CN105578146B - A kind of machine core stabilization processing method and processing device - Google Patents
A kind of machine core stabilization processing method and processing device Download PDFInfo
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- CN105578146B CN105578146B CN201610008480.5A CN201610008480A CN105578146B CN 105578146 B CN105578146 B CN 105578146B CN 201610008480 A CN201610008480 A CN 201610008480A CN 105578146 B CN105578146 B CN 105578146B
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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 present invention provides a kind of machine core stabilization processing method and processing device, which comprises when detecting that itself is in dither state by sensor, obtains the first chattering frequency and the first jitter amplitude by the sensor；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 first chattering frequency and the first jitter amplitude；The maximum pixel offset deviation of target object position in monitored picture after obtaining mechanical stabilization, and the second chattering frequency after mechanical stabilization is obtained by the sensor；According to the maximum pixel offset deviation and the mapping relations of pre-stored pixel-shift difference and jitter amplitude, corresponding second jitter amplitude is determined；Machine core stabilization is carried out according to second chattering frequency and second jitter amplitude.Picture steadiness can be improved using the embodiment of the present invention.
Description
Technical field
The present invention relates to technical field of video monitoring more particularly to a kind of machine core stabilization processing method and processing devices.
Background technique
With the development of Video Supervision Technique, the type of video capture device is increasing, and the function of video capture device
Can also it become stronger day by day.For example, spherical video capture device (abbreviation ball machine) due to it is easy for installation, using simple but powerful etc.
Advantage has been more and more widely used in field of video monitoring.
In field of video monitoring, what the quality of the quality of video capture device acquired image determined the image can
By property, and the successful of operation carried out according to the image, by taking Car license recognition as an example, the collected vehicle of video capture device
The quality of image will have a direct impact on Car license recognition success rate and accuracy rate.And the stability of image then influences picture quality
One of key factor, therefore, how to promote picture steadiness is the critically important problem that video capture device is faced.
Summary of the invention
The present invention provides a kind of machine core stabilization processing method and processing device, to improve picture steadiness.
According to a first aspect of the embodiments of the present invention, a kind of machine core stabilization processing method is provided, comprising:
When detecting that itself is in dither state by sensor, by the sensor obtain the first chattering frequency with
And first jitter amplitude；
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
When, mechanical stabilization is carried out according to first chattering frequency and the first jitter amplitude；
The mobile maximum pixel offset deviation in any position on target object in monitored picture after obtaining mechanical stabilization, and lead to
It crosses the sensor and obtains the second chattering frequency after mechanical stabilization；
According to the maximum pixel offset deviation and the mapping relations of pre-stored pixel-shift difference and jitter amplitude,
Determine corresponding second jitter amplitude；Machine core stabilization is carried out according to second chattering frequency and second jitter amplitude.
According to a second aspect of the embodiments of the present invention, a kind of machine core stabilization processing unit is provided, comprising:
First acquisition unit, for passing through the sensor when detecting that itself is in dither state by sensor
Obtain the first chattering frequency and the first jitter amplitude；
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 greater than
When equal to the first amplitude threshold, according to first chattering frequency and the first jitter amplitude machinery stabilization；
Second acquisition unit, for obtaining, any position is mobile most on target object in the monitored picture after mechanical stabilization
Big pixel-shift is poor；
The first acquisition unit is also used to obtain the second chattering frequency after mechanical stabilization by the sensor；
First determination unit, for according to the maximum pixel offset deviation and pre-stored pixel-shift difference with tremble
The mapping relations of dynamic amplitude, determine corresponding second jitter amplitude；
The stabilization processing unit is also used to carry out machine according to second chattering frequency and second jitter amplitude
Core stabilization.
