CN105578146A - Mechanical anti-shake processing method and device - Google Patents
Mechanical anti-shake processing method and device Download PDFInfo
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- CN105578146A CN105578146A CN201610008480.5A CN201610008480A CN105578146A CN 105578146 A CN105578146 A CN 105578146A CN 201610008480 A CN201610008480 A CN 201610008480A CN 105578146 A CN105578146 A CN 105578146A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
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Abstract
The invention provides a mechanical anti-shake processing method and device. The method comprises following steps: when detecting that a video collection device is in a shake state through a sensor, obtaining a first shake frequency and a first shake amplitude through the sensor; when the first shake frequency is more than or equal to a first frequency threshold value and the first shake amplitude is more than or equal to a first amplitude threshold value, carrying out mechanical anti-shake according to the first shake frequency and the first shake amplitude; obtaining the maximum pixel offset deviation of a target object position in a monitoring image after the mechanical anti-shake, obtaining a second shake frequency after the mechanical anti-shake through the sensor; determining a corresponding second shake amplitude according to the maximum pixel offset deviation and the mapping relation of the pre-stored pixel offset deviation and the shake amplitude; and carrying out the mechanical anti-shake according to the second shake frequency and the second shake amplitude. In application of the embodiment of the invention, the image stability can be improved.
Description
Technical field
The present invention relates to technical field of video monitoring, particularly relate to a kind of movement stabilization processing method and device.
Background technology
Along with the development of Video Supervision Technique, the kind of video capture device is increasing, and the function of video capture device is also become stronger day by day.Such as, spherical video capture device (be called for short ball machine) due to easy for installation, use simple but powerful etc. advantage, obtain applying more and more widely in field of video monitoring.
In field of video monitoring, the quality of the quality of the image that video capture device collects determines the reliability of this image, and the successful of the operation to carry out according to this image, for Car license recognition, the quality of the vehicle image that video capture device collects can directly have influence on Car license recognition success rate and accuracy rate.Stability then one of key factor affecting picture quality of image, therefore, how promoting picture steadiness is the very important problem of video capture device one of facing.
Summary of the invention
The invention provides a kind of movement stabilization processing method and device, to improve picture steadiness.
According to the first aspect of the embodiment of the present invention, a kind of movement stabilization processing method is provided, comprises:
When detecting that self is in dither state by transducer, obtain the first chattering frequency and the first jitter amplitude by described transducer;
When the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, carry out mechanical stabilization according to described first chattering frequency and the first jitter amplitude;
Obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by described transducer;
According to described maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the second corresponding jitter amplitude; Movement stabilization is carried out according to described second chattering frequency and described second jitter amplitude.
According to the second aspect of the embodiment of the present invention, a kind of movement stabilization processing unit is provided, comprises:
First acquiring unit, for when detecting that self is in dither state by transducer, obtains the first chattering frequency and the first jitter amplitude by described transducer;
Stabilization processing unit, for when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, according to described first chattering frequency and the first jitter amplitude machinery stabilization;
Second acquisition unit, the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after obtaining mechanical stabilization;
Described first acquiring unit, also for obtaining the second chattering frequency after mechanical stabilization by described transducer;
First determining unit, for according to described maximum pixel offset deviation, and the pixel-shift difference prestored and the mapping relations of jitter amplitude, determine the second corresponding jitter amplitude;
Described stabilization processing unit, also for carrying out movement stabilization according to described second chattering frequency and described second jitter amplitude.
The application embodiment of the present invention, when detecting that self is in dither state by transducer, the first chattering frequency and the first jitter amplitude is obtained by transducer, and when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, mechanical stabilization is carried out according to this first chattering frequency and the first jitter amplitude, and then, obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by transducer, according to this maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the second corresponding jitter amplitude, and carry out movement stabilization according to the second chattering frequency and the second jitter amplitude, improve the stability of image.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of a kind of movement stabilization processing method that the embodiment of the present invention provides;
Fig. 2 A is a kind of chattering frequency that the embodiment of the present invention provides schematic diagram of license plate image in monitored picture when exceeding predeterminated frequency threshold value;
Fig. 2 B is the pixel-shift differential intention of car plate position in a kind of monitored picture of providing of the embodiment of the present invention;
Fig. 3 is the structural representation of a kind of movement stabilization processing unit that the embodiment of the present invention provides;
Fig. 4 is the structural representation of the another kind of movement stabilization processing unit that the embodiment of the present invention provides;
Fig. 5 is the structural representation of the another kind of movement stabilization processing unit that the embodiment of the present invention provides.
