this moment, yet because the motion personage moves too fast, at adjacent next frame of time, namely during present frame, described motion personage has moved to corresponding described search window outside, if still search in former predetermined search window then can't search the motion personage.
Therefore, need to provide a kind of new technical scheme to overcome the problems referred to above.
[summary of the invention]
The purpose of this part is to summarize some aspects of embodiments of the invention and briefly introduces some preferred embodiments.In this part and the application's specification digest and denomination of invention, may do a little simplification or omit to avoid making the purpose of this part, specification digest and denomination of invention fuzzy, and this simplification or omit and can not be used for limiting the scope of the invention.
The invention provides a kind of device of estimation, it when very fast, also can very accurately find match block to carry out estimation at speed of moving body.
The invention provides a kind of method of estimation, it when very fast, also can very accurately find match block to carry out estimation at speed of moving body.
According to an aspect of the present invention, the invention provides a kind of device of estimation, it comprises image acquisition units, the acquisition frame image; Down-sampled unit carries out down-sampled to described two field picture; Motion detection and tracking cell, present frame after down-sampled is carried out motion detection and follows the tracks of to obtain moving target, the motion vector of corresponding moving target and moving target that should correspondence on the present frame of the current macro of determining original present frame after down-sampled, the motion vector up-sampling of the moving target that this is corresponding; Motion search unit, position according to the current macro of the motion vector of the moving target of the correspondence behind the up-sampling and original present frame is determined an initial position and based on described initial position a search box is set in described original reference frame in original reference frame, the piece that the current macro of search and original present frame is complementary in described search box is with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame.
Further, described reference frame is time frame formerly, described present frame be the time after frame.
Further, described original present frame and original reference frame are respectively not down-sampled present frame and reference frame before.
Further, the motion vector of described moving target is center poor of the moving target boundary rectangle of the center of moving target boundary rectangle of down-sampled rear reference frame and down-sampled rear present frame.
Further, described initial position is a center that obtains in original reference frame behind the opposite vector of center through the motion vector of the moving target of the correspondence behind the up-sampling of current macro of original present frame.
According to a further aspect in the invention, the invention provides a kind of method of estimation, it comprises: the acquisition frame image, carry out down-sampled to described two field picture; Present frame after down-sampled is carried out motion detection and follows the tracks of to obtain moving target, the motion vector of corresponding moving target and moving target that should correspondence on the present frame of the current macro of determining original present frame after down-sampled, the motion vector up-sampling of the moving target that this is corresponding; Position according to the current macro of the motion vector of the moving target of the correspondence behind the up-sampling and original present frame is determined an initial position and based on described initial position a search box is set in described original reference frame in original reference frame, the piece that the current macro of search and original present frame is complementary in described search box is with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame.
Further, described reference frame and described present frame are two frames of Time Continuous, and wherein, described reference frame is time frame formerly, described present frame be the time after frame.
Further, described original present frame and original reference frame are respectively not down-sampled present frame and reference frame before.
Further, calculate the difference of center of current macro of the center of current macro of down-sampled rear reference frame and down-sampled rear present frame to obtain the motion vector of described moving target.
Further, in original reference frame, obtain described initial position behind the opposite vector of center through the motion vector of the moving target of the correspondence behind the up-sampling to the current macro of original present frame.
Compared with prior art, the present invention utilizes the image after down-sampled to carry out motion detection and follows the tracks of and obtain moving target, and the motion vector of definite described moving target, obtain the initial position in the reference frame of original image according to the position to the current macro of present frame in the motion vector that obtains behind the described motion vector up-sampling and the original image, and a search box is set centered by described initial position, the piece that the current macro of search and original present frame is complementary in described search box is with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame.Like this according to the motion vector that obtains after down-sampled, so that in original reference, can determine in a less scope, to search for during current macro in the coupling present frame, thereby so that amount of calculation is smaller, and realized by encode corresponding macro block in the present frame of the macro block that mates in the reference frame and corresponding motion vector.
[description of drawings]
In order to be illustrated more clearly in the technical scheme of the embodiment of the invention, the accompanying drawing of required use was done to introduce simply during the below will describe embodiment, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.Wherein:
Fig. 1 is the schematic diagram that the prior art estimation is searched in search box;
Fig. 2 is the structure drawing of device of the estimation among the present invention;
Fig. 3 is the coupling schematic diagram of moving object in adjacent two frames in one embodiment of the present of invention;
Fig. 4 is the schematic diagram of calculating kinematical vector of the present invention; With
Fig. 5 is the flow chart of estimation of the present invention.