It is obtained when detecting that itself is in dither state by sensor by sensor using the embodiment of the present invention
First chattering frequency and the first jitter amplitude, and when the first chattering frequency is more than or equal to first frequency threshold value and the first shake width
When degree is more than or equal to the first amplitude threshold, mechanical stabilization is carried out according to first chattering frequency and the first jitter amplitude, in turn,
The mobile maximum pixel offset deviation in any position on target object in monitored picture after obtaining mechanical stabilization, and pass through sensor
The second chattering frequency after obtaining mechanical stabilization, according to the maximum pixel offset deviation and pre-stored pixel-shift difference with
The mapping relations of jitter amplitude determine corresponding second jitter amplitude, and according to the second chattering frequency and the second jitter amplitude
Machine core stabilization is carried out, the stability of image is improved.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of machine core stabilization processing method provided in an embodiment of the present invention；
Fig. 2A be a kind of chattering frequency provided in an embodiment of the present invention be more than predeterminated frequency threshold value when monitored picture in license plate
The schematic diagram of image；
Fig. 2 B is that the pixel-shift differential of license plate position in a kind of monitored picture provided in an embodiment of the present invention is intended to；
Fig. 3 is a kind of structural schematic diagram of machine core stabilization processing unit provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another machine core stabilization processing unit provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another machine core stabilization processing unit provided in an embodiment of the present invention.
Specific embodiment
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to technical side in the embodiment of the present invention
Case is described in further detail.
It referring to Figure 1, is a kind of flow diagram of machine core stabilization processing method provided in an embodiment of the present invention, such as Fig. 1
Shown, this method may comprise steps of:
Step 101, when detecting that itself is in dither state by sensor, pass through the sensor obtain first shake
Frequency and the first jitter amplitude.
In the embodiment of the present invention, the above method be can be applied in the video capture device of video monitoring system, such as ball machine.
For ease of description, following executing subject in the above way is to be described for video capture device.
In the embodiment of the present invention, video capture device can detect whether itself locates by sensor (such as attitude transducer)
In dither state.When video capture device detects that itself is in dither state by sensor, it can further pass through biography
Sensor obtains the chattering frequency (the first chattering frequency) and jitter amplitude (the first jitter amplitude) of itself.
Step 102 is more than or equal to first when the first chattering frequency is more than or equal to first frequency threshold value and the first jitter amplitude
When amplitude threshold, mechanical stabilization is carried out according to the first chattering frequency and the first jitter amplitude.
In the embodiment of the present invention, it is contemplated that when the chattering frequency of video capture device is more than or equal to certain frequency threshold and shake
When amplitude is more than or equal to certain amplitude threshold, the image of target object can become because of shake in the monitored picture of video capture device
Slightly, and at this time the target object position that video capture device recognizes be it is constant, lead to not obtain monitored picture in mesh
The pixel-shift for marking object's position is poor, and stabilization processing cannot achieve.By taking target object is license plate as an example, schematic diagram be may refer to
Fig. 2A.Thus, when video capture device is in dither state, mechanical stabilization can be first carried out, to reduce video capture device
Chattering frequency, then further according to the above method carry out machine core stabilization.Optionally, which may include passing through cloud
Platform stabilization mode carries out stabilization processing.
Correspondingly, it when video capture device detects that itself is in dither state by sensor, and gets current
After chattering frequency (i.e. the first chattering frequency) and jitter amplitude (i.e. the first jitter amplitude) under state, if the first shake frequency
Rate, can be according to the first shake frequency more than or equal to first frequency threshold value and when the first jitter amplitude is more than or equal to the first amplitude threshold
Rate and the first jitter amplitude configure stabilization parameter, such as chattering frequency, jitter amplitude and jitter direction, and then anti-according to this
It trembles parameter and carries out mechanical stabilization.
Wherein, in embodiments of the present invention, video capture device determines that the specific implementation of jitter direction can be such that
Video capture device can be respectively according to jitter direction (the shake side of video capture device with video capture device
Being obtained to can directly pass through sensor) identical or opposite direction carries out stabilization processing, and is obtained in the case of this two kinds respectively
Monitoring image, and to monitoring image carry out Fourier transformation, to obtain the corresponding spectrogram of monitoring image, and with high fdrequency component
The corresponding direction of more spectrograms is that jitter direction carries out stabilization processing.It can certainly be by calculating image definition evaluation value
Variation, judge shake direction.