Embodiment
Technical scheme in the embodiment of the present invention is understood better in order to make those skilled in the art person, and enable the above-mentioned purpose of the embodiment of the present invention, feature and advantage become apparent more, below in conjunction with accompanying drawing, technical scheme in the embodiment of the present invention is described in further detail.
Refer to Fig. 1, be the schematic flow sheet of a kind of movement stabilization processing method that the embodiment of the present invention provides, as shown in Figure 1, the method can comprise the following steps:
Step 101, when detecting that self is in dither state by transducer, obtain the first chattering frequency and the first jitter amplitude by this transducer.
In the embodiment of the present invention, said method can be applied in the video capture device of video monitoring system, as ball machine.For ease of describe, below for the executive agent of said method for video capture device is described.
In the embodiment of the present invention, video capture device can pass through transducer (as attitude transducer) and detect self and whether be in dither state.When by transducer, video capture device detects that self is in dither state, chattering frequency (the first chattering frequency) and the jitter amplitude (the first jitter amplitude) of self can be obtained further by transducer.
Step 102, when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, carry out mechanical stabilization according to the first chattering frequency and the first jitter amplitude.
In the embodiment of the present invention, the chattering frequency considering when video capture device be more than or equal to certain frequency threshold and jitter amplitude is more than or equal to certain amplitude threshold time, in the monitored picture of video capture device, the image of destination object can be thicker because of shake, and the target object position that now video capture device recognizes is constant, cause obtaining the pixel-shift of target object position in monitored picture poor, stabilization process cannot realize.Take destination object as car plate be example, its schematic diagram can see Fig. 2 A.Thus, when video capture device is in dither state, first can carry out mechanical stabilization, to reduce the chattering frequency of video capture device, then carry out movement stabilization according to the method described above further.Alternatively, this mechanical stabilization can comprise and carries out stabilization process by The Cloud Terrace stabilization mode.
Correspondingly, when by transducer, video capture device detects that self is in dither state, and after chattering frequency (i.e. the first chattering frequency) under getting current state and jitter amplitude (i.e. the first jitter amplitude), if the first chattering frequency be more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold time, can according to the first chattering frequency and the first jitter amplitude configuration stabilization parameter, as chattering frequency, jitter amplitude and jitter direction etc., and then carry out mechanical stabilization according to this stabilization parameter.。
Wherein, in embodiments of the present invention, the specific implementation of video capture device determination jitter direction can be as follows:
Video capture device can carry out stabilization process according to the direction that the jitter direction (jitter direction of video capture device can directly be obtained by transducer) with video capture device is identical or contrary respectively, and the monitoring image obtained respectively in these two kinds of situations, and Fourier transform is carried out to monitoring image, to obtain spectrogram corresponding to monitoring image, and with direction corresponding to the spectrogram that high fdrequency component is many for jitter direction carries out stabilization process.By the change of computed image definition evaluation of estimate, the direction of shake can certainly be judged.
Should be realized that, in embodiments of the present invention, above-mentionedly determine that the realization of the jitter direction in stabilization parameter is only the concrete example of one of the technical scheme of the embodiment of the present invention, instead of limiting the scope of the present invention, namely in embodiments of the present invention, also can by the jitter direction in alternate manner determination stabilization parameter, such as, after video capture device gets jitter direction by transducer, stabilization process can be carried out respectively according to the direction identical or contrary with the jitter direction of video capture device, and the definition of monitoring image is analyzed, and then with make monitoring image definition higher jitter direction be that final jitter direction carries out stabilization process, its specific implementation does not repeat them here.
What deserves to be explained is, in embodiments of the present invention, consider that the use scenes of video capture device there will not be high frequency truly usually, for the shake of video capture device, under normal circumstances, frequency has been high frequency at 20-30hz, when video capture device is in dither state, enough compensation response times can be had to carry out stabilization compensation, thus, when by transducer, video capture device detects that self is in dither state, the coarse adjustment that the chattering frequency that can get according to transducer and jitter amplitude carry out less number of times can complete coarse regulation (i.e. mechanical stabilization), realize stabilization to compensate, reduce the chattering frequency of video capture device.
