CN102497511A - Method for shooting object moving at high speed by using low-speed camera - Google Patents
Method for shooting object moving at high speed by using low-speed camera Download PDFInfo
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- CN102497511A CN102497511A CN2011104015572A CN201110401557A CN102497511A CN 102497511 A CN102497511 A CN 102497511A CN 2011104015572 A CN2011104015572 A CN 2011104015572A CN 201110401557 A CN201110401557 A CN 201110401557A CN 102497511 A CN102497511 A CN 102497511A
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Abstract
The invention provides a method for shooting an object moving at a high speed by using a low-speed camera. The method comprises the following specific steps: normally shooting to acquire coordinates of all pixel point data; rearranging to acquire all the pixel point data, and adjusting the coordinates according to transverse and longitudinal speeds on an image sensor reacted by a photographic field; filling the unassigned pixel points in the specified image width and height dimensions by using an interpolation method so as to obtain a corrected image; comparing the corrected image with a shape calibration template stored in a template database in advance; if the comparative result is not ideal, adjusting the transverse and longitudinal speeds and readjusting the coordinates; and finishing the correction of the image if the comparative result is ideal, thus the real image can be restored. By using the method provided by the invention, the object moving at the high speed can be shot by the low-speed camera, the range of application of the camera can be enlarged, and unclear images or fuzzy pictures or videos caused by photographic field movement in the prior art can be corrected.
Description
Technical field
The present invention relates to field of cameras, be specifically related to a kind of method of utilizing the low speed video camera to take the high-speed mobile object.
Background technology
The working method of video camera is different with traditional video camera.Video camera leans on mechanical aperture control exposure, and all sensitivity specks on the film make public simultaneously.The speed of continuous exposure has determined the shooting speed of video camera.
Present video camera is not to lean on the mechanical film speed to a width of cloth picture to decide camera speed, but leans on the exposure completion respectively successively to each pixel on CCD or the CMOS sensitization wafer.The film speed of CCD or each sensitivity speck of CMOS is the microsecond level, so image may blur when video camera is taken high-speed mobile scenery, but the exposure of each pixel is very accurately.The film speed of each pixel of video camera and to all pixels exposure sweep speeds decision shooting speed.And for video camera, if the scenery that is taken is very fast with respect to the movement velocity of video camera, and the film speed of its speed and light-sensitive material is not only image blurring when being in an one magnitude, and each sensitivity speck also blurs.The film speed of video camera is a Millisecond.
The limit velocity of machinery aperture exposure is limited, so each pixel all is inaccurate to the reaction of scenery when video camera is taken for the high-speed mobile object.And the film speed of each pixel of video camera exceeds two one magnitude than the exposure speed of video camera.So the pixel of video camera is a high-speed exposure.But for the overall exposing time of piece image, video camera and video camera are suitable.Its difference is that during the scenery high-speed mobile, each pixel of video camera is clearly, but every width of cloth image possibly blur.Cause the fuzzy reason of entire image to be because in the shooting time of accomplishing piece image because the variation of scenery can not be according to normal each pixel of scanning sequency discharging, make it deform, twist even can't discern.
For example, shown in accompanying drawing 1, the true scene that video camera was taken for first pixel in the moment 1 is " ".Because scene, supposes that the speed of scene motion is identical with the speed of camera-scanning also in motion, be that the true scene that second pixel taken also is " " at the moment 2 video cameras so.Analogize in proper order, in the moment 3,4 shootings all is " " constantly.The last like this figure that obtains is just fully different with true picture.
Camera parameters with present common resolution is an example, and for the image that is of a size of 600 * 400, frame frequency was 30 frame/seconds, line frequency be 12K capable/second, pixel clock frequency is 7.2MHz.The time for exposure of each pixel is about 0.14 microsecond, and the time for exposure of film is about 30 milliseconds.
