CN103442179B - Means of illumination and illuminator - Google Patents

Abstract

The invention provides a kind of means of illumination and illuminator.The method includes: the scene image in shooting n frame front, according to described n frame scene image, it was predicted that the local scene image blocked by barrier in obstructions chart picture in the (n+1)th frame scene image and the (n+1)th frame scene image；And the image including described local scene image is projected front.The method and system of the present invention avoids the impact for observer's sight line of blocking of preceding object thing, thus provides the front real scene removed after barrier for observer.

Description

Means of illumination and illuminator

Technical field

The present invention relates to Digital Image Processing and lighting field, particularly relate to a kind of means of illumination and Illuminator.

Background technology

Preceding object thing block the sight line often affecting observer, make observer to obtain The real scene in front.

Such as, when sleety weather, owing to raindrop or the snowflake in front can block sight line, sleet In traveling person or driving vehicle, the driver of ship typically requires extra illumination and sets Standby, but simultaneously, the raindrop in front or snowflake can occur again strong light reflection to affect traveling Person or the Visual Observations Observations of driver.Such as, in the field lighting such as park, square or performance When projection Large Graph picture, the moving obstacle such as pedestrian, vehicle may block spectators' Sight line, impact illumination or image projection.Such as, luminaire is being utilized to search Time, the small-sized fixed obstacle in front can affect the observation of searcher, thus is difficult to search mesh Mark thing.

Intel and Carnegie Mellon University have developed a kind of intelligent automotive light (R.D. cooperatively Charette and etc.,"Fast Reactive Control for Illumination through Rain and Snow",Proceedings of IEEE Conference on Computational Photography (ICCP), 2012.), in order to avoid the vehicle front when sleety weather is driven Raindrop or the strong sky light of snowflake and affect driving.This technology is using highlighted projector as car Lamp, by raindrop or the snowflake of photographic head captured in real-time vehicle front, utilizes computer identification the most pre- Measure the position of raindrop or snowflake, then correspondence position in projection light is designated as black, thus They strong sky light impacts are avoided to drive.But in this scheme, it is designated as black The real scene in front has been blocked in position so that the frontal scene that driver is seen is the most uncertainly So, the driving experience of driver can be affected too.

Exist in image processing field, prior art simultaneously and analyze method by spatio-temporal frequency Except barrier technology (P.Barnum, S.G.Narasimhan, and T.Kanade, "Analysis of Rain and Snow in Frequency Space",International Journal Of Computer Vision (IJCV), December2008.), there is also multiple images of shooting and come Technology (Scalado, the Capture a clean of one image not having barrier to block of synthesis photo even in crowded areas and automatically remove moving objects, Http:// www.scalado.com/display/en/Remove).

Summary of the invention

In view of this, it is an object of the invention to provide a kind of lighting engineering, in order to avoid front Barrier block the impact for observer's sight line, thus provide for observer and eliminate obstacle Front real scene after thing.

According to an aspect of the present invention, it is provided that a kind of means of illumination, described method includes: field Scape shooting step, the scene image in shooting n frame front, wherein n is the integer more than 1；? Scape prediction steps, according to described n frame scene image, it was predicted that the barrier in the (n+1)th frame scene image Hinder the local scene image blocked by barrier in object image and the (n+1)th frame scene image；And Scene simulation step, projects front by the image including described local scene image.

Captured multiframe scene image can be processed by the said method of the present invention, it was predicted that goes out The scene parts that subsequent time is blocked by barrier, then projects this part scene and makes to front Observer is visible.This method avoid preceding object thing blocks the shadow for observer's sight line Ring, thus provide the front real scene removed after barrier for observer.

Preferably, in described scene prediction step, identify according to described n frame scene image Displacement data and barrier exercise data, and based on described displacement data and described barrier Thing exercise data is hindered to predict the obstructions chart picture in the (n+1)th frame scene image and the (n+1)th frame field The local scene image blocked by barrier in scape image.Due to barrier, illuminator self All it is likely to be in various kinestate, therefore for the prediction of next frame image information, needs Identify from multiple image before and barrier kinestate, illuminator displacement shape The information that state is relevant.

Preferably, by relatively described n frame scene image and detect background motion therein and know The most described displacement data.

Preferably, described displacement data include self-movement locus, the displacement of each frame At least one in direction, displacement speed, displacement attitude, self-position.

Preferably, the barrier wherein moved by relatively described n frame scene image detection is come Identify described barrier exercise data.

Preferably, described barrier exercise data includes Robot Bar Movement Track, the obstacle of each frame In the thing direction of motion, barrier movement velocity, barrier athletic posture, Obstacle Position extremely Few one.

Preferably, in described scene prediction step, farther include following steps:

Merge in n frame scene image according to described barrier exercise data and do not blocked by barrier Part, formed n-th frame scene image scene baseline image；

According to described displacement data, the scene baseline image of n-th frame scene image is carried out Conversion, to predict the scene baseline image of the (n+1)th frame scene image；

According to described displacement data and described barrier exercise data to n-th frame scene graph Obstructions chart picture in Xiang converts, to predict the obstructions chart in the (n+1)th frame scene image Picture；And

In scene baseline image according to the (n+1)th frame scene image and the (n+1)th frame scene image Obstructions chart picture, calculates the local scene graph blocked by barrier in the (n+1)th frame scene image Picture.

Preferably, described scene prediction step also includes an alignment step, according to the institute identified State displacement data, the n-1 frame scene image in addition to n-th frame scene image is carried out Three-dimensional conversion so that n-1 frame scene image before and n-th frame scene image realize content pair Together.Under some application scenarios, although can assume that in scene image, prevailing scenario is in static State and do not change, but when illuminator is in the mobile status of fair speed, institute Still can change between prevailing scenario in the multiframe scene image of shooting, above-mentioned preferred side Case eliminates above-mentioned change for the harmful effect of image procossing in scene prediction step.

Preferably, after described scene prediction step, also include a local scene image procossing step Suddenly, described local scene image is included edge emergence, brightness processed, contrast process, The image procossing of at least one in areal deformation.In different application scene, the characteristic of barrier All different, above-mentioned preferred version according to the type of barrier in concrete application scenarios to local scene Image performs various image procossing, so that this local scene image is with barrier characteristic more Laminating.

Preferably, before described scene capture step, also include a calibration steps, will shooting Calibrate between equipment and the equipment carrying out scene simulation of scene image.In certain applications field Jing Zhong, if the visual field gap of image capture device and image projecting equipment is relatively big, or in essence Degree requires that in high special applications scene, above-mentioned preferred version can ensure that image taking and figure In being incident upon effective range, there is approximately uniform visual field.

Preferably, spectroscope is used to perform described calibration steps.This spectroscope can be the most anti- Penetrate light a certain proportion of with transmission, can make to be in image capture device and the figure of diverse location As same optical field of view shared by projector equipment.

Preferably, in described scene capture step, in the case of near infrared light front Shooting n frame scene image.Owing near infrared light has the nearly distant view of differentiation, improves scenery identification The function of degree, thus this preferred version can obtain more preferable shooting effect, improves barrier on the scene Identification in scape.

Preferably, the image including described local scene image is to be covered by described local scene image Cover corresponding described obstructions chart as on and formed.So, observer no longer observes barrier Hinder object image, the substitute is this local scene image in same position, thus for observing Person provides the front real scene removed after barrier.

Preferably, the image including described local scene image is to be covered by described local scene image Cover corresponding described obstructions chart as on and fill illumination light at remainder and formed. So, observer no longer observes obstructions chart picture, the substitute is being somebody's turn to do in same position Locally scene image, and at the remainder of scene image, there is sufficient illumination light, thus Front real scene more complete after removing barrier is provided for observer.