It should be appreciated that in embodiments of the present invention, the realization of the jitter direction in above-mentioned determining stabilization parameter is only
A kind of specific example of the technical solution of the embodiment of the present invention, rather than limiting the scope of the present invention, i.e., in the present invention
In embodiment, the jitter direction in stabilization parameter can also be determined otherwise, for example, video capture device passes through sensing
After device gets jitter direction, it can be carried out respectively according to the direction identical or opposite with the jitter direction of video capture device
Stabilization processing, and the clarity of monitoring image is analyzed, and then so that monitoring image clarity higher jitter direction is
Final jitter direction carries out stabilization processing, and specific implementation repeats no more herein.
It is worth noting that in embodiments of the present invention, it is contemplated that the usage scenario of video capture device will not usually go out
Now high frequency truly, for the shake of video capture device, it is generally the case that frequency 20-30hz at last
High frequency when video capture device is in dither state, can have enough compensation response times to carry out stabilization compensation, thus, when
When video capture device detects that itself is in dither state by sensor, the chattering frequency that can be got according to sensor
And coarse regulation (i.e. mechanical stabilization) can be completed in the coarse adjustment of jitter amplitude progress fewer number, realizes stabilization compensation, reduces and regard
Frequency acquires the chattering frequency of equipment.
The mobile maximum pixel in any position is inclined on target object in monitored picture after step 103, the mechanical stabilization of acquisition
It is poor to move, and the second chattering frequency after mechanical stabilization is obtained by sensor.
In the embodiment of the present invention, video capture device carries out mechanical anti-according to the first chattering frequency and the first jitter amplitude
After trembling, the shake of video capture device will slow down, i.e. its chattering frequency and jitter amplitude will decline, at this point, video is adopted
The maximum pixel offset deviation of target object position in monitored picture after collecting the available mechanical stabilization of equipment, with for it is subsequent into
Row machine core stabilization.
As an alternative embodiment, in above-mentioned steps 103, target pair in the monitored picture after obtaining mechanical stabilization
As the mobile maximum pixel offset deviation in upper any position, may include:
According to the maximum value and minimum of coordinate of the either objective point in the monitored picture after mechanical stabilization in target object
Value, determines the maximum pixel offset deviation of the target object position.
Specifically, by target object be license plate for, every frame image in the available monitored picture of video capture device
Middle license plate top left co-ordinate (X, Y), and analyze and obtain Xmax, Xmin, Ymax, Ymin in dither process, being intended to can be as
Shown in Fig. 2 B, in turn, video capture device can determine that the maximum pixel of license plate position in the monitored picture under current state is inclined
It is poor to move: △ X=Xmax-Xmin, △ Y=Ymax-Ymin.
It is worth noting that in embodiments of the present invention, if non-specified otherwise, mentioned pixel-shift is poor, shakes width
Degree can be divided into horizontal direction (corresponding X-direction) and vertical direction (corresponding Y-direction), and correspondingly, stabilization processing also respectively includes
The stabilization processing of horizontal direction and the stabilization of vertical direction are handled, and the embodiment of the present invention is subsequent no longer to be repeated.
Step 104, according to the mapping of the maximum pixel offset deviation and pre-stored pixel-shift difference and jitter amplitude
Relationship determines corresponding second jitter amplitude.
It, can be according to the maximum picture after video capture device gets the second pixel-shift difference in the embodiment of the present invention
The mapping relations of plain offset deviation and pre-stored pixel-shift difference and jitter amplitude, the determining and maximum pixel offset deviation
Corresponding jitter amplitude (the second jitter amplitude).
Wherein, the specific implementation of the determination of pixel-shift difference and the mapping relations of jitter amplitude will be described below, this
This will not be repeated here for inventive embodiments.