Because each light-sensitive image vegetarian refreshments of video camera is clearly, for no other reason than that move, make that the ordering of each pixel is random, cause anamorphose, this just comes correcting image to lay a good foundation for arranging pixel again.
Summary of the invention
The objective of the invention is to overcome the deficiency that prior art exists; A kind of method of utilizing the low speed video camera to take the high-speed mobile object is provided; Imaging to the high-speed mobile object taken is proofreaied and correct, and solves traditional in the past shooting method and takes the problem that the high-speed mobile subject image that obtains is out of shape.
The objective of the invention is to realize through following technical scheme:
A kind of method of utilizing the low speed video camera to take the high-speed mobile object, concrete steps are following:
The first step: normal photographing, obtain all pixel number certificates, be designated as A (x, y);
Symbol definition: time t, the time synchronizing signal of pixel, i.e. pixel clock are obtained in expression; Locations of pixels coordinate, abscissa x are that time t is by picture traverse delivery result calculated; Ordinate y is the result that time t rounds after divided by picture traverse;
Second step: arrange all pixel number certificates of obtaining through the first step again; Suppose that the lateral velocity that scenery is reflected on the imageing sensor is v, longitudinal velocity is c, with respect to imageing sensor; Scenery lateral velocity v be moved to the left be made as negative, scenery longitudinal velocity c move up be made as negative;
Then the pixel number that obtains of the first step according to A (x, real coordinate position y) (X Y) is adjusted into:
X=[x-t*v]
Y=[y-t*c]
More than in two formulas, symbol " [", "] " expression rounds calculating;
The 3rd step: in the size of picture traverse of stipulating and height, utilize interpolation method to fill unassignable pixel, thereby obtain a corrected image;
The 4th step: the shape calibrating template of setting according to the application scenario of video camera: for example, on the highway generally with automobile, road sign, house or electric pole are the shape calibrating template; The machine work field is the shape calibrating template with straight line, square or the circle that contains generally; Utilize the shape calibrating template deposited in advance in the ATL and the figure of correction to do comparison, if to do the coupling result calculated undesirable with template, it is not right explain the estimation of lateral velocity v and longitudinal velocity c, adjusts lateral velocity v and longitudinal velocity c, gets back to second and goes on foot; If matching result is desirable, then accomplished the correction of image, obtain the value of lateral velocity v and longitudinal velocity c, and accomplished the correction of image, thereby utilized the low speed video camera to photograph the true picture of high-speed mobile object.
Compared with prior art, the advantage of technical scheme of the present invention is:
The present invention can make the low speed video camera take the object of high-speed mobile, has expanded the scope of application of video camera, and utilizes the method to proofread and correct to cause because scenery moves the photo or the video recording of not fogging clear or distortion in the past.
Description of drawings
Fig. 1 is for quoting the sketch map of instance in the background technology of the present invention.
Fig. 2 is the scenery figure of embodiments of the invention.
Fig. 3 is based on normally finding a view of Fig. 2 and obtains image.
Fig. 4 is based on the adjusted image of Fig. 2.
Embodiment
A kind of method of utilizing the high-speed mobile object of low speed camera shooting clear of the present invention is to proofread and correct for the imaging of moving scenery, and to move with video camera be equivalent because scenery moves, as long as consider that scenery moves just passable.
Concrete steps are following:
The first step: normal photographing, obtain all pixel number certificates, be designated as A (x, y).
Do several agreements here, at first pixel clock is the time synchronizing signal that obtains pixel, is designated as t.The locations of pixels coordinate, wherein abscissa x be time t by picture traverse delivery result calculated, ordinate is the result that time t rounds after divided by picture traverse.
Second step: arrange all pixels that the first step is obtained again.Suppose that the lateral velocity that scenery is reflected on the imageing sensor is v, longitudinal velocity is c.With respect to imageing sensor, scenery lateral velocity v be moved to the left be made as negative, scenery longitudinal velocity c move up be made as negative.Pixel data A (x, real coordinate position y) (X Y) should be:
X=[x-t*v] （1）
Y=[y-t*c] （2）
Notice that the X of (1) (2) two formulas, Y do not make delivery again and calculated.Be X, the value of Y may exceed the width of image.The value of X may less than or greater than picture traverse.The Y value also may less than or greater than picture altitude." [", "] " is to round calculating.