Preferably, described illumination light includes illuminating image.Need to carry in sleety weather or search etc. In the application scenarios of high brightness of illumination, this illumination light can be the white light etc. of certain color temperature；Drilling Going out in the application scenarios of projects images, this illumination light can be specifically to illuminate image etc..

Preferably, also include a special identifier identification step, identify the special identifier in front, In described scene simulation step, described special identifier is added to include described local field further In the image of scape image, together project.In various application scenarios, frontal scene has There may be some special identifier, above-mentioned preferred version is eliminating barrier impact for observer Outside can also point out the special mark information in scene to observer.

Preferably, the shooting in described scene capture step operates and in described scene simulation step Projection operation different time carry out.In application scenes, the shooting behaviour of image capture device Make and the light condition of frontal scene is the most likely caused by the projection operation of image projecting equipment Certain impact, this can make to cause mutual doing between image capture device and image projecting equipment Disturb, and above-mentioned preferred version avoids this interference.

According to another aspect of the present invention, also providing for a kind of illuminator, described system includes: One scene capture unit, for shooting the scene image in n frame front, wherein n is more than 1 Integer；One scene prediction unit, for according to described n frame scene image, it was predicted that (n+1)th Obstructions chart in frame scene image as and the (n+1)th frame scene image in blocked by barrier Locally scene image；And a scene simulation unit, the figure of described local scene image will be included As projecting front.

Captured multiframe scene image can be processed by the said system of the present invention, it was predicted that goes out The scene parts that subsequent time is blocked by barrier, then projects this part scene and makes to front Observer is visible.This system obviates preceding object thing blocks the shadow for observer's sight line Ring, thus provide the front real scene removed after barrier for observer.

Preferably, described scene prediction unit identifies self fortune according to described n frame scene image Dynamic data and barrier exercise data, and transport based on described displacement data and described barrier Dynamic data predict the obstructions chart picture in the (n+1)th frame scene image and the (n+1)th frame scene image The middle local scene image blocked by barrier.Owing to barrier, illuminator self all may It is in various kinestate, therefore for the prediction of next frame image information, needs from before Multiple image in identify relevant with barrier kinestate, illuminator displacement state Information.

Preferably, described scene prediction unit by relatively described n frame scene image and detects it In background motion identify described displacement data.

Preferably, described scene prediction unit wherein moves by comparing n frame scene image detection Dynamic barrier identifies described barrier exercise data.

Preferably, described scene prediction unit farther includes such as lower unit:

One first module: for merging in n frame scene image according to described barrier exercise data The part do not blocked by barrier, forms the scene baseline image of n-th frame scene image；

One second unit: for according to the described displacement data field to n-th frame scene image Scape baseline image converts, to predict the scene baseline image of the (n+1)th frame scene image；

Unit one the 3rd: for according to described displacement data and described barrier exercise data Obstructions chart picture in n-th frame scene image is converted, to predict the (n+1)th frame scene graph Obstructions chart picture in Xiang；And

Unit one the 4th: for according to the scene baseline image of the (n+1)th frame scene image and the Obstructions chart picture in n+1 frame scene image, calculates in the (n+1)th frame scene image by barrier The local scene image blocked.

Preferably, described scene prediction unit farther includes an alignment unit, for according to institute State displacement data, the n-1 frame scene image in addition to n-th frame scene image is carried out Three-dimensional conversion so that n-1 frame scene image before and n-th frame scene image realize content pair Together.Under some application scenarios, although can assume that in scene image, prevailing scenario is in static State and do not change, but when illuminator is in the mobile status of fair speed, institute Still can change between prevailing scenario in the multiframe scene image of shooting, above-mentioned preferred side Case eliminates above-mentioned change for the harmful effect of image procossing in scene prediction step.

Preferably, described illuminator also includes a local scene graphics processing unit, for right Described local scene image carries out including edge emergence, brightness processed, contrast process, surface The image procossing of at least one in deformation.In different application scene, the characteristic of barrier is the most not With, above-mentioned local scene graphics processing unit is according to the type pair of barrier in concrete application scenarios Locally scene image performs various image procossing, so that this local scene image and barrier Characteristic is more fitted.

Preferably, described illuminator also includes an alignment unit, at described scene capture Calibration is carried out, to ensure shooting and to be incident upon between unit and described scene simulation unit There is in the range of effect approximately uniform visual field.In certain applications scene, if scene capture list The visual field gap of unit and scene simulation unit is relatively big, or in the high special applications of required precision In scene, above-mentioned alignment unit can ensure that image taking and image are incident upon tool in effective range There is approximately uniform visual field.

Preferably, described alignment unit includes spectroscope.Spectroscope can reflect and transmission simultaneously A certain proportion of light, can make to be in the scene capture unit of diverse location and scene simulation list Same optical field of view is shared by unit.

Preferably, described illuminator also includes a near-infrared unit, for clapping in described scene Near infrared light is forwards irradiated when taking the photograph unit photographs n frame scene image.Owing near infrared light has There are differentiation nearly distant view, the function of raising scenery identification degree, thus this near-infrared unit can obtain more Good shooting effect, improves barrier identification in the scene.

Preferably, described image projection unit be additionally operable to cover described local scene image right Form, on the described obstructions chart picture answered, the image including described local scene image.So, Observer no longer observes obstructions chart picture, the substitute is this local field in same position Scape image, thus the front real scene removed after barrier is provided for observer.

Preferably, described image projection unit be additionally operable to cover described local scene image right Formed on the described obstructions chart picture answered and in remainder filling illumination light and include described office The image of portion's scene image.So, observer no longer observes obstructions chart picture, replaces Be this local scene image in same position, and have at the remainder of scene image Sufficiently illumination light, thus provide front more complete after removing barrier for observer true Real field scape.

Preferably, described illuminator also includes a special identifier recognition unit, before identifying The special identifier of side, described scene simulation unit is additionally operable to add described special identifier to include In the image of described local scene image, together project.In various application scenarios, front There may exist some special identifier in side's scene, above-mentioned special identifier recognition unit is for observing Person can also point out the special mark information in scene outside eliminating barrier impact to observer.

Shooting behaviour preferably, in described illuminator, performed by described scene capture unit Make to carry out when operating different with the projection performed by described scene simulation unit.In some applied field Jing Zhong, the shooting operation of scene capture unit and the projection operation of scene simulation unit are the most likely The light condition of frontal scene is caused certain impact, and this can make scene capture unit and scene throw Penetrate and between unit, cause mutual interference, and above-mentioned preferred version avoids this interference.

Accompanying drawing explanation

Fig. 1 is the basic flow sheet of means of illumination in one detailed description of the invention of the present invention；

Fig. 2 is the flow chart of one detailed description of the invention Scene prediction steps of the present invention；

Fig. 3 is to utilize spectroscope to calibrate the principle of visual field in one detailed description of the invention of the present invention Schematic diagram；

Fig. 4 is the basic block diagram of illuminator in one detailed description of the invention of the present invention；

Fig. 5 is the structure chart of one detailed description of the invention Scene predicting unit of the present invention；

Fig. 6 is the schematic diagram of the scene image photographed in the present invention the first Application Example；

Fig. 7 is the signal of the scene baseline image of the present invention the first Application Example Scene image Figure；

Fig. 8 is the signal of obstructions chart picture in the present invention the first Application Example Scene image Figure；

Fig. 9 is the signal of local scene image in the present invention the first Application Example Scene image Figure；

Figure 10 is the scene schematic diagram in the present invention the first Application Example after projects images；

Figure 11 is the schematic diagram of the scene image photographed in the present invention the second Application Example；

Figure 12 is showing of the scene baseline image of the present invention the second Application Example Scene image It is intended to；

Figure 13 is the signal of obstructions chart picture in the present invention the second Application Example Scene image Figure；

Figure 14 is local the showing of scene image in the present invention the second Application Example Scene image It is intended to；

Figure 15 is the scene schematic diagram in the present invention the second Application Example after projects images.

