CN105681674A - Image stabilizing method and compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing - Google Patents

Image stabilizing method and compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing Download PDF

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CN105681674A
CN105681674A CN201610161294.5A CN201610161294A CN105681674A CN 105681674 A CN105681674 A CN 105681674A CN 201610161294 A CN201610161294 A CN 201610161294A CN 105681674 A CN105681674 A CN 105681674A
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image
image stabilizing
frame
steady
control module
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徐一鸣
顾菊平
朱建红
陆观
陈�峰
缪阳洋
靳玉晨
李平文
余龙朝
袁琳琳
徐星
程乾
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Nantong University
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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
    • 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
    • H04N23/681—Motion detection
    • 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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  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

The invention discloses an image stabilizing method and a compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing. A mechanical image stabilizing system based on an MPU6050 motion sensor and a stepping motor is employed to control the deflection angle of a camera within five DEG; and then, an electronic image stabilizing method based on block gray-level projection is employed to perform global motion estimation through a median filtering method, so as to remove interframe small amplitude high frequency jitter, thereby realizing accurate image stabilizing. The system comprises an MPU6050 sensor module, an MSP430 master control module, a motor control module and an electronic image stabilizing module. The compound image stabilizing system can adapt to camera wide-angle deflection and complex environments and meet the requirements of a motion platform imaging system.