It is blank that adjusted image possibly have some pixels, promptly not by the point of assignment.
The 3rd step: in the size of picture traverse of stipulating and height, utilize interpolation method to fill unassignable pixel.This has just obtained a corrected image.
The 4th step: the image that is obtained is based on the estimation of scenery translational speed lateral velocity v and longitudinal velocity c calculating, how to judge whether correct to their estimation? This step utilizes the shape calibrating template deposited in advance in the ATL and the figure of correction to do comparison.The content of shape calibrating template is to set according to the application scenario of video camera.For example, the template of using on the highway is generally automobile, road sign, house, electric pole etc.The template that use in the machine work field generally contains straight line, square, circle etc.If to do the coupling result calculated undesirable with template, it is not right explain the estimation of v and c, adjusts lateral velocity v and longitudinal velocity c, gets back to second and goes on foot.If matching result is desirable, then accomplished the correction of image, obtain the value of lateral velocity v and longitudinal velocity c, and accomplished the correction of image, thereby utilized the low speed video camera to photograph the true picture of high-speed mobile object.
Embodiment 1
For above-mentioned trimming process is described visually, use scenery figure as shown in Figure 2 to do the explanation of a checking property as example, the number of each position is just in order to represent the position of a pixel among Fig. 2.
Suppose speed v=-1 that this scenery laterally moves, the speed c that vertically moves=-2. scenery is oblique upper fast moving left in other words.As shown in Figure 3 according to the find a view pixel that obtains of the first step so, picture size gets 3 * 3, has a mind to get the scenery greater than picture size;
From finding out here, this width of cloth image has been to be in general confusion.Adjust according to second step then, obtain image as shown in Figure 4:
The pixel that the expression of drawing together out with bracket " () " among Fig. 4 collects, and be placed on the correct position.Other number that does not have bracket to indicate is the blank pixel point of not padding data.The blank pixel point of Fig. 4 much is because this example is a situation about very exaggerating, for the ease of checking.
According to the 3rd the step do interpolation, fill these blank spots.Do comparison with the corresponding shape calibrating template of depositing in advance in the ATL and the figure of correction, identical, promptly accomplished the correction of image.
In practical application, the speed that the translational speed of scenery on the sensitization plane can not move greater than picture element scan, this is very normal.Because the speed that pixel moves is exceedingly fast.
This method can make the low speed video camera take the object of high-speed mobile, has expanded the scope of application of video camera, and utilizes the method to proofread and correct to cause because scenery moves the photo or the video recording of not fogging clear or distortion in the past.
The foregoing description just is to let the one of ordinary skilled in the art can understand content of the present invention and enforcement according to this in order technical conceive of the present invention and characteristics to be described, to be its objective is, can not limit protection scope of the present invention with this.The variation or the modification of every equivalence that the essence of content has been done according to the present invention all should be encompassed in protection scope of the present invention.