Detailed description of the invention

Below in conjunction with the accompanying drawings and embodiment, the detailed description of the invention of the present invention is made the most in detail Explanation.Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.

Observer's sight line is affected, it is impossible to obtain front true for blocking of barrier in prior art The technical problem of real field scape, the present invention provides a kind of lighting engineering innovatively, implements this skill Captured multiple image can be processed by the method for art or system, it was predicted that goes out and is hidden by barrier The scene parts of gear, then projects this part scene and makes observer visible.This technique avoids Preceding object thing block the impact for observer's sight line, thus provide removal for observer Front real scene after barrier.

In the present invention, observer refers to observe people or the equipment of frontal scene.Such as at sleet In weather, observer is probably the traveling person in sleet, drives the driving of vehicle/ship Member or the monitoring device of monitoring front road conditions；When field lighting or projects images, observer It is probably performance spectators or shoots with video-corder the equipment of performance；In illumination search process, observer may It is searcher or search equipment etc..

In the present invention, barrier refers to that affecting observer observes people or the thing of front real scene Body.Such as in sleety weather, barrier is probably the movements such as raindrop, snowflake, ice cube Wisp；When field lighting or projects images, barrier be probably walk about in place people, The vehicle etc. of movement；In illumination search process, barrier is probably the small-sized of shelter target thing Fixing object etc..

In one detailed description of the invention of the present invention, it is provided that a kind of means of illumination, such as Fig. 1 institute Showing, the method comprises the steps: scene capture step S1, the scene in shooting n frame front Image；Scene prediction step S2, according to above-mentioned n frame scene image, it was predicted that the (n+1)th frame field The local blocked by barrier in obstructions chart picture in scape image and the (n+1)th frame scene image Scene image；And scene simulation step S3, the image of above-mentioned local scene image will be included Project front.

According to above-mentioned means of illumination, captured n frame scene image can be processed, it was predicted that Go out the scene parts that n+1 frame (subsequent time) is blocked by barrier, then project this part field Scape makes observer visible to front.It will be understood by those skilled in the art that owing to answering various With in the implementation process of scene, the method step of the present invention is likely constantly circulated execution, Therefore observer constantly can observe based on the multiple image shot before and eliminate obstacle Front real scene after thing, it is to avoid the blocking for observer's sight line of preceding object thing Impact.

In other detailed description of the invention follow-up, additionally provide and can implement the right of above-mentioned means of illumination Answer illuminator, the most below, " illuminator " all refer in particular in the present invention with above-mentioned photograph Specific illumination system corresponding to bright method.

Below, each step of above-mentioned means of illumination is discussed in detail in conjunction with accompanying drawing.

(1) scene capture step S1, the scene image in shooting n frame front.

In above-mentioned scene capture step, described n frame scene image refers in illuminator extremely Lack the image capture device image according to the n width frontal scene of certain Timing acquisition, in order to The content in the (n+1)th frame scene image is predicted in subsequent step.Those skilled in the art are permissible Understand, the utilization of term " frame " is only used for picture count, with shooting image time interval without Close.Wherein, the shooting interval between n two field picture can be by those skilled in the art according to obstacle The factors such as thing characteristic, image capture device performance, system data disposal ability freely set, both This n two field picture can be shot, it is also possible to not solid with Fixed Time Interval (fixing frame per second) Fixed time interval shoots this n two field picture.Such as process time delay more than image acquisition in data During equipment frame per second, so that it may the time interval shot by increase is adjusted, it might even be possible to lose Abandon part shot but have little time process scene image, as long as field, n frame front can finally be obtained Scape image is for subsequent step.

In the specific embodiment of the invention, n is the integer more than 1.Those skilled in the art can To understand, n value is the biggest, it is possible to predict (n+1)th based on more scene image before Content in frame scene image, thus improve precision of prediction, but it is likely to consume bigger simultaneously Numerical computations amount and operation time.Those skilled in the art can set according to actual needs The concrete value of n.

Seen from the above description, the (n+1)th two field picture non-shooting gained, but based on captured N frame frontal scene image predicted and obtained, this time point corresponding to the (n+1)th two field picture exists After front n two field picture shooting time and corresponding with the scene simulation time, this time point also with n frame Shooting interval between image is unrelated.

In this scene capture step, it is possible to use various image capture devices well known in the art Implement shooting operation, such as, include ccd sensor or cmos sensor etc..This image Collecting device may be at mobile status or static during sequential shoot n frame scene image State.Such as, when advancing in sleet, this image capture device is mountable to traveling person Illuminator in or be installed in the illuminator on the vehicle of traveling, ship, traveling across Journey carries out the shooting of scene image；When field lighting or image project, this image acquisition sets In the standby illuminator being mountable to fix, under static state carry out the shooting of scene image； In illumination search process, this image capture device is mountable to the illuminator that searcher carries On, search process carries out the shooting of scene image.

Owing near infrared light has differentiation nearly distant view, the function of raising scenery identification degree, at this Invent in a preferred implementation, during this scene capture, can arrange forwards according to Penetrate a near-infrared light source of near infrared light so that this image capture device can shine near infrared light Shoot n frame scene image in the case of penetrating front, thus obtain more preferable shooting effect, improve Barrier identification in the scene.

(2) scene prediction step S2, according to above-mentioned n frame scene image, it was predicted that the (n+1)th frame The office blocked by barrier in obstructions chart picture in scene image and the (n+1)th frame scene image Portion's scene image.

In this scene prediction step, multiple image captured in scene capture step is entered Row processes to dope the scene parts blocked by barrier, and this is for will be hindered in subsequent step The scene parts hindering thing to block is presented to observer and is provided the foundation.

In the application scenarios such as sleety weather, barrier is probably mobile object and illuminator can Mobile status can be also in；In the application scenarios of field lighting or projects images, barrier It is probably mobile object and illuminator is likely to be at resting state；In the applied field that illumination is searched Jing Zhong, barrier is likely to be at resting state but illuminator is likely to be at mobile status.By This is visible, and barrier, illuminator in the specific embodiment of the invention are all likely to be at various In kinestate, therefore for the prediction of next frame image information, it is necessary to from multiframe before Image identifies the letter relevant with barrier kinestate, illuminator displacement state Breath, these information are called " barrier exercise data " in the specific embodiment of the invention " displacement data ".In scene prediction steps, based on above-mentioned displacement data and Barrier exercise data predicts the obstructions chart picture and (n+1)th in the (n+1)th frame scene image The local scene image blocked by barrier in frame scene image.

As it is assumed that the prevailing scenario in scene image is in resting state, the present invention one In detailed description of the invention, by comparing n frame scene image and background motion therein can be detected Identify the displacement data of illuminator.Those skilled in the art can use in prior art The classic algorithm of background separation and motion detection can be realized to realize above-mentioned identification (such as paper Zhang X,Li H,Qi Y,et al.Rain removal in video by combining temporal and chromatic properties[C]//Multimedia and Expo,2006IEEE International Conference on.IEEE, algorithm etc. described in 2006:461-464.).

The different motion state being according to illuminator under different application scene, such as move or Static etc., the above-mentioned displacement data identified potentially include the displacement of illuminator Track, the displacement direction of each frame, displacement speed, displacement attitude, illumination system One or more in the self-position of system.