Step 103, obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by transducer.
In the embodiment of the present invention, after video capture device carries out mechanical stabilization according to the first chattering frequency and the first jitter amplitude, the shake of video capture device will slow down, namely its chattering frequency and jitter amplitude will decline, now, video capture device can obtain the maximum pixel offset deviation of target object position in the monitored picture after mechanical stabilization, carries out movement stabilization for follow-up.
As the optional execution mode of one, in above-mentioned steps 103, obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, can comprise:
According to maximum and the minimum value of the coordinate in the monitored picture of impact point arbitrary in destination object after mechanical stabilization, determine the maximum pixel offset deviation of described target object position.
Concrete, for destination object for car plate, video capture device can to obtain in monitored picture car plate top left co-ordinate (X in every two field picture, Y), and analyze and draw Xmax, Xmin, Ymax, Ymin in dither process, its intention can as shown in Figure 2 B, and then, video capture device can determine the maximum pixel offset deviation of car plate position in the monitored picture under current state: △ X=Xmax-Xmin, △ Y=Ymax-Ymin.
What deserves to be explained is, in embodiments of the present invention, if non-specified otherwise, mentioned pixel-shift is poor, jitter amplitude all can be divided into horizontal direction (corresponding X-direction) and vertical direction (corresponding Y-direction), correspondingly, stabilization process also comprises the stabilization process of horizontal direction and the stabilization process of vertical direction respectively, and the embodiment of the present invention is follow-up no longer to be repeated.
Step 104, according to this maximum pixel offset deviation, and the pixel-shift difference prestored and the mapping relations of jitter amplitude, determine the second corresponding jitter amplitude.
In the embodiment of the present invention, after video capture device gets the second pixel-shift difference, can according to this maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the jitter amplitude (second jitter amplitude) corresponding with this maximum pixel offset deviation.
Wherein, pixel-shift difference will be described below with the specific implementation of the determination of the mapping relations of jitter amplitude, and the embodiment of the present invention does not repeat at this.
Step 105, carry out movement stabilization according to the second chattering frequency and the second jitter amplitude.
In the embodiment of the present invention, after video capture device determines the second jitter amplitude, corresponding stabilization parameter can be determined according to the second chattering frequency and the second jitter amplitude, and then, carry out stabilization process according to this stabilization parameter.
It should be noted that in embodiments of the present invention, when video capture device is in dither state, if user (as monitor staff) controls The Cloud Terrace, then need first to stop cradle head control, and then carry out stabilization process, its specific implementation does not repeat them here.
In embodiments of the present invention, because mechanical stabilization mode (as The Cloud Terrace stabilization mode) and movement stabilization mode all exist maximum stabilization cutting surface (usual The Cloud Terrace maximum stabilization amplitude is greater than the maximum stabilization amplitude of movement), therefore, when the jitter amplitude of video capture device is more than the second amplitude threshold (stabilization amplitude as maximum in The Cloud Terrace), the figure instability of shaking and causing cannot be eliminated by The Cloud Terrace stabilization mode or movement stabilization mode, now, video capture device can send a warning message, to report exception, by manually carrying out maintenance process, its specific implementation does not repeat them here.Wherein, the second amplitude threshold is greater than above-mentioned first amplitude threshold.
Further, in embodiments of the present invention, when destination object is car plate, after video capture device carries out movement stabilization, the license plate image in the monitored picture after movement stabilization can be gathered, and this license plate image is uploaded to server, carry out Car license recognition to make server according to this license plate image.
The technical scheme understood the embodiment of the present invention better to make those skilled in the art and provide, is described the determination mode of the mapping relations of pixel deviations in the embodiment of the present invention and jitter amplitude below.
In embodiments of the present invention, consider that the shake of video capture device generally includes translation and rotates two kinds of situations, and in both cases in the jitter amplitude of video capture device and the monitored picture of video capture device pixel-shift difference (for same destination object) be linear, its expression formula can be as follows:
f＝aF+b
Wherein, f is actual jitter amplitude, and F is that the pixel-shift in the monitored picture of video capture device is poor, and a, b are unknowm coefficient;
And a can meet the following conditions:
a＝(Z(B)/W)*β
Wherein, the horizontal view angle that Z (B) is video capture device, W is the total pixel of horizontal picture (i.e. the horizontal resolution of video capture device), and β is unknowm coefficient.