Step 105 carries out machine core stabilization according to the second chattering frequency and the second jitter amplitude.
It, can be according to the second chattering frequency after video capture device determines the second jitter amplitude in the embodiment of the present invention
Corresponding stabilization parameter is determined with the second jitter amplitude, in turn, stabilization processing is carried out according to the stabilization parameter.
It should be noted that in embodiments of the present invention, when video capture device is in dither state, if user is (such as
Monitoring personnel) controlling holder, then it needs first to stop cradle head control, then carries out stabilization processing again, specific implementation is herein
It repeats no more.
In embodiments of the present invention, since mechanical stabilization mode (such as holder stabilization mode) and machine core stabilization mode exist
Maximum stabilization cutting surface (usual holder maximum stabilization amplitude is greater than machine core maximum stabilization amplitude), therefore, when video acquisition is set
When standby jitter amplitude is more than the second amplitude threshold (such as holder maximum stabilization amplitude), pass through holder stabilization mode or machine core stabilization
It is unstable that mode will be unable to figure caused by eliminating shake, at this point, video capture device can send a warning message, it is different to report
Often, by manually repairing processing, specific implementation repeats no more herein.Wherein, the second amplitude threshold is greater than above-mentioned first width
Spend threshold value.
Further, in embodiments of the present invention, when target object is license plate, video capture device carries out machine core stabilization
Later, the license plate image in monitored picture after machine core stabilization can be acquired, and the license plate image is uploaded to server, so that
Server carries out Car license recognition according to the license plate image.
In order to make those skilled in the art more fully understand technical solution provided in an embodiment of the present invention, below to the present invention
The method of determination of the mapping relations of pixel deviations and jitter amplitude is illustrated in embodiment.
In embodiments of the present invention, it is contemplated that the shake of video capture device generally includes to translate and rotate two kinds of situations,
And poor (the needle of pixel-shift in the jitter amplitude of video capture device and the monitored picture of video capture device in both cases
To same target object) be it is linear, expression formula can be such that
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 not
Know coefficient；
And a can meet the following conditions:
A=(Z (B)/W) * β
Wherein, Z (B) is the horizontal view angle of video capture device, and W is the total pixel of horizontal picture (i.e. video capture device
Horizontal resolution), β is unknowm coefficient.
Thus, the expression formula of the mapping relations of pixel-shift difference and jitter amplitude can be as follows:
F=(Z (B)/W) * β * F+b
Further, it is contemplated that corresponding to answer when the pixel-shift difference of target object position in monitored picture is maximum
This is the amplitude peak of video capture device shake, thus, when video capture device is collected under current state by sensor
Jitter amplitude dHmax (horizontal direction), dVmax (vertical direction), and get in monitored picture target object position (with a left side
Upper angle be reference point) maximum coordinates (Xmax, Ymax) and min coordinates (Xmin, Ymin) after, available following relationship
Formula (by taking horizontal direction as an example, vertical direction can similarly be obtained):
DHmax=(Z (B)/W) * β * Xmax+b
- dHmax=(Z (B)/W) * β * Xmin+b
According to above-mentioned two equation, the value of the β and b can be found out, and then can determine pixel-shift difference and jitter amplitude
Mapping relations (mapping relations of pixel-shift difference and jitter amplitude including horizontal direction and the pixel of vertical direction are inclined
Move the mapping relations of difference with jitter amplitude).
It is worth noting that in embodiments of the present invention, when video capture device determines that itself is in dither state, but not
When inquiring the mapping relations of pixel-shift difference and jitter amplitude, video capture device can also be established in real time according to aforesaid way
The mapping relations of pixel-shift difference and jitter amplitude, and store the mapping relations of the pixel-shift difference and jitter amplitude.In addition, by
In video capture device use different multiplying when, pixel-shift caused by identical shake be it is different, therefore, video acquisition
Equipment can establish the mapping relations of itself permitted various multiplying power corresponding pixel-shift difference and jitter amplitude respectively, and regard
Frequency acquisition equipment timing or can periodically update itself pixel-shift difference of storage and the mapping relations of jitter amplitude, specific
Details are not described herein for implementation.