In one detailed description of the invention of the present invention, by comparing n frame scene image and can detect The barrier wherein moved carrys out cognitive disorders thing exercise data.Those skilled in the art can use Can realizing Moving Objects detection in prior art, to separate the classic algorithm of prospect above-mentioned to realize Identify (such as paper Zhang HongJiang, Atreyi Kankanhalli, and StephenW. Smoliar.“Automatic Partitioning of Full-motion Video.”Multimedia Systems1, no.1 (1993): algorithm etc. described in 10 28.).

The different motion state being according to barrier under different application scene, such as, move or quiet Only etc., the barrier exercise data identified potentially includes Robot Bar Movement Track, each frame In the barrier direction of motion, barrier movement velocity, barrier athletic posture, Obstacle Position One or more.

According to one detailed description of the invention of the present invention, as in figure 2 it is shown, walk in described scene prediction In Zhou, the prediction of scene image content can be carried out with following steps:

Step 21: merge in n frame scene image not according to the barrier exercise data that identified The part blocked by barrier, forms the scene baseline image of n-th frame scene image.

In this step, those skilled in the art can be according to barrier in each frame scene image The part do not blocked by barrier in barrier motion capture each frame scene images such as position, And utilize maximum likelihood algorithm well known in the art (such as paper Van Wie P, Stein M.A landsat digital image rectification system[J].Geoscience Electronics, IEEE Transactions on, algorithm etc. described in 1977,15 (3): 130-137.), close Become the part do not blocked by barrier in each frame scene image, to form n-th frame scene image Scene baseline image.This scene baseline image of n-th frame scene image does not comprise any obstacle Thing, reduces the real scene after eliminating barrier impact in n-th frame scene image.

Step 22: according to the displacement data the identified scene to n-th frame scene image Baseline image converts, to predict the scene baseline image of the (n+1)th frame scene image.

In this step, those skilled in the art can be according to the displacement rail of illuminator The displacement data pair such as mark, displacement direction, displacement speed, displacement attitude The scene baseline image of the n-th frame scene image formed in step 21 converts, with in advance Survey the scene baseline image of the (n+1)th frame scene image.This conversion can use well known in the art Video Motion Detection described in MPEG2 standard and prediction algorithm realize.(n+1)th frame This scene baseline image of scene image does not the most comprise any barrier, it was predicted that gone out (n+1)th Frame scene image eliminates the real scene after barrier impact.

Step 23: displacement data and barrier exercise data according to being identified are to n-th Obstructions chart picture in frame scene image converts, to predict in the (n+1)th frame scene image Obstructions chart picture.

Obstructions chart in n-th frame scene image seem shooting n-th frame scene image after known 's.In this step, those skilled in the art can according to the self-movement locus of illuminator, Displacement data and the barriers such as displacement direction, displacement speed, displacement attitude Thing movement locus, the barrier direction of motion of each frame, barrier movement velocity, barrier is hindered to be transported Obstructions chart picture in n-th frame scene image is become by the barrier exercise datas such as dynamic attitude Change, to predict the obstructions chart picture in n+1 frame scene image.This conversion can use and step Video Motion Detection same in 22 and prediction algorithm are implemented, and but differ in that, it was predicted that As it is assumed that the prevailing scenario in scene image is in quiet during the scene baseline image of the (n+1)th frame Only state and do not change, thus only consider illuminator displacement, and predict the The obstructions chart of n+1 frame as time be all likely to be at mobile status due to illuminator and barrier, It is thus desirable to consider both displacement and barrier motion simultaneously.

Step 24: according to scene baseline image and the (n+1)th frame field of the (n+1)th frame scene image Obstructions chart picture in scape image, calculates the office blocked by barrier in the (n+1)th frame scene image Portion's scene image.

In this step, according to predicting the (n+1)th frame scene image of obtaining in step 22 Scene baseline image and the obstacle predicted in step 23 in the (n+1)th frame scene image obtained Object image, those skilled in the art just can be calculated in the (n+1)th frame scene image by obstacle The local scene image that thing blocks.It will be understood by those skilled in the art that this local scene image Just in the scene baseline image of the (n+1)th frame scene image with the barrier of the (n+1)th frame scene image Hinder the part that object image position is corresponding, namely will be by barrier in the (n+1)th frame scene image The region blocked.

It will be understood by those skilled in the art that in the present invention for each in scene prediction step S2 Step is compiled with step 21-step 24, is only that numbering form distinguishes each step to facilitate for respectively Quoting and illustrating of step, does not represent the inevitable execution sequence between step.People in the art Member can perform above steps with flexible sequential under conditions of technical feasibility, the most permissible By step 23 and step 21,22 perform, even in step 21, execution etc. before 22 simultaneously.

Under some application scenarios, although can assume that in scene image, prevailing scenario is in static State and do not change, but when illuminator is in the mobile status of fair speed, institute Still can change between prevailing scenario in the multiframe scene image of shooting.In order to solve this Problem is to eliminate above-mentioned change for the harmful effect of image procossing in scene prediction step, at this Inventing in a preferred implementation, this scene prediction step may further include a pair in step Suddenly, according to the displacement data identified, to the n-1 in addition to n-th frame scene image Frame scene image carries out three-dimensional conversion so that n-1 frame scene image before and current n-th frame Scene image realizes content alignment, the most just compensate for caused by the movement of illuminator Change between prevailing scenario.Those skilled in the art can use image of the prior art to align Algorithm (such as paper Van Wie P, Stein M.A landsat digital image rectification system[J].Geoscience Electronics,IEEE Transactions on,1977,15(3): Algorithm etc. described in 130-137.), implement above-mentioned three-dimensional conversion.

In a preferred embodiment of the invention, means of illumination is after this scene prediction step A local scene image processing step can also be included.In different application scene, barrier Characteristic, such as shape, surface flatness, transparency etc. are all different, therefore at this local field In scape image processing step, according to the characteristic of barrier in concrete application scenarios to above-mentioned steps In 24, calculated local scene image carries out including edge emergence, brightness processed, contrast The image processing operations such as degree process, areal deformation, so that this local scene image and obstacle Thing characteristic is more fitted.Owing to above-mentioned image processing operations is techniques well known, ability Field technique personnel can select required concrete flexibly according to the obstacle identity in application scenarios Algorithm, here is omitted.

(3) scene simulation step S3, is included within scene prediction step this local obtained The image of scene image projects front.

As it was previously stated, will in the (n+1)th frame scene image of being predicted just of this local scene image The region blocked by barrier.In scene simulation step, this local scene image will be included Image projects front so that observer is it is observed that the field that originally should be blocked by barrier Scape part, thus avoid preceding object thing block the impact for observer's sight line, for seeing The person of examining provides the front real scene removed after barrier.

In this scene simulation step, available various image projecting equipments well known in the art come Implement this projection operation.This image projecting equipment may be at mobile shape during projects images State or resting state.Such as, when advancing in sleet, this image projecting equipment is mountable to row In illuminator with the person of entering or be installed in the illuminator of the vehicle of traveling, ship, Traveling process carries out image projection；When providing field lighting or image projection, this image is thrown Shadow equipment is mountable in the illuminator fixed, and under static state carries out image projection；? In illumination search process, this image projecting equipment is mountable to the illuminator that searcher carries On, search process carries out image projection.

In one detailed description of the invention of the present invention, can be by being somebody's turn to do of obtaining in above-mentioned steps 24 Locally scene image is predicted on the corresponding obstructions chart picture obtained in covering above-mentioned steps 23, To form the image including this local scene image.So, observer no longer observes barrier Image, the substitute is this local scene image in same position, thus carries for observer Supply to remove the front real scene after barrier.