Thus, pixel-shift difference can be as follows with the expression formula of the mapping relations of jitter amplitude:
f＝(Z(B)/W)*β*F+b
Further, consider when the pixel-shift difference of target object position in monitored picture is maximum, its correspondence should be video capture device shake amplitude peak, thus, jitter amplitude dHmax (horizontal direction) under video capture device collects current state by transducer, dVmax (vertical direction), and get the maximum coordinates (Xmax of target object position in monitored picture (taking the upper left corner as reference point), Ymax), and min coordinates (Xmin, Ymin) after, following relational expression can be obtained (for horizontal direction, vertical direction in like manner can obtain):
dHmax＝(Z(B)/W)*β*Xmax+b
-dHmax＝(Z(B)/W)*β*Xmin+b
According to above-mentioned two equatioies, the value of this β and b can be obtained, and then pixel-shift difference and the mapping relations of jitter amplitude (comprise the pixel-shift difference of horizontal direction and the mapping relations of jitter amplitude, and the pixel-shift difference of vertical direction and the mapping relations of jitter amplitude) can be determined.
What deserves to be explained is, in embodiments of the present invention, when video capture device determines that self is in dither state, but when not inquiring the mapping relations of pixel-shift difference and jitter amplitude, video capture device also can set up the mapping relations of pixel-shift difference and jitter amplitude in real time according to aforesaid way, and stores the mapping relations of this pixel-shift difference and jitter amplitude.In addition, during due to video capture device use different multiplying, the pixel-shift that identical shake causes is different, therefore, video capture device can set up the mapping relations of pixel-shift difference corresponding to the various multiplying powers that self allow and jitter amplitude respectively, and video capture device regularly or can periodically update the pixel-shift difference of self storage and the mapping relations of jitter amplitude, its specific implementation does not repeat them here.
It should be noted that, mechanical stabilization in the present invention is greater than first threshold mainly for the treatment of chattering frequency and amplitude is greater than first threshold causes the situation cannot seeing target object in monitored picture, in this case, video capture device cannot capture the position of target object in image intelligently, therefore needs the direct frequency to attitude transducer acquisition and amplitude variations amount to compensate adjustment.
And movement stabilization for the treatment of can intelligent-tracking to target object, but target object still has the situation of shake.In this case, video capture device can trace into the position of target object, comes emending frequency and amplitude according to the offset pixels of target object in monitored picture.
When the video capture device of initial acquisition exists following situations, directly movement stabilization can be carried out:
(1) amplitude shaken is less than the amplitude threshold (i.e. the first amplitude threshold, lower same) of setting, and frequency is less than the frequency threshold (i.e. first frequency threshold value, lower same) of setting;
(2) amplitude shaken is less than the amplitude threshold of setting, but frequency is more than or equal to the frequency threshold of setting;
(3) amplitude shaken is more than or equal to the amplitude threshold of setting, but frequency is less than the frequency threshold of setting.
When there is above-mentioned three kinds of situations, by use continuously twice or the mode of repeatedly movement stabilization is carried out image and disappeared and tremble.
Here, the amplitude of video capture device shake corrects by the mode of foregoing description, and the frequency of video capture device shake corrects by regulating Motor torque, and concrete grammar is prior art, does not repeat them here.
By describing above and can finding out, in the technical scheme that the embodiment of the present invention provides, when detecting that self is in dither state by transducer, the first chattering frequency and the first jitter amplitude is obtained by transducer, and when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, mechanical stabilization is carried out according to this first chattering frequency and the first jitter amplitude, and then, obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by transducer, according to this maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the second corresponding jitter amplitude, and carry out movement stabilization according to the second chattering frequency and the second jitter amplitude, improve the stability of image.