Description

The digital image stabilization method of mechanically-based steady picture and electronic steady image and combined type image stabilization system
Technical field
The present invention relates to the digital image stabilization method of a kind of mechanically-based steady picture and electronic steady image and image stabilization system.
Background technology
Stable image sequence is not only convenient for artificial observation, identification, makes human eye perception comfortable, and is the prerequisite of the subsequent treatment such as tracking, compressed encoding. Due to many interference factors that Camera Platform working environment exists, such as the DE Camera Shake etc. that mobile platform displacement or external interference cause, often there is the situation rocked, obscure of different amplitude in the video sequence obtained, therefore often must flow through Video Stabilization technology and video sequence is processed.
Current Video Stabilization technology mainly includes the steady picture of machinery, photorefractive crystals and electronic steady image. Machinery is steady stable to realize image sequence to compensate Camera Platform displacement as utilizing gyro-stabilized platform, is generally adopted high-precision optical fibre gyro and servomotor realizes compensation steady picture, and cost is very high, is mainly used in military field. Photorefractive crystals realizes stablizing of image sequence by optical element motion in compensating image system, compensates mainly for fine jitter. And electronic steady image Applied Digital image processing techniques is determined that the interframe of image sequence offsets and carries out Contrary compensation generation and is stablized image sequence, compared with the steady picture of machinery and photorefractive crystals, there is the advantages such as cost is low, motility is strong, but there is also the restriction that inter frame image degrees of offset can not be excessive.
Imaging system working environment based on mobile platform is complicated, and it is stable to generally require the visual field under large deflection angle degree, electronic image stabilizing is individually adopted to be difficult to meet demand, if adopting high-precision machinery steady too high again as technical costs, it is therefore proposed that a kind of combined type image stabilization system, realized the preliminarily stabilised of Camera Platform by MEMS sensor and motor composition machinery image stabilization system, then utilize electronic image stabilizing to obtain and high-quality stablize image sequence.
Summary of the invention
It is an object of the invention to provide a kind of combination machinery steady picture technology and electronic image stabilizing, it is adapted to video camera wide-angle deflection and complex background, meets the mechanically-based steady picture of motion platform imaging system demand and the digital image stabilization method of electronic steady image and combined type image stabilization system.
The technical solution of the present invention is:
The digital image stabilization method of a kind of mechanically-based steady picture and electronic steady image, is characterized in that: comprise the following steps:
Step one: system initializes;
Step 2: MPU6050 motion sensor initializes;
Step 3: read acceleration and angular velocity respectively from mems accelerometer and MEMS gyroscope;
Step 4: adopt Quaternion Algorithm that MPU6050 data are processed, obtain Eulerian angles, the transformational relation between quaternary number and Eulerian angles calculate the deflection angle of video camera, obtain current pose with this;
Step 5: if current pose is original attitude, then return to step 3, otherwise, enters next step;
Step 6: MSP430 single-chip microcomputer carries out Contrary compensation according to the deflection angle drive stepping motor calculated, controls video camera deflection amplitude within 5 °;
Step 7: the video image after the steady picture of above-mentioned steps is divided into 25 pieces of subregions, if certain subregion exists numerous moving object, then rejects this subregion;
Step 8: using the former frame of adjacent two two field pictures as reference frame, a later frame, as present frame, by each two field picture gray processing, solves the Gray Projection of level, vertical both direction respectively;
Step 9: the row, column drop shadow curve of the row, column gray value drop shadow curve of current frame image and reference frame is made cross-correlation calculation respectively, and unique valley value of two correlation curves of gained is as the motion vector both horizontally and vertically of present frame relative reference frame;
Step 10: adopt median screening method to obtain overall motion estimation vector the local motion vector of subregion;
Step 11: obtain Contrary compensation vector according to overall motion estimation vector, generates and compensates frame.
The concrete grammar of step 4:
Definition quaternary number q is one or four dimensional vectors:
In formula, α is for rotating Eulerian angles, ex、ey、ezRespectively X, Y, Z Euler axle.
According to the rotation order of Z → X → Y, Eulerian angles and quaternary number the attitude matrix represented can obtain:
In formula,For roll angle, θ is the angle of pitch, and ψ is course angle.
Work as Eulerian anglesθ,Time, the transformational relation between quaternary number and Eulerian angles is:
Step 7 utilizes the method for adjacent two frame inter-frame differences, detects the moving object of subregion; Being calculated as follows of inter-frame difference:
Dn(i, j)=| Gn(i,j)-Gn-1(i,j)|(4)
In formula, Gn(i, j) and Gn-1(i j) represents that adjacent two frames are at (i, j) pixel value at place, D respectivelyn(i j) is difference image, Rn(i, j) is binary image after difference, and T is the threshold value set.
Step 8 represents two-dimensional image information by two independent one-dimension information, and formula is:
In formula, Gn(i j) represents (i, j) gray value of place's pixel, G on n-th frame imagen(j)、GnI () represents the Gray Projection value of n-th frame image jth row and the i-th row respectively.
In step 9, the formula of row, column cross-correlation calculation is:
In formula, Gr(j)、GrI () represents the Gray Projection value of reference frame image jth row and the i-th row respectively; N, M are the picturewide and the line number that participate in calculating; N, m represent level, the vertical direction search width in side respectively.
AssumeWithRespectively C (ωH)、C(ωv) minimum time ωHAnd ωVValue, then n-th frame image relative to the reference frame image motion vector in horizontally and vertically direction is:
A kind of mechanically-based steady picture and electronic steady image combined type image stabilization system, it is characterized in that: include MPU6050 motion sensor module, MSP430 main control module, step motor control module and electronic steady image module; Wherein, motion sensor module is connected with main control module, and main control module is connected with step motor control module, it is achieved the preliminarily stabilised of image sequence, and using the result input as electronic steady image module.
Motion sensor module adopts 6 axis movement sensor MPU6050, main control module adopts MSP430 single-chip microcomputer, step motor control module adopts 2 phase 4 line motors, wherein, MPU6050 is integrated with 3 axle MEMS gyroscope and 3 axle mems accelerometers, corresponding 16 ADC of each axle, gyroscope can survey range for ± 250, ± 500, ± 1000, ± 2000 °/s, accelerometer can survey range for ± 2, ± 4, ± 8, ± 16g, it is possible to measure the angle change less than 1 °.
The present invention compared with prior art, has following remarkable advantage:
(1) present system have employed the mechanical image stabilization system control DE Camera Shake amplitude based on MEMS sensor with motor, and adopt the stable image sequence of electronic image stabilizing outputting high quality, with existing machinery formula surely as compared with technology, there is cost advantage.
(2) present system have employed piecemeal Gray Projection method, decreases the moving object impact on local estimation of motion vectors in visual field.
(3) present system have employed median screening method to carry out overall motion estimation, it is to avoid is similar to the complex calculation of stochastical sampling concordance (RANSAC) algorithm, improves the real-time of Electronic Image Stabilization.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the general frame of the combined type image stabilization system of the present invention.
Fig. 2 is the control flow chart of the mechanical image stabilization system of the present invention.
Detailed description of the invention
As shown in Figure 1, a kind of mechanically-based steady picture and electronic steady image combined type image stabilization system, including MPU6050 motion sensor module, MSP430 main control module, step motor control module and electronic steady image module, wherein, motion sensor module is connected with main control module, main control module is connected with motor control module, it is achieved the preliminarily stabilised of image sequence, and using the result input as electronic steady image module.
A kind of combined type image stabilization system of mechanically-based steady picture and electronic steady image, its motion sensor module adopts 6 axis movement sensor MPU6050, main control module adopts MSP430 single-chip microcomputer, motor angle compensating module adopts 2 phase 4 line motors, wherein, MPU6050 is integrated with 3 axle MEMS gyroscope and 3 axle mems accelerometers, corresponding 16 ADC of each axle, gyroscope can survey range for ± 250, ± 500, ± 1000, ± 2000 °/s, accelerometer can survey range for ± 2, ± 4, ± 8, ± 16g, it is possible to measure the angle change less than 1 °.
As shown in Figure 2, the combined type image stabilization system of a kind of mechanically-based steady picture and electronic steady image, comprise the following steps:
1.1 systems initialize.
1.2MPU6050 motion sensor initializes.
1.3 read acceleration and angular velocity respectively from mems accelerometer and MEMS gyroscope.
1.4 adopt Quaternion Algorithm that MPU6050 data are processed, and obtain Eulerian angles, the transformational relation between quaternary number and Eulerian angles calculate the deflection angle of video camera, obtain current pose with this. Specific as follows:
Definition quaternary number q is one or four dimensional vectors:
In formula, α is for rotating Eulerian angles, ex、ey、ezRespectively X, Y, Z Euler axle.
According to the rotation order of Z → X → Y, Eulerian angles and quaternary number the attitude matrix represented can obtain:
In formula,For roll angle, θ is the angle of pitch, and ψ is course angle.
Work as Eulerian anglesθ,Time, the transformational relation between quaternary number and Eulerian angles is:
If 1.5 current pose are original attitude, then return to step 3, otherwise, enter next step.
It is compensated by 1.6MSP430 single-chip microcomputer according to the deflection angle drive stepping motor calculated, and is controlled by video camera deflection amplitude within 5 °;
Video image after steady for machinery picture is divided into 25 pieces of subregions by 1.7, if certain subregion exists numerous moving object, then rejects this subregion.
The method utilizing adjacent two frame inter-frame differences, detects the moving object of subregion. Being calculated as follows of inter-frame difference:
Dn(i, j)=| Gn(i,j)-Gn-1(i,j)|(4)
In formula, Gn(i, j) and Gn-1(i j) represents that adjacent two frames are at (i, j) pixel value at place, D respectivelyn(i j) is difference image, Rn(i, j) is binary image after difference, and T is the threshold value set.
1.8 using the former frame of adjacent two two field pictures as reference frame, and a later frame, as present frame, by each two field picture gray processing, solves the Gray Projection of level, vertical both direction respectively.
The formula representing two-dimensional image information by two independent one-dimension information is:
In formula, Gn(i j) represents (i, j) gray value of place's pixel, G on n-th frame imagen(j)、GnI () represents the Gray Projection value of n-th frame image jth row and the i-th row respectively.
The row, column gray value drop shadow curve of current frame image and the row, column drop shadow curve of reference frame are made cross-correlation calculation by 1.9 respectively, and unique valley value of two correlation curves of gained is the motion vector both horizontally and vertically of present frame relative reference frame.
The formula of row, column cross-correlation calculation is:
In formula, Gr(j)、GrI () represents the Gray Projection value of reference frame image jth row and the i-th row respectively; N, M are the picturewide and the line number that participate in calculating; N, m represent level, the vertical direction search width in side respectively.
AssumeWithRespectively C (ωH)、C(ωv) minimum time ωHAnd ωVValue, then n-th frame image relative to the reference frame image motion vector in horizontally and vertically direction is:
The local motion vector of 1.10 pairs of subregions adopts median screening method to obtain overall motion estimation vector.
1.11 obtain Contrary compensation vector according to overall motion estimation vector, generate and compensate frame.