In another embodiment of the present invention, can will obtain in above-mentioned steps 24 This local scene image covers predicts the corresponding obstructions chart picture obtained in above-mentioned steps 23 Above and at remainder fill illumination light, to form the image including this local scene image. So, observer no longer observes obstructions chart picture, the substitute is being somebody's turn to do in same position Locally scene image, and at the remainder of scene image, there is sufficient illumination light, thus Front real scene more complete after removing barrier is provided for observer.Specifically, exist Sleety weather or search etc. need in the application scenarios of raising brightness of illumination, and this illumination light can be The white light etc. of monochromatic light, such as certain color temperature；In performance in the application scenarios of projects images, This illumination light can be specifically to illuminate image etc..

In various application scenarios, frontal scene there may exist some special identifier, such as Important guideboard, direction board etc..In a preferred embodiment of the invention, this means of illumination is also A special identifier identification step can be included, known by algorithm for pattern recognition well known in the art The special identifier in other front, and this special identifier identified is added in scene simulation step It is added to include in the image of this local scene image, together projects.So, for observing Person can also point out the special mark information in scene outside eliminating barrier impact to observer.

Under normal conditions, the image capture device in illuminator and the side of image projecting equipment To unanimously, owing to they may be contained within this illuminator, same matter typically can be treated them as Point, and they visual fields in the range of effectively shooting/projection are considered identical.But in portion Divide in application scenarios, if the visual field gap of image capture device and image projecting equipment is relatively big, Or in the special applications scene that required precision is high, the present invention one can be implemented and be preferable to carry out Mode, i.e. also included a calibration steps before scene capture step, at image capture device and Calibration is carried out, to ensure that image taking and image are incident upon effectively between image projecting equipment In the range of there is approximately uniform visual field.Specifically, spectroscope can be used to perform described calibration Step, this spectroscope can reflect light a certain proportion of with transmission simultaneously, can make to be in not The image capture device of co-located and image projecting equipment share same optical field of view.

In application scenes, shooting operation and the image projecting equipment of image capture device Projection operation's the most likely light condition to frontal scene, such as brightness, colourity etc., cause Certain impact, this can make to cause mutual doing between image capture device and image projecting equipment Disturb.In order to avoid this possible interference, in a preferred embodiment of the invention, on State the shooting operation in scene capture step and the projection in above-mentioned scene simulation step operates not Carry out simultaneously.

As mistake described above, in one detailed description of the invention of the present invention, additionally provide one Planting illuminator 100, as shown in Figure 4, this illuminator 100 includes such as lower unit: scene Shooting unit 10, for shooting the scene image in n frame front；Scene prediction unit 20, uses According to described n frame scene image, it was predicted that the obstructions chart picture in the (n+1)th frame scene image and The local scene image blocked by barrier in (n+1)th frame scene image；And scene simulation list Unit 30, projects front by the image including described local scene image.

Said lighting system 100 can photographed scene image enter captured n frame scene image Row processes, it was predicted that go out the scene parts that n+1 frame (subsequent time) is blocked by barrier, then Projecting this part scene makes observer visible to front.In the application process of native system, observe Person constantly can observe the front eliminating barrier based on the multiple image shot before Real scene, it is to avoid preceding object thing block the impact for observer's sight line.

Below, each unit function and the structure of said lighting system 100 are discussed in detail in conjunction with accompanying drawing Become.

(1) scene capture unit 10, for shooting the scene image in n frame front.

This scene capture unit 10 can utilize various image capture device well known in the art Realize, such as, include ccd sensor or CMOD sensor etc..This scene capture unit 10 may be at mobile status or resting state during sequential shoot n frame scene image. Such as, when advancing in sleet, this scene capture unit 10 is mountable to traveling person In illuminator or be installed in the illuminator on the vehicle of traveling, ship, at traveling process In carry out the shooting of scene image；When field lighting or image project, this scene capture unit 10 are mountable in the illuminator fixed, and under static state carry out the shooting of scene image； In illumination search process, this scene capture unit 10 is mountable to the illumination that searcher carries In system, search process carries out the shooting of scene image.

Owing near infrared light has differentiation nearly distant view, the function of raising scenery identification degree, at this Inventing in a preferred implementation, illuminator 100 may also include near-infrared unit, is used for In this scene capture unit 10 photographed scene image process, forwards irradiate near infrared light, make Obtain this scene capture unit 10 and can shoot n frame field in the case of near infrared light front Scape image, thus obtain more preferable shooting effect, improve barrier identification in the scene.

(2) scene prediction unit 20, for according to described n frame scene image, it was predicted that (n+1)th Obstructions chart in frame scene image as and the (n+1)th frame scene image in blocked by barrier Locally scene image.

This scene prediction unit 20 to the multiple image captured by scene capture unit 10 at Reason is to dope the scene parts blocked by barrier, and this is the scene portion will blocked by barrier Point presenting to observer provides the foundation.In one detailed description of the invention of the present invention, this scene Predicting unit 20 identifies displacement data and barrier motion number according to n frame scene image According to, and predict the (n+1)th frame scene image based on displacement data and barrier exercise data In obstructions chart picture and the (n+1)th frame scene image in the local scene graph that blocked by barrier Picture.

As it is assumed that the prevailing scenario in scene image is in resting state, the present invention one In detailed description of the invention, this scene prediction unit 20 by comparing n frame scene image and can be examined Survey background motion therein to identify the displacement data of illuminator.At the present invention one tool In body embodiment, this scene prediction unit 20 by comparing n frame scene image and can detect The barrier wherein moved carrys out cognitive disorders thing exercise data.

According to one detailed description of the invention of the present invention, as it is shown in figure 5, this scene prediction unit 20 can farther include such as lower unit:

First module: for merging n frame scene image according to the barrier exercise data identified In the part do not blocked by barrier, form the scene baseline image of n-th frame scene image.

This first module can be according to barrier fortune such as the positions of barrier in each frame scene image The part do not blocked by barrier in dynamic data acquisition each frame scene image, and synthesize each frame scene The part do not blocked by barrier in image, to form the scene baseline chart of n-th frame scene image Picture.This scene baseline image of n-th frame scene image does not comprise any barrier, reduces N-th frame scene image eliminates the real scene after barrier impact.

Second unit: be used for according to the displacement data identified n-th frame scene image Scene baseline image converts, to predict the scene baseline image of the (n+1)th frame scene image.

This second unit can according to the self-movement locus of illuminator, displacement direction, The displacement data fields to n-th frame scene image such as displacement speed, displacement attitude Scape baseline image converts, to predict the scene baseline image of the (n+1)th frame scene image.The This scene baseline image of n+1 frame scene image does not the most comprise any barrier, it was predicted that go out (n+1)th frame scene image eliminates the real scene after barrier impact.

Unit the 3rd: for according to the displacement data identified and barrier exercise data Obstructions chart picture in n-th frame scene image is converted, to predict the (n+1)th frame scene graph Obstructions chart picture in Xiang.

Unit the 3rd can according to the self-movement locus of illuminator, displacement direction, The displacement data such as displacement speed, displacement attitude and Robot Bar Movement Track, The barriers such as the barrier direction of motion of each frame, barrier movement velocity, barrier athletic posture Obstructions chart picture in n-th frame scene image is converted by exercise data, to predict n+1 Obstructions chart picture in frame scene image.

Unit the 4th: for the scene baseline image and (n+1)th according to the (n+1)th frame scene image Obstructions chart picture in frame scene image, calculates in the (n+1)th frame scene image and is blocked by barrier Local scene image.