[embodiment]
Detailed description of the present invention is mainly come the running of direct or indirect simulation technical solution of the present invention by program, step, logical block, process or other symbolistic descriptions.Be the thorough the present invention that understands, in ensuing description, stated a lot of specific detail.And when not having these specific detail, the present invention then may still can realize.Affiliated those of skill in the art use herein these descriptions and statement essential to the work that the others skilled in the art in the affiliated field effectively introduce them.In other words, be the purpose of the present invention of avoiding confusion, because the easily understanding of the method for knowing and program, so they are not described in detail.
Alleged " embodiment " or " embodiment " refer to be contained in special characteristic, structure or the characteristic at least one implementation of the present invention herein.Different local in this manual " in one embodiment " that occur not are all to refer to same embodiment, neither be independent or the embodiment mutually exclusive with other embodiment optionally.In addition, represent the sequence of modules in method, flow chart or the functional block diagram of one or more embodiment and revocablely refer to any particular order, also be not construed as limiting the invention.
Movement estimation apparatus utilization of the present invention is to the motion detection of down-sampled rear moving target and follow the tracks of to obtain moving target, and the motion vector of definite described moving target, obtain the initial position in the reference frame of original image according to the position to the current macro of present frame in the motion vector that obtains behind the described motion vector up-sampling and the original image, and a search box is set centered by described initial position, the piece that the current macro of search and original present frame is complementary in described search box is with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame.The concrete device of the estimation among the present invention as shown in Figure 2.
Fig. 2 is the structure chart of the movement estimation apparatus 200 among the present invention, sees also shown in Figure 2ly, and described movement estimation apparatus 200 comprises image acquisition units 210, down-sampled unit 220, motion detection and tracking cell 230 and motion search unit 240.
Before carrying out estimation, we need to be appreciated that: carry out estimation and be by the time the preceding frame estimated time after frame, general, with the time the preceding a frame be called reference frame, time after a frame be called present frame, when carrying out estimation, estimate data in the present frame according to the relation of image in the data of reference frame and reference frame and the present frame.Now according to the unit of movement estimation apparatus 200 relation how to obtain image in reference frame and the present frame is described.
Described image acquisition units 210 acquisition frame images.In actual applications, can adopt camera to carry out the collection of two field picture.
Described down-sampled unit 220, the two field picture that described image acquisition units 210 is collected carries out down-sampled, namely reduces the resolution of described two field picture, as extracting wherein the partial pixel point to form the image of low resolution.
In one embodiment, the resolution of original two field picture is 600 * 600 pixels, can obtain the two field picture of one 60 * 60 pixels after down-sampled to it, it specifically can choose row to per 10 row pixels in original two field picture first, then choose a pixel in per 10 pixels in the image that the every row of choosing is formed in every row, all pixels of choosing form the two field picture of one 60 * 60 pixels after down-sampled.How much resolution it specifically is reduced to can be adjusted according to the motion detection of reality and the amount of calculation of tracking.
Present frame after 230 pairs of described motion detection and tracking cell are down-sampled carries out motion detection and follows the tracks of to obtain moving target, the motion vector of corresponding moving target and moving target that should correspondence on the present frame of the current macro of determining original present frame after down-sampled, the motion vector up-sampling of the moving target that this is corresponding.Here the original present frame of saying is the present frame of the two field picture before not down-sampled; Following original reference frame also is not down-sampled reference frame before.
General, two field picture is comprised of the macro block of 16 * 16 pixels that mutually do not superpose, and usually carries out take macro block as unit when carrying out estimation and detecting.
The moving target here refer to each shared macro block of moving target in the two field picture and, the coupling of following the tracks of moving object in adjacent two frames that obtain here can be referring to shown in Figure 3, Fig. 3 is the coupling schematic diagram of moving object in adjacent two frames in one embodiment of the present of invention, left figure is the moving target of a time frame (being reference frame) formerly, middle graph is that the time is at the moving target that is complementary of a rear frame (being present frame), arrow among the right figure then is the signal of the movement of the moving target that is complementary in two frames, and the figure of this moment is the image of down-sampled rear tracking.The technology of described motion detection and tracking all is that the person of an ordinary skill in the technical field can both realize, so just no longer described in detail one by one here.