It should be noted that the mechanical stabilization in the present invention is greater than first threshold and amplitude mainly for the treatment of chattering frequency
The case where can not seeing target object in monitored picture is caused greater than first threshold, in this case, video capture device can not
Intelligently grab the position of target object in image, it is therefore desirable to the frequency and amplitude variations amount directly obtained to attitude transducer
Compensate adjustment.
And machine core stabilization for handle can intelligent-tracking to target object, but target object still has the feelings of shake
Condition.In this case, video capture device can trace into the position of target object, according in monitored picture target object it is inclined
Pixel is moved to correct frequency and amplitude.
When the video capture device of initial acquisition is there are when following situations, machine core stabilization can be directly carried out:
(1) amplitude shaken is less than the amplitude threshold (i.e. the first amplitude threshold, similarly hereinafter) of setting, and frequency is less than setting
Frequency threshold (i.e. first frequency threshold value, similarly hereinafter)；
(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 are above-mentioned three kinds of situations, can be disappeared being used continuously twice or repeatedly carrying out image by way of machine core stabilization
It trembles.
Herein, the amplitude of video capture device shake can be corrected by way of foregoing description, and video capture device is trembled
Dynamic frequency can be by adjusting Motor torque correction, and specific method is the prior art, and details are not described herein.
Through above description as can be seen that in technical solution provided in an embodiment of the present invention, detected when by sensor
When being in dither state to itself, the first chattering frequency and the first jitter amplitude are obtained by sensor, and when the first shake
Frequency is more than or equal to first frequency threshold value and when the first jitter amplitude is more than or equal to the first amplitude threshold, according to the first shake frequency
Rate and the first jitter amplitude carry out mechanical stabilization, in turn, any on target object in the monitored picture after obtaining mechanical stabilization
The mobile maximum pixel offset deviation in position, and the second chattering frequency after mechanical stabilization is obtained by sensor, according to the maximum
Pixel-shift is poor and the mapping relations of pre-stored pixel-shift difference and jitter amplitude, determines corresponding second shake width
Degree, and machine core stabilization is carried out according to the second chattering frequency and the second jitter amplitude, improve the stability of image.
Fig. 3 is referred to, is a kind of structural schematic diagram of machine core stabilization processing unit provided in an embodiment of the present invention, wherein
The machine core stabilization processing unit can be applied in the video capture device in above method embodiment, as shown in figure 3, the machine core
Stabilization processing unit may include:
First acquisition unit 310, for passing through the sensing when detecting that itself is in dither state by sensor
Device obtains the first chattering frequency and the first jitter amplitude；
Stabilization processing unit 320, for being more than or equal to first frequency threshold value and the first jitter amplitude when the first chattering frequency
When more than or equal to the first amplitude threshold, according to first chattering frequency and the first jitter amplitude machinery stabilization；
Second acquisition unit 330, for obtaining the maximum pixel of target object position in the monitored picture after mechanical stabilization
Offset deviation；
The first acquisition unit 310 is also used to obtain the second chattering frequency after mechanical stabilization by the sensor；
First determination unit 340, for according to the maximum pixel offset deviation and pre-stored pixel-shift difference with
The mapping relations of jitter amplitude determine corresponding second jitter amplitude；
The stabilization processing unit 320, be also used to according to second chattering frequency and second jitter amplitude into
Row machine core stabilization.
In an alternative embodiment, the second acquisition unit 330 is specifically used for according to either objective in the target object
The maximum value and minimum value of coordinate of the point in the monitored picture after mechanical stabilization, determine the maximum picture of the target object position
Plain offset deviation.