In scene baseline image according to the (n+1)th frame scene image and the (n+1)th frame scene image Obstructions chart picture, Unit the 4th just can be calculated in the (n+1)th frame scene image by obstacle The local scene image that thing blocks.It will be understood by those skilled in the art that this local scene image Just in the scene baseline image of the (n+1)th frame scene image with the barrier of the (n+1)th frame scene image Hinder the part that object image position is corresponding, namely will be by barrier in the (n+1)th frame scene image The region blocked.

Under some application scenarios, although can assume that in scene image, prevailing scenario is in static State and do not change, but when illuminator 100 is in the mobile status of fair speed Time, still can change between the captured prevailing scenario in multiframe scene image.In order to Solve this problem to eliminate above-mentioned change for the harmful effect of image procossing, the present invention one In preferred implementation, this scene prediction unit 20 may further include an alignment unit, For according to the displacement data identified, to the n-1 in addition to n-th frame scene image Frame scene image carries out three-dimensional conversion so that n-1 frame scene image before and current n-th frame Scene image realizes content alignment, the most just compensate for owing to the mobile of illuminator 100 is drawn Change between the prevailing scenario risen.

In a preferred embodiment of the invention, illuminator 100 can also include a local Scene image processing unit, for local calculated to scene prediction unit 20 scene graph As carrying out including the image procossing such as edge emergence, brightness processed, contrast process, areal deformation Operation.

(3) scene simulation unit 30, before projecting the image including this local scene image Side.

As it was previously stated, will in the (n+1)th frame scene image of being predicted just of this local scene image The region blocked by barrier.This scene simulation unit 30 will include this local scene image Image projects front so that observer is it is observed that the field that originally should be blocked by barrier Scape part, thus avoid preceding object thing block the impact for observer's sight line, for seeing The person of examining provides the front real scene removed after barrier.

This scene simulation unit 30 may utilize various image projecting equipment well known in the art and comes real Existing.This scene projecting cell 30 may be at mobile status or static during projects images State.Such as, when advancing in sleet, this scene projecting cell 30 is mountable to traveling person In illuminator with it or be installed in the illuminator of the vehicle of traveling, ship, advancing During carry out image projection；When providing field lighting or image projection, the projection of this scene is single Unit 30 is mountable in the illuminator fixed, and under static state carries out image projection；? In illumination search process, this scene projecting cell 30 is mountable to the illumination system that searcher carries On system, search process carries out image projection.

In one detailed description of the invention of the present invention, this scene projecting cell 30 can be by this local Scene image covers on corresponding obstructions chart picture, to form the figure including this local scene image Picture.So, observer no longer observes obstructions chart picture, the substitute is in same position This local scene image, thus for observer provide removal barrier after front true Scene.

In another embodiment of the present invention, this scene projecting cell 30 can be by this office Portion's scene image covers on corresponding obstructions chart picture and fills illumination light at remainder, with Form the image including this local scene image.So, observer no longer observes obstructions chart Picture, the substitute is this local scene image in same position, and at scene image Remainder has a sufficient illumination light, thus provides after removal barrier more for observer Complete front real scene.

In various application scenarios, frontal scene there may exist some special identifier, such as Important guideboard, direction board etc..In a preferred embodiment of the invention, this illuminator 100 can also include a special identifier recognition unit, and it identifies the special identifier in front.Scene This special identifier identified can be added to and included this local scene image by projecting unit 30 Image in, together project.So, outside eliminate barrier impact for observer The special mark information in scene can also be pointed out to observer.

Under normal conditions, scene collecting unit 10 and the scene projection of illuminator 100 are single The direction of unit 30 is consistent, owing to they may be contained within this illuminator 100, and typically can be by They are considered as same particle, and are considered they visual fields in the range of effectively shooting/projection Identical.But in certain applications scene, if scene collecting unit 10 and scene projection are single The visual field gap of unit 30 is relatively big, or in the special applications scene that required precision is high, can Implement a preferred embodiment of the invention, i.e. farther include a school in illuminator 100 Quasi-unit 60, carries out school, visual field between scene collecting unit 10 and scene projecting cell 30 Standard, to ensure that image taking and image have approximately uniform visual field in being incident upon effective range. Specifically, can use spectroscope to realize this alignment unit, this spectroscope can reflect simultaneously and The a certain proportion of light of transmission, by the such as configuration mode shown in Fig. 3, can make to be in Scene collecting unit 10 and the scene projecting cell 30 of diverse location share same optical field of view.

In application scenes, the shooting operation of scene collecting unit 10 and scene projection are single Projection operation's the most likely light condition to frontal scene of unit's 30 images, such as brightness, Colourity etc., cause certain impact, and this can make scene collecting unit 10 and scene projecting cell 30 Between cause mutual interference.In order to avoid this possible interference, excellent the present invention one Select in this illuminator 100 of embodiment, this shooting performed by scene capture unit 10 Operate and carry out when operating different with the projection performed by this scene simulation unit 30.

First Application Example

The present invention the first application scenarios embodiment is introduced below in conjunction with Fig. 6-10.

In this application embodiment, driver is driving a car in the rain, the car light position of this automobile The illuminator being provided with in the present invention, can perform the means of illumination in the present invention.Wherein, make Driver and this illuminator for observer are in common mobile status, and as obstacle The raindrop of thing is also in mobile status.Block sight line due to the numerous raindrop in front and raindrop causes Light reflection can affect Driver Vision and observe, need to utilize this illuminator to perform the present invention In means of illumination for driver provide eliminate the frontal scene after raindrop, it is to avoid raindrop Impact for pilot's line of vision.

After driver starts this illuminator, alignment unit is at scene capture unit and scene simulation Calibration is carried out between unit.Scene capture unit irradiates the condition in front at near-infrared unit The scene image in lower shooting n frame front, the value of n can be the most preset, such as It is 10.Fig. 6 shows a captured wherein frame scene image, including frontal scene Easily block the raindrop of pilot's line of vision.

In illuminator, scene prediction unit detects the background fortune in this 10 frame scene image Dynamic, identify the data such as the travel track of automobile (illuminator), direction, speed.Based on These data, the alignment unit in scene prediction unit carries out solid to 1-9 frame scene image Conversion, makes them realize content with the 10th frame scene image and aligns.Meanwhile, scene prediction list Raindrop motion in unit's detection 10 frame scene images, identifies raindrop flight path, flight side To data such as, flight speeds.

First module and second unit in scene prediction unit divide based on this 10 frame scene image Do not obtain the 10th frame scene baseline image and dope the 11st frame scene baseline image.Fig. 7 is The schematic diagram of one width scene baseline image, the most only includes that original real scene in front is removed The blocking of raindrop.Unit the 3rd in scene prediction unit is predicted based on 10 frame scene images Go out the raindrop image in the 11st frame scene image.Fig. 8 shows the 11st doped frame field Raindrop image in scape image, wherein contains the raindrop in the 11st frame scene image.Scene Unit the 4th in predicting unit calculates and will be blocked by raindrop in the 11st frame scene image Locally scene image.Fig. 9 b shows a part for the local scene image of the 11st frame, in order to It is easy to it will be appreciated by those skilled in the art that in the scene image that Fig. 9 a auxiliary shows appropriate section Front real scene and the synthetic effect of raindrop image, the real scene portion that wherein raindrop shelters from Divide the local scene image being in Fig. 9 a.Then, the local scene image in illuminator Processing unit performs a series of images to this local scene graph and processes.

Local scene image is projected front by the scene simulation unit in illuminator, will local Scene image covers on the raindrop now occurring in front on relevant position, and in its remaining part Divide and fill white illumination light.If frontal scene having important indication guide board, scene simulation list Unit also can add this guideboard identified before special identifier recognition unit to this local scene Image together projects.Figure 10 shows the frontal scene after the scene image of projection local, Comparison diagram 6, the raindrop in scene after the scene image of projection local is all by local scene image institute Cover, provide front real scene without being blocked by raindrop for driver.This area Those of skill will appreciate that, the raindrop profile in Figure 10 only plays signal effect, is used for identifying Go out the actual position at raindrop place, but under the desired operation of present illumination system, The true effect of Figure 10 does not comprise these raindrop profiles.