Refer to Fig. 3, for the structural representation of a kind of movement stabilization processing unit that the embodiment of the present invention provides, wherein, this movement stabilization processing unit can be applied in the video capture device in said method embodiment, as shown in Figure 3, this movement stabilization processing unit can comprise:
First acquiring unit 310, for when detecting that self is in dither state by transducer, obtains the first chattering frequency and the first jitter amplitude by described transducer;
Stabilization processing unit 320, for when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, according to described first chattering frequency and the first jitter amplitude machinery stabilization;
Second acquisition unit 330, for obtaining the maximum pixel offset deviation of target object position in the monitored picture after mechanical stabilization;
Described first acquiring unit 310, also for obtaining the second chattering frequency after mechanical stabilization by described transducer;
First determining unit 340, for according to described maximum pixel offset deviation, and the pixel-shift difference prestored and the mapping relations of jitter amplitude, determine the second corresponding jitter amplitude;
Described stabilization processing unit 320, also for carrying out movement stabilization according to described second chattering frequency and described second jitter amplitude.
In an alternative embodiment, described second acquisition unit 330, specifically for according to the maximum of the coordinate in the monitored picture of impact point arbitrary in described destination object after mechanical stabilization and minimum value, determines the maximum pixel offset deviation of described target object position.
In an alternative embodiment, described pixel-shift difference with the mapping relations of jitter amplitude is:
f＝(Z(B)/W)*β*F+b
Wherein, f is actual jitter amplitude, and F is that the pixel-shift in the monitored picture of video capture device is poor, the horizontal view angle that Z (B) is video capture device, and W is the horizontal resolution of video capture device, and β, b are unknowm coefficient;
Correspondingly, see also Fig. 4, be the another kind of movement stabilization processing unit that the embodiment of the present invention provides, this embodiment is on aforementioned basis embodiment illustrated in fig. 3, and described movement stabilization processing unit can also comprise:
Second determining unit 350, for when detecting that self is in dither state by transducer, according to the maximum pixel offset deviation of the target object position in the monitored picture got, and by the jitter amplitude that transducer gets, determine described pixel-shift difference and unknowm coefficient β and b in the mapping relations of jitter amplitude.
In an alternative embodiment, described stabilization processing unit 320, can specifically for carrying out mechanical stabilization process by The Cloud Terrace stabilization mode.
See also Fig. 5, for the another kind of movement stabilization processing unit that the embodiment of the present invention provides, this embodiment is (to carry out being optimized for example on basis embodiment illustrated in fig. 3 in Fig. 5) in earlier figures 3 or basis embodiment illustrated in fig. 4, and described movement stabilization processing unit can also comprise:
Judging unit 360, for judging that whether described first jitter amplitude is more than the second amplitude threshold; Wherein, the second amplitude threshold is greater than described first amplitude threshold;
Transmitting element 370, if when being judged as exceeding for described judging unit 360, then send alarm information;
Correspondingly, described stabilization processing unit 320, if when can also be judged as not exceeding specifically for described judging unit 360, carries out mechanical stabilization according to described first chattering frequency and described first jitter amplitude.
In said apparatus, the implementation procedure of the function and efficacy of unit specifically refers to the implementation procedure of corresponding step in said method, does not repeat them here.
For device embodiment, because it corresponds essentially to embodiment of the method, so relevant part illustrates see the part of embodiment of the method.Device embodiment described above is only schematic, the wherein said unit illustrated as separating component or can may not be and physically separates, parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of module wherein can be selected according to the actual needs to realize the object of the present invention program.Those of ordinary skill in the art, when not paying creative work, are namely appreciated that and implement.
As seen from the above-described embodiment, when detecting that self is in dither state by transducer, the first chattering frequency and the first jitter amplitude is obtained by transducer, and when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, mechanical stabilization is carried out according to this first chattering frequency and the first jitter amplitude, and then, obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by transducer, according to this maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the second corresponding jitter amplitude, and carry out movement stabilization according to the second chattering frequency and the second jitter amplitude, improve the stability of image.
Those skilled in the art, at consideration specification and after putting into practice invention disclosed herein, will easily expect other embodiment of the present invention.The application is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised the undocumented common practise in the art of the present invention or conventional techniques means.Specification and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.
Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.Scope of the present invention is only limited by appended claim.