In an alternative embodiment, the mapping relations of the pixel-shift difference and jitter amplitude are as follows:
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, and Z (B) is view
Frequency acquires the horizontal view angle of equipment, and W is the horizontal resolution of video capture device, and β, b are unknowm coefficient；
It correspondingly, referring to Figure 4 together, is another machine core stabilization processing unit provided in an embodiment of the present invention, the reality
Example is applied on the basis of aforementioned embodiment illustrated in fig. 3, the machine core stabilization processing unit can also include:
Second determination unit 350, for when detecting that itself is in dither state by sensor, according to what is got
The maximum pixel offset deviation of target object position in monitored picture, and the jitter amplitude got by sensor determine
Unknowm coefficient β and b in the pixel-shift difference and the mapping relations of jitter amplitude.
In an alternative embodiment, the stabilization processing unit 320 can be specifically used for carrying out machine by holder stabilization mode
The processing of tool stabilization.
Please refer to fig. 5, the embodiment is preceding for another machine core stabilization processing unit provided in an embodiment of the present invention
It states on the basis of Fig. 3 or embodiment illustrated in fig. 4 (in Fig. 5 for being optimized on the basis of embodiment shown in Fig. 3), it is described
Machine core stabilization processing unit can also include:
Judging unit 360, for judging first jitter amplitude whether more than the second amplitude threshold；Wherein, the second width
It spends threshold value and is greater than first amplitude threshold；
Transmission unit 370, if for the judging unit 360 be judged as more than when, send alarm information；
Correspondingly, the stabilization processing unit 320, if can also be specifically used for the judging unit 360 is judged as not super
It is out-of-date, mechanical stabilization is carried out according to first chattering frequency and first jitter amplitude.
The function of each unit and the realization process of effect are specifically detailed in the above method and correspond to step in above-mentioned apparatus
Realization process, details are not described herein.
For device embodiment, since it corresponds essentially to embodiment of the method, so related place is referring to method reality
Apply the part explanation of example.The apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
The purpose for needing to select some or all of the modules therein to realize the present invention program.Those of ordinary skill in the art are not paying
Out in the case where creative work, it can understand and implement.
As seen from the above-described embodiment, it when detecting that itself is in dither state by sensor, is obtained by sensor
First chattering frequency and the first jitter amplitude, and when the first chattering frequency is more than or equal to first frequency threshold value and the first shake width
When degree is more than or equal to the first amplitude threshold, mechanical stabilization is carried out according to first chattering frequency and the first jitter amplitude, in turn,
The mobile maximum pixel offset deviation in any position on target object in monitored picture after obtaining mechanical stabilization, and pass through sensor
The second chattering frequency after obtaining mechanical stabilization, according to the maximum pixel offset deviation and pre-stored pixel-shift difference with
The mapping relations of jitter amplitude determine corresponding second jitter amplitude, and according to the second chattering frequency and the second jitter amplitude
Machine core stabilization is carried out, the stability of image is improved.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of machine core stabilization processing method characterized by comprising
When detecting that itself is in dither state by sensor, the first chattering frequency and the are obtained by the sensor
One jitter amplitude；
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, root
Mechanical stabilization is carried out according to first chattering frequency and the first jitter amplitude；
The mobile maximum pixel offset deviation in any position on target object in monitored picture after obtaining mechanical stabilization, and pass through institute
It states sensor and obtains the second chattering frequency after mechanical stabilization；
According to the maximum pixel offset deviation and the mapping relations of pre-stored pixel-shift difference and jitter amplitude, determine
Corresponding second jitter amplitude；Machine core stabilization is carried out according to second chattering frequency and second jitter amplitude.
2. the method according to claim 1, wherein target pair in the monitored picture obtained after mechanical stabilization
As the mobile maximum pixel offset deviation in upper any position, comprising:
According to either objective point in the target object among the coordinate in the monitored picture after mechanical stabilization on every frame image
Maximum value and minimum value, determine the maximum pixel offset deviation of the target object position.