Illuminator on automobile constantly circulates this means of illumination performed in the present invention, such field Scape projecting unit the most forwards projects based on 10 frame scene image institutes of shooting before projection Calculated local scene image, thus avoid driver in the process of moving by front The impact that raindrop blocks, provides clear field, the front after eliminating raindrop for driver Scape.

Similar with this application embodiment, the method and system of the present invention is widely available in illumination system System, barrier are in other similar application scenes of mobile status, and wherein barrier is permissible Being the ice cube in such as snowflake, hail, disorderly a scrap of paper etc., illuminator also can be installed First-class in the assembling with oneself of the most various vehicles, ship, aircraft, engineering machinery or pedestrian.

Second Application Example

The present invention the second application scenarios embodiment is introduced below in conjunction with Figure 11-15.

In this application embodiment, the lamppost projector on square is to large-scale curtain upslide projection picture Watch for spectators, but the pedestrian of process or vehicle likely block the sight line of spectators frequently.This lamp The illuminator being provided with in the present invention in post projector, can perform the illumination side in the present invention Method.Wherein, spectators and this illuminator as observer remain static, and as barrier The pedestrian or the vehicle that hinder thing are in mobile status.Now need to utilize this illuminator to perform basis Means of illumination in invention provides for spectators and eliminates the frontal scene after barrier, it is to avoid Barrier is for the impact of spectators' sight line.

After starting this illuminator, alignment unit scene capture unit and scene simulation unit it Between carry out Calibration.The scene image in scene capture unit photographs n frame front, the value of n Can be the most preset, for example, 20.Figure 11 shows a captured wherein frame Scene image, including the image on curtain and the pedestrian's image blocking spectators' sight line.

In illuminator, the pedestrian that scene prediction unit detects in this 20 frame scene image moves, Identify the data such as the run trace of pedestrian, direction of travel, the speed of travel.

First module and second unit in scene prediction unit divide based on this 20 frame scene image Do not obtain the 20th frame scene baseline image and dope the 21st frame scene baseline image.Figure 12 The schematic diagram of a width scene baseline image, the most only include the original real image on curtain and Eliminate blocking of pedestrian.Unit the 3rd in scene prediction unit is based on this 20 frame scene graph As doping the pedestrian's image in the 21st frame scene image.Figure 13 shows doped Pedestrian's imaged image in 21 frame scene images.Unit the 4th in scene prediction unit calculates Go out the local scene image that will be blocked by pedestrian in the 21st frame scene image.Figure 14 shows A part for the local scene image of the 21st frame.Then, the local scene graph in illuminator Process as processing unit performs a series of images to this local scene graph.

Local scene image is projected on curtain, by office by the scene simulation unit in illuminator Portion's scene image covers in the pedestrian position now occurring in front on relevant position, and Remainder fills illumination light.Figure 15 shows the frontal scene after the scene image of projection local, Contrast Figure 11, the pedestrian in scene after the scene image of projection local is by local scene image institute Cover, provide front real scene without being blocked by pedestrian for spectators.

Illuminator on lamppost constantly circulates this means of illumination performed in the present invention, such field Scape projecting unit constantly projects based on 20 frame scene image institutes of shooting before projection to curtain Calculated local scene image, thus avoid spectators in watching process by front row People or the impact of occlusion, provide the front after eliminating barrier and clearly scheme for spectators Scape.

Similar with this application embodiment, the method and system of the present invention is widely available in illumination system System remains static and barrier is in other similar application scenes of mobile status, wherein Barrier can be such as pedestrian, ran animal, the vehicle etc. of process, illuminator also may be used It is installed on the lighting standard etc. in the film projector of such as movie theatre, stadium.

3rd Application Example

Introduce the present invention the 3rd application scenarios embodiment below.

In this application embodiment, visitor loses with torch equipment searching in the dim woods Article, the bushes in front etc. can affect the observation of visitor.This torch equipment is provided with this Illuminator in bright, can perform the means of illumination in the present invention.Wherein, at this illuminator In removable state, and the bushes as barrier then remains static.Now need The means of illumination utilizing this illuminator to perform in the present invention provides for visitor and eliminates front Scene after bushes, it is to avoid barrier is for the impact of visitor's sight line.

After starting this illuminator, alignment unit scene capture unit and scene simulation unit it Between carry out Calibration.Visitor can move torch on the in-planes such as upper and lower, left and right on a large scale Equipment, so that scene capture unit is from the scene image in multi-angled shooting n frame front, n takes Value can be the most preset, and for example, 10, every frame scene image includes remotely Scene and bushes nearby.

In illuminator, scene prediction unit detects the background fortune in this 10 frame scene image Dynamic, identify the data such as the travel track of torch equipment (illuminator), direction, speed. Based on these data, 1-9 frame scene image is carried out by the alignment unit in scene prediction unit Three-dimensional conversion, makes them realize content with the 10th frame scene image and aligns.

First module and second unit in scene prediction unit divide based on this 10 frame scene image Do not obtain the 10th frame scene baseline image and dope the 11st frame scene baseline image.Scene base Line image only include front original real scene and eliminate bushes block.Scene prediction Unit the 3rd in unit dopes the filling in the 11st frame scene image based on 10 frame scene images Wood clump image.Unit the 4th in scene prediction unit calculates in the 11st frame scene image The local scene image that will be blocked by bushes.Then, the local scene image in illuminator Processing unit performs a series of images to this local scene graph and processes.

Local scene image is projected front by the scene simulation unit in illuminator, will local Scene image covers on the bushes in front on relevant position, and fills white at remainder Color illumination light.If there being important indication guide board in frontal scene, scene simulation unit also can be by This guideboard identified before special identifier recognition unit adds in this local scene image one to With projecting.The bushes in scene after the scene image of projection local is by local scene image Covered, for visitor provide front real scene without by bushes block.

Visitor utilizes the illuminator on torch equipment constantly to circulate this photograph performed in the present invention Bright method, such scene simulation unit the most forwards projects based on shooting before projection 10 frame scene image institute calculated local scene images, thus avoid visitor and searching During blocked by preceding object thing and to be affected, provide for visitor after eliminating barrier Frontal scene, it is possible to more successfully search out the article of loss.

Similar with this application embodiment, the method and system of the present invention is widely available in illumination system System be in mobile status and in other similar application scenes that barrier remains static.

Those of ordinary skill in the art are it is to be appreciated that combine the embodiments described herein and retouch The unit of each example stated and method step, it is possible to electronic hardware or computer software and Being implemented in combination in of electronic hardware.These functions perform with hardware or software mode actually, Depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can be to often Individual specifically should being used for uses different methods to realize described function, but this realization is not It is considered as beyond the scope of this invention.

If described function realizes and as independent product pin using the form of SFU software functional unit When selling or use, can be stored in a computer read/write memory medium.Based on such Understand, part that original technology is contributed by technical scheme the most in other words or The part of this technical scheme of person can embody with the form of software product, this computer software Product is stored in a storage medium, including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) performs the present invention, and each is real Execute all or part of step of method described in example.And aforesaid storage medium includes: USB flash disk, shifting Dynamic hard disk, read only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey The medium of sequence code.

Embodiment of above is merely to illustrate the present invention, and not limitation of the present invention, relevant The those of ordinary skill of technical field, without departing from the spirit and scope of the present invention, Can also make a variety of changes and modification, the technical scheme of the most all equivalents falls within the present invention Category, the scope of patent protection of the present invention should be defined by the claims.