The poor motion vector that obtains described moving target is done in the center of the same moving target that detects in down-sampled rear reference frame and the present frame.
In one embodiment, can be referring to shown in Figure 4, Fig. 4 is the schematic diagram of calculating kinematical vector among the present invention, in reference frame (left figure), choose a macro block that is positioned at the moving target center, the macro block here select can be first central point by the setting movement target, then judging the macro block at described central point place, is the macro block with cross hatching among the left figure.Obtaining the macro block that is complementary according to tracking in adjacent present frame of time (right figure) afterwards, is the macro block with cross hatching here among the right figure.Calculate the poor of two macro block positions, be the motion vector of whole moving target, described motion vector is represented by arrow among the figure.It should be noted that when positioning central point, only need to calculate by the shared macro block of described moving target just passable.As, be the image of four lines four row among the figure, wherein three of the lower right corner macro blocks (black region represents) are background but not moving target prospect.The technology of the central point of described setting movement target is that those of ordinary skill in the field can both realize, just no longer describes in detail here.
Need to prove, because the movement of some macro block may not have much difference in the moving target on the image after down-sampled, then this little skew probably is left in the basket in the process of searching for, thereby only calculate moving of moving target integral body and ignored the skew of some macro block, so that the image fault that restores at video decode.For instance, in the image that reduces resolution, whole target travel target offset (30,30) namely all moves 30 pixels to the right downwards, and one of them macro block skew (32,32), namely all move 32 pixels to the right downwards, that is to say, a described macro block is (2,2) with respect to mass motion target relativity shift.Because relativity shift is very little, this little skew probably is left in the basket in the process of search.After if the image after down-sampled amplifies (being up-sampling), image after amplification calculates whole moving target skew for (300,300), namely all move 300 pixels to the right downwards, and one of them macro block skew is (320,320), at this moment, described macro block is (20,20) with respect to the mass motion target offset.Thus, can find out then in the image after the amplification that the movement of macro block is larger on the moving target, also need to consider relatively moving of each macro block when considering integrated moving, and carry out video compression coding on this basis, then decoding the image that restores can be more accurate.So the present invention is amplified to the moving target that traces on the original image, the original image after amplification carries out the search of each macro block, namely needs the motion vector of the described moving target that obtains is carried out up-sampling, to carry out estimation in original image.
In actual applications, because the variation of each macro block in the moving target is uncertain, some macro block may change larger, and that some macro block may change is smaller, determine whole motion vector so generally can select the center of whole moving target, the motion vector that calculates is so then representing the movement of whole moving target, and each macro block on the moving target is had more stable representativeness.Subsequently in the process of carrying out motion search, then can around the center of moving target, accurately find each macro block, otherwise utilize the larger macro block of variation to search for, the motion vector that then obtains according to macro block at last may can not find other macro block at next frame.
Described motion search unit 240 is determined an initial position and based on described initial position a search box is set in described original reference frame according to the position of the current macro of the motion vector of the moving target of the correspondence behind the up-sampling and original present frame in original reference frame, the piece that the current macro of search and original present frame is complementary in described search box is with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame.
Usually, when estimating in the present frame macro block by original reference frame in when coding, need to obtain first the corresponding macro block of each macro block in reference frame in the present frame, then represent each macro block in the present frame according to the macro block in the reference frame and by motion vector corresponding to each macro block that said method calculates.
General, the motion vector of moving target is to point to present frame from reference frame, and the macro block in existing known described motion vector and the present frame, then needs opposite vector through described motion vector to obtain corresponding macro block in reference frame.
Here the macro block that is complementary of search is specially in original reference frame: calculate described search box in the difference of each pixel between the macro block corresponding in the arbitrary macro block and present frame absolute value with, then obtain absolute value and macro block minimum of described difference in the search box, and with described macro block as with present frame in the macro block that is complementary most of corresponding macro block.Certainly, in actual applications, also can realize by other means matching process, be that those of ordinary skill in the field can both realize owing to calculating the technology of coupling macro block, so only describe above-mentioned a kind of method, other method just is not described in detail.