Claims (10)
1. a movement stabilization processing method, is characterized in that, comprising:
When detecting that self is in dither state by transducer, obtain the first chattering frequency and the first jitter amplitude by described transducer;
When the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, carry out mechanical stabilization according to described first chattering frequency and the first jitter amplitude;
Obtain the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after mechanical stabilization, and obtain the second chattering frequency after mechanical stabilization by described transducer;
According to described maximum pixel offset deviation, and the mapping relations of the pixel-shift difference prestored and jitter amplitude, determine the second corresponding jitter amplitude; Movement stabilization is carried out according to described second chattering frequency and described second jitter amplitude.
2. method according to claim 1, is characterized in that, the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after the mechanical stabilization of described acquisition, comprising:
According to maximum and the minimum value of the coordinate in the monitored picture of impact point arbitrary in described destination object after mechanical stabilization, determine the maximum pixel offset deviation of described target object position.
3. method according to claim 1, is characterized in that, described pixel-shift difference with the mapping relations of jitter amplitude is:
f＝(Z(B)/W)*β*F+b
Wherein, f is actual jitter amplitude, and F is that the pixel-shift in the monitored picture of video capture device is poor, the horizontal view angle that Z (B) is video capture device, and W is the horizontal resolution of video capture device, and β, b are unknowm coefficient;
Described method also comprises:
When detecting that self is in dither state by transducer, according to the maximum pixel offset deviation of the target object position in the monitored picture got, and by the jitter amplitude that transducer gets, determine described pixel-shift difference and unknowm coefficient β and b in the mapping relations of jitter amplitude.
4. the method according to any one of claim 1-3, is characterized in that, described in carry out mechanical stabilization and comprise and carry out stabilization process by The Cloud Terrace stabilization mode.
5. the method according to any one of claim 1-3, it is characterized in that, when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, described carry out mechanical stabilization according to described first chattering frequency and the first jitter amplitude before, also comprise:
Judge that whether described first jitter amplitude is more than the second amplitude threshold; Wherein, the second amplitude threshold is greater than described first amplitude threshold;
If exceed, then send alarm information;
Otherwise, determine to perform described step of carrying out mechanical stabilization according to described first chattering frequency and the first jitter amplitude.
6. a movement stabilization processing unit, is characterized in that, comprising:
First acquiring unit, for when detecting that self is in dither state by transducer, obtains the first chattering frequency and the first jitter amplitude by described transducer;
Stabilization processing unit, for when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude is more than or equal to the first amplitude threshold, according to described first chattering frequency and the first jitter amplitude machinery stabilization;
Second acquisition unit, the maximum pixel offset deviation of optional position movement on destination object in the monitored picture after obtaining mechanical stabilization;
Described first acquiring unit, also for obtaining the second chattering frequency after mechanical stabilization by described transducer;
First determining unit, for according to described maximum pixel offset deviation, and the pixel-shift difference prestored and the mapping relations of jitter amplitude, determine the second corresponding jitter amplitude;
Described stabilization processing unit, also for carrying out movement stabilization according to described second chattering frequency and described second jitter amplitude.
7. device according to claim 6, is characterized in that,
Described second acquisition unit, specifically for according to the maximum of the coordinate in the monitored picture of impact point arbitrary in described destination object after mechanical stabilization and minimum value, determines the maximum pixel offset deviation of described target object position.
8. device according to claim 6, is characterized in that, described pixel-shift difference with the mapping relations of jitter amplitude is:
f＝(Z(B)/W)*β*F+b
Wherein, f is actual jitter amplitude, and F is that the pixel-shift in the monitored picture of video capture device is poor, the horizontal view angle that Z (B) is video capture device, and W is the horizontal resolution of video capture device, and β, b are unknowm coefficient;
Described device also comprises:
Second determining unit, for when detecting that self is in dither state by transducer, according to the maximum pixel offset deviation of the target object position in the monitored picture got, and by the jitter amplitude that transducer gets, determine described pixel-shift difference and unknowm coefficient β and b in the mapping relations of jitter amplitude.
9. the device according to any one of claim 6-8, is characterized in that,
Described stabilization processing unit, specifically for carrying out mechanical stabilization process by The Cloud Terrace stabilization mode.
10. the device according to any one of claim 6-8, is characterized in that, described device also comprises:
Judging unit, for judging that whether described first jitter amplitude is more than the second amplitude threshold; Wherein, the second amplitude threshold is greater than described first amplitude threshold;
Transmitting element, if when being judged as exceeding for described judging unit, then send alarm information;
Described stabilization processing unit, if when being judged as not exceeding specifically for described judging unit, carries out mechanical stabilization according to described first chattering frequency and described first jitter amplitude.