Claims (7)

1. a digital image stabilization method for mechanically-based steady picture and electronic steady image, is characterized in that: comprise the following steps:
Step one: system initializes;
Step 2: MPU6050 motion sensor initializes;
Step 3: read acceleration and angular velocity respectively from mems accelerometer and MEMS gyroscope;
Step 4: adopt Quaternion Algorithm that MPU6050 data are processed, obtain Eulerian angles, the transformational relation between quaternary number and Eulerian angles calculate the deflection angle of video camera, obtain current pose with this;
Step 5: if current pose is original attitude, then return to step 3, otherwise, enters next step;
Step 6: MSP430 single-chip microcomputer carries out Contrary compensation according to the deflection angle drive stepping motor calculated, controls video camera deflection amplitude within 5 °;
Step 7: the video image after the steady picture of above-mentioned steps is divided into 25 pieces of subregions, if certain subregion exists numerous moving object, then rejects this subregion;
Step 8: using the former frame of adjacent two two field pictures as reference frame, a later frame, as present frame, by each two field picture gray processing, solves the Gray Projection of level, vertical both direction respectively;
Step 9: the row, column drop shadow curve of the row, column gray value drop shadow curve of current frame image and reference frame is made cross-correlation calculation respectively, and unique valley value of two correlation curves of gained is as the motion vector both horizontally and vertically of present frame relative reference frame;
Step 10: adopt median screening method to obtain overall motion estimation vector the local motion vector of subregion;
Step 11: obtain Contrary compensation vector according to overall motion estimation vector, generates and compensates frame.
2. the digital image stabilization method of mechanically-based steady picture according to claim 1 and electronic steady image, is characterized in that: the concrete grammar of step 4:
Definition quaternary number q is one or four dimensional vectors:
q = q 1 q 2 q 3 q 4 T q 1 = cos ( α / 2 ) q 2 = e x sin ( α / 2 ) q 3 = e y sin ( α / 2 ) q 4 = e z sin ( α / 2 ) - - - ( 1 )
In formula, α is for rotating Eulerian angles, ex、ey、ezRespectively X, Y, Z Euler axle.
According to the rotation order of Z → X → Y, Eulerian angles and quaternary number the attitude matrix represented can obtain:
In formula,For roll angle, θ is the angle of pitch, and ψ is course angle;
Work as Eulerian anglesθ,Time, the transformational relation between quaternary number and Eulerian angles is:
3. the digital image stabilization method of mechanically-based steady picture according to claim 1 and electronic steady image, is characterized in that: step 7 utilizes the method for adjacent two frame inter-frame differences, detects the moving object of subregion; Being calculated as follows of inter-frame difference:
Dn(i, j)=| Gn(i,j)-Gn-1(i,j)|(4)
R n ( i , j ) = 0 i f D n i j > T 1 i f D n i j ≤ T - - - ( 5 )
In formula, Gn(i, j) and Gn-1(i j) represents that adjacent two frames are at (i, j) pixel value at place, D respectivelyn(i j) is difference image, Rn(i, j) is binary image after difference, and T is the threshold value set.
4. the digital image stabilization method of mechanically-based steady picture according to claim 1 and electronic steady image, is characterized in that: step 8 represents two-dimensional image information by two independent one-dimension information, and formula is:
G n ( j ) = Σ i G n ( i , j ) G n ( i ) = Σ j G n ( i , j ) - - - ( 6 )
In formula, Gn(i j) represents (i, j) gray value of place's pixel, G on n-th frame imagen(j)、GnI () represents the Gray Projection value of n-th frame image jth row and the i-th row respectively.
5. the digital image stabilization method of mechanically-based steady picture according to claim 1 and electronic steady image, is characterized in that: in step 9, the formula of row, column cross-correlation calculation is:
C ( ω H ) = Σ j = 1 N - 2 n [ G r ( j + ω H - 1 ) - G n ( n + j ) ] 2 C ( ω v ) = Σ i = 1 M - 2 m [ G r ( i + ω v - 1 ) - G n ( m + i ) ] 2 - - - ( 7 ) .
In formula, Gr(j)、GrI () represents the Gray Projection value of reference frame image jth row and the i-th row respectively; N, M are the picturewide and the line number that participate in calculating; N, m represent level, the vertical direction search width in side respectively;
AssumeWithRespectively C (ωH)、C(ωv) minimum time ωHAnd ωVValue, then n-th frame image relative to the reference frame image motion vector in horizontally and vertically direction is:
Δ x = n + 1 - ω H m i n Δ y = m + 1 - ω v m i n - - - ( 8 ) .
6. mechanically-based steady picture and electronic steady image a combined type image stabilization system, it is characterized in that: include MPU6050 motion sensor module, MSP430 main control module, step motor control module and electronic steady image module; Wherein, motion sensor module is connected with main control module, and main control module is connected with step motor control module, it is achieved the preliminarily stabilised of image sequence, and using the result input as electronic steady image module.
7. mechanically-based steady picture according to claim 6 and electronic steady image combined type image stabilization system, it is characterized in that: motion sensor module adopts 6 axis movement sensor MPU6050, main control module adopts MSP430 single-chip microcomputer, step motor control module adopts 2 phase 4 line motors, wherein, MPU6050 is integrated with 3 axle MEMS gyroscope and 3 axle mems accelerometers, corresponding 16 ADC of each axle, gyroscope can be surveyed and range for ± 250, ± 500, ± 1000, ± 2000 °/s, accelerometer can be surveyed and range for ± 2, ± 4, ± 8, ± 16g, the angle change less than 1 ° can be measured.
CN201610161294.5A 2016-03-21 2016-03-21 Image stabilizing method and compound image stabilizing system based on mechanical image stabilizing and electronic image stabilizing Pending CN105681674A (en)

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WO2020253207A1 (en) * 2019-06-19 2020-12-24 广景视睿科技（深圳）有限公司 Projection picture anti-shake method and apparatus, and projector
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Application publication date: 20160615