Claims (27)

1. a means of illumination, it is characterised in that described method includes:

Scene capture step, the scene image in shooting n frame front, wherein n is whole more than 1 Number；

Scene prediction step, according to described n frame scene image, it was predicted that the (n+1)th frame scene image In obstructions chart picture and the (n+1)th frame scene image in the local scene graph that blocked by barrier Picture；And

Scene simulation step, projects front by the image including described local scene image,

Wherein, in described scene prediction step, come from according to described n frame scene image identification Body exercise data and barrier exercise data, and based on described displacement data and described obstacle Thing exercise data predicts the obstructions chart picture in the (n+1)th frame scene image and the (n+1)th frame scene The local scene image blocked by barrier in image,

Wherein, in described scene prediction step, farther include following steps:

Merge in n frame scene image according to described barrier exercise data and do not blocked by barrier Part, formed n-th frame scene image scene baseline image；

According to described displacement data, the scene baseline image of n-th frame scene image is carried out Conversion, to predict the scene baseline image of the (n+1)th frame scene image；

According to described displacement data and described barrier exercise data to n-th frame scene graph Obstructions chart picture in Xiang converts, to predict the obstructions chart in the (n+1)th frame scene image Picture；And

In scene baseline image according to the (n+1)th frame scene image and the (n+1)th frame scene image Obstructions chart picture, calculates the local scene graph blocked by barrier in the (n+1)th frame scene image Picture.

Method the most according to claim 1, it is characterised in that by relatively described n Frame scene image also detects background motion therein to identify described displacement data.

Method the most according to claim 1, it is characterised in that described displacement number According to including self-movement locus, the displacement direction of each frame, displacement speed, self fortune At least one in dynamic attitude, self-position.

Method the most according to claim 1, it is characterised in that by relatively described n Frame scene image also detects the barrier wherein moved to identify described barrier exercise data.

Method the most according to claim 1, it is characterised in that described barrier moves Data include Robot Bar Movement Track, the barrier direction of motion of each frame, barrier movement velocity, At least one in barrier athletic posture, Obstacle Position.

Method the most according to claim 1, it is characterised in that described scene prediction walks Suddenly an alignment step is also included, according to the described displacement data identified, to except n-th N-1 frame scene image outside frame scene image carries out three-dimensional conversion so that n-1 frame before Scene image realizes content with n-th frame scene image and aligns.

7. according to the method according to any one of claim 1-6, it is characterised in that in institute A local scene image processing step is also included, to described local field after stating scene prediction step Scape image carry out including edge emergence, brightness processed, contrast process, in areal deformation at least A kind of image procossing.

8. according to the method according to any one of claim 1-6, it is characterised in that described Before scene capture step, also include a calibration steps, by the equipment of photographed scene image and entering Calibrate between the equipment of row scene simulation, to have in ensureing shooting and being incident upon effective range There is approximately uniform visual field.

Method the most according to claim 8, it is characterised in that use spectroscope to hold The described calibration steps of row.

10. according to the method according to any one of claim 1-6, it is characterised in that in institute State in scene capture step, in the case of near infrared light front, shoot n frame scene graph Picture.

11. according to the method according to any one of claim 1-6, it is characterised in that include Described local scene image is covered described in correspondence by the image of described local scene image Obstructions chart as on and formed.

12. according to the method according to any one of claim 1-6, it is characterised in that include Described local scene image is covered described in correspondence by the image of described local scene image Obstructions chart as on and remainder fill illumination light and formed.

13. methods according to claim 12, it is characterised in that described illumination light bag Include illumination image.

14. according to the method according to any one of claim 1-6, it is characterised in that also wrap Include a special identifier identification step, identify the special identifier in front,

In described scene simulation step, further described special identifier is added to described in including Locally in the image of scene image, together project.

15. according to the method according to any one of claim 1-6, it is characterised in that described Shooting operation in scene capture step operates different with the projection in described scene simulation step Shi Jinhang.

16. 1 kinds of illuminators, it is characterised in that described system includes:

One scene capture unit, for shooting the scene image in n frame front, wherein n is for being more than The integer of 1；

One scene prediction unit, for according to described n frame scene image, it was predicted that the (n+1)th frame field The local blocked by barrier in obstructions chart picture in scape image and the (n+1)th frame scene image Scene image；And

One scene simulation unit, projects front by the image including described local scene image,

Wherein, described scene prediction unit identifies displacement according to described n frame scene image Data and barrier exercise data, and move based on described displacement data and described barrier Data are predicted in the obstructions chart picture in the (n+1)th frame scene image and the (n+1)th frame scene image The local scene image blocked by barrier,

Wherein, described scene prediction unit farther includes such as lower unit:

One first module: for merging in n frame scene image according to described barrier exercise data The part do not blocked by barrier, forms the scene baseline image of n-th frame scene image；

One second unit: for according to the described displacement data field to n-th frame scene image Scape baseline image converts, to predict the scene baseline image of the (n+1)th frame scene image；

Unit one the 3rd: for according to described displacement data and described barrier exercise data Obstructions chart picture in n-th frame scene image is converted, to predict the (n+1)th frame scene graph Obstructions chart picture in Xiang；And

Unit one the 4th: for according to the scene baseline image of the (n+1)th frame scene image and the Obstructions chart picture in n+1 frame scene image, calculates in the (n+1)th frame scene image by barrier The local scene image blocked.

17. systems according to claim 16, it is characterised in that described scene prediction Unit is by relatively described n frame scene image and detects background motion therein and identifies described Displacement data.

18. systems according to claim 16, it is characterised in that described scene prediction Unit is by comparing n frame scene image and detecting the barrier that wherein moves and identify described barrier Hinder thing exercise data.

19. systems according to claim 16, it is characterised in that described scene prediction Unit farther includes an alignment unit, for according to described displacement data, to except the N-1 frame scene image outside n frame scene image carries out three-dimensional conversion so that n-1 before Frame scene image realizes content with n-th frame scene image and aligns.

20. according to the system according to any one of claim 16-19, it is characterised in that institute State illuminator and also include a local scene graphics processing unit, for described local scene graph As carrying out including at least one in edge emergence, brightness processed, contrast process, areal deformation Image procossing.

21. according to the system according to any one of claim 16-19, it is characterised in that institute State illuminator and also include an alignment unit, in described scene capture unit and described scene Calibration is carried out between projecting unit, near to have in ensureing shooting and being incident upon effective range The visual field that patibhaga-nimitta is same.

22. systems according to claim 21, it is characterised in that described alignment unit Including spectroscope.

23. according to the system according to any one of claim 16-19, it is characterised in that institute State illuminator and also include a near-infrared unit, at described scene capture unit photographs n frame Near infrared light is forwards irradiated during scene image.

24. according to the system according to any one of claim 16-19, it is characterised in that institute State scene simulation unit and be additionally operable to cover described local scene image the described obstacle of correspondence The image including described local scene image is formed on object image.

25. according to the system according to any one of claim 16-19, it is characterised in that institute State scene simulation unit and be additionally operable to cover described local scene image the described obstacle of correspondence Formed on object image and in remainder filling illumination light and include described local scene image Image.

26. according to the system according to any one of claim 16-19, it is characterised in that institute State illuminator and also include a special identifier recognition unit, for identifying the special identifier in front,

Described scene simulation unit is additionally operable to add described special identifier to include described local In the image of scene image, together project.

27. according to the system according to any one of claim 16-19, it is characterised in that In described illuminator, shooting operation and described scene performed by described scene capture unit are thrown Carry out when penetrating the operation difference of the projection performed by unit.