Obtain the motion vector of a moving target by described motion detection and tracking cell 230, this motion vector can only represent the integrated moving trend of whole moving target, and for the motion vector of each macro block on the moving target may with above-mentioned central motion vector difference to some extent.In the process of walking about, hand is also swinging such as, people, and at this moment people's motion vector of walking about and the motion vector of hand are incomplete same, so also need determine the motion vector of each macro block.Because each macro block for same target travel object, its motion has the identical or close characteristics of motion, this also just so that the motion vector of each macro block on the moving target can not be offset too large, so under the motion vector of moving target and will greatly reduce the amount of calculation of search with a scope search at the place, center of moving target.That is to say, under the help of the motion vector of moving target, each macro block in the present frame is easy to just can search corresponding macro block in a little window in reference frame, accuracy is higher, and owing to having reduced the hunting zone, so that amount of calculation is smaller, search speed is than very fast.
As from the foregoing, for the technology of directly image being carried out motion detection and tracking in the prior art, because the present invention at first utilizes down-sampled rear motion detection and tracking to obtain moving target, thus the defective of having avoided moving target to move and occur in the prior art when too fast; And according to the motion vector that obtains after down-sampled, so that in original reference, can determine in a less scope, to search for during current macro in the coupling present frame, thereby avoid when movement velocity is too fast, in window, can not find the situation of the macro block of moving target during to each frame estimation, realized simultaneously by the encode technology of the corresponding macro block in the present frame of the macro block that mates in the reference frame and corresponding motion vector.
When carrying out Video coding, learn information and the position of each macro block in the reference frame, then can judge information and the position of each macro block in present frame according to the motion vector of above-mentioned each macro block, namely when Video coding, only the information of each macro block of needs preservation reference frame and the motion vector of position and each macro block get final product.When carrying out video decode, only needs just can restore each macro block of present frame by the information of each macro block of reference frame and the motion vector of position and corresponding macro block.
Fig. 5 is the method flow diagram of estimation among the present invention, sees also shown in Figure 5ly, and the method for described estimation comprises:
The down-sampled resolution that namely reduces the described two field picture that collects is as extracting wherein the partial pixel point to form the lower image of resolution.In one embodiment, the resolution of original two field picture is 600 * 600 pixels, can obtain the two field picture of one 60 * 60 pixels after down-sampled to it, it specifically can choose row to per 10 row pixels in original two field picture first, then choose a pixel in per 10 pixels in the image that the every row of choosing is formed in every row, all pixels of choosing form the two field picture of one 60 * 60 pixels after down-sampled.How much resolution it specifically is reduced to can be adjusted according to the motion detection of reality and the amount of calculation of tracking.
Reference frame after down-sampled and present frame are carried out motion detection and follow the tracks of to obtain moving target, reference frame described here and described present frame can be two frames of Time Continuous, wherein, described reference frame is time frame formerly, described present frame be the time after frame.
Choose the center of same moving target in down-sampled rear reference frame image and the current frame image, and the poor motion vector that obtains moving target is done in described center.
After above-mentioned motion vector carried out up-sampling, the macro block at the place, center of moving target described in the original present frame behind the opposite vector of described motion vector in the original reference frame macro block of gained as initial position.
General, the motion vector of moving target is to point to present frame from reference frame, and the macro block in existing known described motion vector and the present frame, then needs opposite vector through described motion vector to obtain corresponding macro block in reference frame.
In the original reference frame, set the search box centered by described initial position, in described search box, carry out motion search with obtain with present frame in the corresponding macro block that is complementary most, the size of the search box here will arrange suitablely, scope is too little then have the search of part macro block less than, scope too greatly then amount of calculation will become large.
In one embodiment, calculate in the described search box difference of each pixel between the macro block corresponding in the arbitrary macro block and present frame absolute value with, then obtain absolute value and macro block minimum of described difference in the search box, and with described macro block as with present frame in the macro block that is complementary most of corresponding macro block.Certainly, in actual applications, also can realize by other means matching process, be that those of ordinary skill in the field can both realize owing to calculating the technology of coupling macro block, so only describe above-mentioned a kind of method, other method just is not described in detail.
Calculate search in the original reference frame with present frame in corresponding each macro block of being complementary most of each macro block and the present frame difference of the position between corresponding each macro block with as motion vector corresponding to each macro block.Like this in learning reference frame during the coded message of each macro block, then can according to the information of described each macro block with and each corresponding motion vector learn the information of each corresponding in present frame macro block.
When carrying out Video coding, learn the information of each macro block in the reference frame, can judge the information of each macro block in present frame according to the motion vector of each macro block, that is to say, when Video coding, only need information and each corresponding motion vector of each macro block of preservation reference frame.When carrying out video decode, only need information and each corresponding motion vector by each macro block of reference frame, just each macro block of present frame can be restored.