Claims (3)
1. method of utilizing the low speed video camera to take the high-speed mobile object is characterized in that concrete steps are following:
The first step: normal photographing, obtain all pixel number certificates, be designated as A (x, y);
Symbol definition: time t, the time synchronizing signal of pixel, i.e. pixel clock are obtained in expression; Locations of pixels coordinate, abscissa x are that time t is by picture traverse delivery result calculated; Ordinate y is the result that time t rounds after divided by picture traverse;
Second step: arrange all pixel number certificates of obtaining through the first step again; Suppose that the lateral velocity that scenery is reflected on the imageing sensor is v, longitudinal velocity is c, with respect to imageing sensor; Scenery lateral velocity v be moved to the left be made as negative, scenery longitudinal velocity c move up be made as negative;
Then the pixel number that obtains of the first step according to A (x, real coordinate position y) (X Y) is adjusted into:
X=[x-t*v]
Y=[y-t*c] ；
The 3rd step: in the size of picture traverse of stipulating and height, utilize interpolation method to fill unassignable pixel, thereby obtain a corrected image;
The 4th step: set the shape calibrating template: utilize the shape calibrating template deposited in advance in the ATL and the figure of correction to do comparison according to the application scenario of video camera; If with template do the coupling result calculated undesirable; Explanation is not right to the estimation of lateral velocity v and longitudinal velocity c; Adjustment lateral velocity v and longitudinal velocity c got back to for second step; If matching result is desirable, has then obtained the value of lateral velocity v and longitudinal velocity c, and accomplished the correction of image, thereby utilized the low speed video camera to photograph the true picture of high-speed mobile object.
2. according to the right 1 described method of utilizing the high-speed mobile object of low speed camera shooting clear, it is characterized in that in said second step, in two formulas, symbol " [", "] " expression rounds calculating.
3. according to the right 1 described method of utilizing the low speed video camera to take the high-speed mobile object; It is characterized in that; The said shape calibrating template of setting according to the application scenario of video camera, particular content can be: the application of highway occasion is with automobile, road sign; House or electric pole are the shape calibrating template, and the machine work field is the shape calibrating template with straight line, square or the circle that contains.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110401557.2A CN102497511B (en) | 2011-12-07 | 2011-12-07 | Method for shooting object moving at high speed by using low-speed camera |
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| CN201110401557.2A CN102497511B (en) | 2011-12-07 | 2011-12-07 | Method for shooting object moving at high speed by using low-speed camera |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104780307A (en) * | 2015-05-04 | 2015-07-15 | 华天科技（昆山）电子有限公司 | Array lens imaging system and clear imaging method for high-speed moving object with the same |
| CN106969723A (en) * | 2017-04-21 | 2017-07-21 | 华中科技大学 | High speed dynamic object key point method for three-dimensional measurement based on low speed camera array |
| CN108259742A (en) * | 2018-01-12 | 2018-07-06 | 北京图森未来科技有限公司 | A kind of image-pickup method and device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1976401A (en) * | 2005-12-02 | 2007-06-06 | 富士胶片株式会社 | Remote shooting system and camera system |
| US20090278965A1 (en) * | 2008-05-07 | 2009-11-12 | Ko Kuk-Won | High-speed photographing apparatus using plural cameras |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1976401A (en) * | 2005-12-02 | 2007-06-06 | 富士胶片株式会社 | Remote shooting system and camera system |
| US20090278965A1 (en) * | 2008-05-07 | 2009-11-12 | Ko Kuk-Won | High-speed photographing apparatus using plural cameras |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104780307A (en) * | 2015-05-04 | 2015-07-15 | 华天科技（昆山）电子有限公司 | Array lens imaging system and clear imaging method for high-speed moving object with the same |
| CN104780307B (en) * | 2015-05-04 | 2018-01-16 | 华天科技（昆山）电子有限公司 | Array lens imaging system and its method for high-speed moving object blur-free imaging |
| CN106969723A (en) * | 2017-04-21 | 2017-07-21 | 华中科技大学 | High speed dynamic object key point method for three-dimensional measurement based on low speed camera array |
| CN106969723B (en) * | 2017-04-21 | 2019-07-09 | 华中科技大学 | High speed dynamic object key point method for three-dimensional measurement based on low speed camera array |
| CN108259742A (en) * | 2018-01-12 | 2018-07-06 | 北京图森未来科技有限公司 | A kind of image-pickup method and device |
| CN108259742B (en) * | 2018-01-12 | 2020-08-25 | 北京图森未来科技有限公司 | Image acquisition method and device |
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Granted publication date: 20131218 Termination date: 20191207 |