3. the method according to claim 1, wherein the mapping relations of the pixel-shift difference and jitter amplitude
Are as follows:
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, and Z (B) adopts for video
Collect the horizontal view angle of equipment, W is the horizontal resolution of video capture device, and β, b are unknowm coefficient；
The method also includes:
When detecting that itself is in dither state by sensor, according to the target object position in the monitored picture got
Maximum pixel offset deviation, and the jitter amplitude got by sensor determines the pixel-shift difference and jitter amplitude
Mapping relations in unknowm coefficient β and b.
4. method according to claim 1-3, which is characterized in that the mechanical stabilization of the progress includes passing through holder
Stabilization mode carries out stabilization processing.
5. method according to claim 1-3, which is characterized in that when the first chattering frequency is more than or equal to the first frequency
It is described to be trembled according to first chattering frequency and first when rate threshold value and the first jitter amplitude are more than or equal to the first amplitude threshold
Dynamic amplitude carries out before mechanical stabilization, further includes:
Judge first jitter amplitude whether more than the second amplitude threshold；Wherein, the second amplitude threshold is greater than first width
Spend threshold value；
If being more than, alarm information is sent；
Otherwise, it determines executing described the step of carrying out mechanical stabilization according to first chattering frequency and the first jitter amplitude.
6. a kind of machine core stabilization processing unit characterized by comprising
First acquisition unit, for being obtained by the sensor when detecting that itself is in dither state by sensor
First chattering frequency and the first jitter amplitude；
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
When the first amplitude threshold, according to first chattering frequency and the first jitter amplitude machinery stabilization；
Second acquisition unit, for obtaining in the monitored picture after mechanical stabilization the mobile maximum picture in any position on target object
Plain offset deviation；
The first acquisition unit is also used to obtain the second chattering frequency after mechanical stabilization by the sensor；
First determination unit, for according to the maximum pixel offset deviation and pre-stored pixel-shift difference and shake width
The mapping relations of degree determine corresponding second jitter amplitude；
The stabilization processing unit is also used to carry out machine core according to second chattering frequency and second jitter amplitude anti-
It trembles.
7. device according to claim 6, which is characterized in that
The second acquisition unit, specifically for according to monitoring picture of the either objective point after mechanical stabilization in the target object
The maximum value and minimum value among coordinate in face on every frame image determines the maximum pixel offset of the target object position
Difference.
8. device according to claim 6, which is characterized in that the mapping relations of the pixel-shift difference and jitter amplitude
Are as follows:
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, and Z (B) adopts for video
Collect the horizontal view angle of equipment, W is the horizontal resolution of video capture device, and β, b are unknowm coefficient；
Described device further include:
Second determination unit, for when detecting that itself is in dither state by sensor, according to the monitoring picture got
The maximum pixel offset deviation of target object position in face, and the jitter amplitude got by sensor, determine the picture
Unknowm coefficient β and b in plain offset deviation and the mapping relations of jitter amplitude.
9. according to the described in any item devices of claim 6-8, which is characterized in that
The stabilization processing unit, specifically for carrying out mechanical stabilization processing by holder stabilization mode.
10. according to the described in any item devices of claim 6-8, which is characterized in that described device further include:
Judging unit, for judging first jitter amplitude whether more than the second amplitude threshold；Wherein, the second amplitude threshold is big
In first amplitude threshold；
Transmission unit, if for the judging unit be judged as more than when, send alarm information；
The stabilization processing unit, if being judged as when being less than specifically for the judging unit, according to the first shake frequency
Rate and first jitter amplitude carry out mechanical stabilization.
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| 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 |
| CN110177212B (en) * | 2019-06-26 | 2021-01-26 | Oppo广东移动通信有限公司 | Image processing method and device, electronic equipment and computer readable storage medium |
| 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 |
| CN111901527B (en) * | 2020-08-05 | 2022-03-18 | 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 |
| CN111866395B (en) * | 2020-08-07 | 2022-05-13 | 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 |
| CN113518178B (en) * | 2021-04-22 | 2022-09-20 | 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 |
| 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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