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| CN109283450A (en) * | 2018-09-11 | 2019-01-29 | 长鑫存储技术有限公司 | A kind of control method of test machine, device, medium and electronic equipment |
| CN110177212A (en) * | 2019-06-26 | 2019-08-27 | Oppo广东移动通信有限公司 | Image processing method and device, electronic equipment, computer readable storage medium |
| CN110225278A (en) * | 2019-06-25 | 2019-09-10 | 歌尔科技有限公司 | Acquisition methods, device and the equipment of multimedia file |
| CN110312072A (en) * | 2019-05-14 | 2019-10-08 | 深圳市歌美迪实业有限公司 | A kind of Streaming Media rearview mirror method for compensating image dithering and its device |
| CN111866395A (en) * | 2020-08-07 | 2020-10-30 | 苏州臻迪智能科技有限公司 | Stability augmentation processing module, unmanned aerial vehicle camera system and image stability augmentation processing method |
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| CN111935392A (en) * | 2020-05-26 | 2020-11-13 | 许继集团有限公司 | Method and system for inspecting video digital anti-shaking of comprehensive pipe gallery overhead rail robot |
| CN113518178A (en) * | 2021-04-22 | 2021-10-19 | 中煤科工集团重庆研究院有限公司 | Video image acquisition device for slope safety monitoring |
| CN114040113A (en) * | 2021-11-26 | 2022-02-11 | 维沃移动通信有限公司 | Image processing method and device |
| CN115174807A (en) * | 2022-06-28 | 2022-10-11 | 上海艾为电子技术股份有限公司 | Anti-shake detection method and device, terminal equipment and readable storage medium |
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| CN109283450A (en) * | 2018-09-11 | 2019-01-29 | 长鑫存储技术有限公司 | A kind of control method of test machine, device, medium and electronic equipment |
| CN109283450B (en) * | 2018-09-11 | 2024-01-23 | 长鑫存储技术有限公司 | Control method and device of testing machine, medium and electronic equipment |
| CN110312072A (en) * | 2019-05-14 | 2019-10-08 | 深圳市歌美迪实业有限公司 | A kind of Streaming Media rearview mirror method for compensating image dithering and its device |
| CN110225278A (en) * | 2019-06-25 | 2019-09-10 | 歌尔科技有限公司 | Acquisition methods, device and the equipment of multimedia file |
| CN110177212A (en) * | 2019-06-26 | 2019-08-27 | Oppo广东移动通信有限公司 | Image processing method and device, electronic equipment, computer readable storage medium |
| CN111935392A (en) * | 2020-05-26 | 2020-11-13 | 许继集团有限公司 | Method and system for inspecting video digital anti-shaking of comprehensive pipe gallery overhead rail robot |
| CN111935392B (en) * | 2020-05-26 | 2022-01-07 | 许继集团有限公司 | Method and system for inspecting video digital anti-shaking of comprehensive pipe gallery overhead rail robot |
| CN114401371A (en) * | 2020-08-05 | 2022-04-26 | 深圳市浩瀚卓越科技有限公司 | Tracking control method, tracking control device, object tracking unit, and storage medium |
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| CN114401371B (en) * | 2020-08-05 | 2024-03-26 | 深圳市浩瀚卓越科技有限公司 | tracking control method, device, object tracking unit, and storage medium |
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| CN113518178A (en) * | 2021-04-22 | 2021-10-19 | 中煤科工集团重庆研究院有限公司 | Video image acquisition device for slope safety monitoring |
| CN114040113A (en) * | 2021-11-26 | 2022-02-11 | 维沃移动通信有限公司 | Image processing method and device |
| CN115278183A (en) * | 2022-06-23 | 2022-11-01 | 广州市恒众车联网科技股份有限公司 | HUD picture display method and system |
| CN115278183B (en) * | 2022-06-23 | 2023-03-14 | 广州市恒众车联网科技股份有限公司 | HUD picture display method and system |
| CN115174807A (en) * | 2022-06-28 | 2022-10-11 | 上海艾为电子技术股份有限公司 | Anti-shake detection method and device, terminal equipment and readable storage medium |
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