In sum, in carrying out video coding process, then can according to device or the method for described estimation, calculate the relative motion vectors of each macro block, in conjunction with each macro block of next frame of encoding of each macro block on the reference frame, thereby compressed widely encoding amount.
Above-mentioned explanation has fully disclosed the specific embodiment of the present invention.It is pointed out that and be familiar with the scope that any change that the person skilled in art does the specific embodiment of the present invention does not all break away from claims of the present invention.Correspondingly, the scope of claim of the present invention also is not limited only to previous embodiment.
Claims (7)
1. a movement estimation apparatus is characterized in that, it comprises:
Image acquisition units, the acquisition frame image;
Down-sampled unit carries out down-sampled to described two field picture;
Motion detection and tracking cell, present frame after down-sampled is carried out motion detection and follows the tracks of to obtain moving target, the motion vector of corresponding moving target and moving target that should correspondence on the present frame of the current macro of determining original present frame after down-sampled, the motion vector up-sampling of the moving target that this is corresponding; With
Motion search unit, according to the position of the current macro of the motion vector of the moving target of the correspondence after up-sampling and original present frame, in original reference frame, determine an initial position and a search box is set in described original reference frame based on described initial position, the piece that the current macro of search and original present frame is complementary in described search box, motion vector using the alternate position spike of the current macro of the match block that searches and original present frame as the current macro of original present frame
Described initial position is a center that obtains in original reference frame behind the opposite vector of center through the motion vector of the moving target of the correspondence behind the up-sampling of current macro of original present frame.
2. the device of estimation according to claim 1, it is characterized in that: described reference frame is time frame formerly, described present frame be the time after frame.
3. the device of estimation according to claim 2 is characterized in that: described original present frame and original reference frame are respectively present frame and the reference frame before not down-sampled.
4. the device of estimation according to claim 3 is characterized in that: the motion vector of described moving target is center poor of the moving target boundary rectangle of the center of moving target boundary rectangle of down-sampled rear reference frame and down-sampled rear present frame.
5. the method for an estimation is characterized in that, it comprises:
The acquisition frame image carries out down-sampled to described two field picture;
Present frame after down-sampled is carried out motion detection and follows the tracks of to obtain moving target, the motion vector of corresponding moving target and moving target that should correspondence on the present frame of the current macro of determining original present frame after down-sampled, the motion vector up-sampling of the moving target that this is corresponding; With
Position according to the current macro of the motion vector of the moving target of the correspondence behind the up-sampling and original present frame is determined an initial position and based on described initial position a search box is set in described original reference frame in original reference frame, the piece that the current macro of search and original present frame is complementary in described search box, with the alternate position spike of the current macro of the match block that searches and the original present frame motion vector as the current macro of original present frame
Wherein calculate the difference of center of current macro of the center of current macro of down-sampled rear reference frame and down-sampled rear present frame obtaining the motion vector of described moving target, in original reference frame, obtain described initial position behind the opposite vector of center through the motion vector of the moving target of the correspondence behind the up-sampling to the current macro of original present frame.
6. the method for estimation according to claim 5, it is characterized in that: described reference frame and described present frame are two frames of Time Continuous, wherein, described reference frame is time frame formerly, described present frame be the time after frame.
7. the method for estimation according to claim 6 is characterized in that: described original present frame and original reference frame are respectively present frame and the reference frame before not down-sampled.
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| CN105376586A (en) * | 2015-11-17 | 2016-03-02 | 复旦大学 | Three-level flow line hardware architecture suitable for integer motion estimation in HEVC standard |
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| CN110208788B (en) * | 2019-05-27 | 2022-06-17 | 东南大学 | Continuous frame joint speed deblurring method based on sliding window |
| CN112087626A (en) * | 2020-08-21 | 2020-12-15 | 西安万像电子科技有限公司 | Image processing method, device and storage medium |
| CN112672158A (en) * | 2020-12-10 | 2021-04-16 | 博流智能科技（南京）有限公司 | Motion detection system and method |
| CN112906475B (en) * | 2021-01-19 | 2022-08-02 | 郑州凯闻电子科技有限公司 | Artificial intelligence-based rolling shutter imaging method and system for urban surveying and mapping unmanned aerial vehicle |
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