CN106023092B - Image defogging method and device - Google Patents
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Abstract
The invention provides an image defogging method and device, comprising the following steps: acquiring an image to be defogged, and acquiring an atmospheric light value according to the image to be defogged; acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged; acquiring the row position of each pixel in the R-channel frequency domain matrix and the column position of each pixel in the R-channel frequency domain matrix; acquiring a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band elimination filter according to the parameters; convolving the R channel frequency domain matrix with a weighted average filter, and converting the convolution result into a space domain to obtain a transmittance map; and acquiring a defogged image of the image to be defogged according to the atmospheric light value and the transmissivity graph. The invention has high defogged image definition by carrying out convolution on the weighted average filter and the R channel frequency domain matrix.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to an image defogging method and device.
Background
Haze is a natural phenomenon, an aerosol system consisting of a large number of tiny water droplets or ice crystals suspended in air near the ground is called fog, and particles in the air, such as dust, sulfuric acid, nitric acid, organic hydrocarbons and the like, which can make the atmosphere turbid, are called haze. The existence of haze reduces the environmental visibility, deteriorates the air quality and seriously damages the environment; and the imaging of the picture is blurred, so that the method has a certain barrier effect on the application of technologies such as automatic navigation, monitoring and tracking based on videos. Therefore, the image defogging and sharpening method has very important significance by utilizing the image processing and computer vision technology.
Existing image defogging methods include two main categories: the method is based on an image enhancement method, does not consider the reason of image degradation, but enhances the image contrast, so that the visual effect is better; and secondly, defogging the image based on the physical model, and inverting the undegraded image by establishing a fog degradation model. The second method has natural defogging effect and small loss of image information amount, and has many researches related to the defogging effect at home and abroad.
The defogging method has the processing effects of distortion, halation and the like, so that the image is not clear.
Disclosure of Invention
The present invention provides a method and apparatus for defogging an image that overcomes or at least partially solves the above-mentioned problems.
In a first aspect, the present invention provides an image defogging method comprising:
acquiring an image to be defogged;
acquiring an atmospheric light value according to the image to be defogged;
acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
acquiring the row position of each pixel in the R-channel frequency domain matrix and the column position of each pixel in the R-channel frequency domain matrix;
acquiring a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a line position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix;
convolving the R channel frequency domain matrix with the weighted average filter, and converting a convolution result into a space domain to obtain a transmittance map;
and acquiring a defogged image of the image to be defogged according to the atmospheric light value and the transmissivity map.
Preferably, after the image to be defogged is acquired, before the atmospheric light value is acquired according to the image to be defogged, the method further includes:
and carrying out sampling processing on the image to be defogged.
Preferably, the obtaining of the atmospheric light value according to the image to be defogged includes:
acquiring the brightness value of an R, G, B channel of each pixel in the image to be defogged;
acquiring the minimum value of the R, G, B channel brightness values of each pixel;
determining an image formed by a channel corresponding to the minimum value in the R, G, B channel brightness values of each pixel as a dark channel image of the image to be defogged;
and acquiring an atmospheric light value according to the dark channel image of the image to be defogged.
Preferably, the obtaining of the atmospheric light value according to the dark channel image of the image to be defogged includes:
acquiring the brightness value of each pixel in the dark channel image, and sequencing the brightness values of the pixels from large to small;
and selecting the brightness values of the front preset number from the sequencing result, and acquiring the atmospheric light value according to the brightness values of the preset number.
Preferably, obtaining the atmospheric light value according to the preset number of brightness values includes:
acquiring a brightness value of an R, G, B channel of each pixel in the first pixel set; the first pixel set is a set formed by pixels in the image to be defogged corresponding to each brightness value in the preset number of brightness values;
acquiring a luminance value of R, G, B channel of each pixel in the first pixel set;
determining a maximum luminance value of the luminance values of the R, G, B channels for each pixel in the first set of pixels to be an atmospheric light value.
Preferably, the method further comprises:
and carrying out linear transformation on the defogged image of the image to be defogged so as to obtain the optimized defogged image of the image to be defogged.
Preferably, the obtaining a weighted average filter formed by weighting a gaussian filter, a gaussian high-pass filter and a gaussian band-stop filter according to a preset number of rows of pixels of an image to be defogged, a preset number of columns of pixels of the image to be defogged, a row position of each pixel in the R channel frequency domain matrix, and a column position of each pixel in the R channel frequency domain matrix includes:
obtaining a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter through a formula (I) according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a row position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix
H＝w1H1+w2H2+w3H3 1
Wherein, H1 is a Gaussian filter,
k is a constant, σ is a constant, H2 is a gaussian high-pass filter,
h3 is a gaussian band-stop filter,
freq is constant, width is constant, x is row position of each pixel in the R channel frequency domain matrix, y is column position of each pixel in the R channel frequency domain matrix, u is preset pixel row number of the image to be defogged, v is preset pixel column number of the image to be defogged, w is preset pixel column number of the image to be defogged1、w2W is constant, and w1＝w2＝w3＝1/3。
Preferably, the acquiring a defogged image of the image to be defogged according to the atmospheric light value and the transmittance map includes:
obtaining a defogged image of the image to be defogged through a formula (II) according to the atmospheric light value and the transmissivity graph
Wherein J (x) is a defogged image of the image to be defogged, I (x) is an image to be defogged, t (x) is a transmissivity graph, and A is an atmospheric light value.
Preferably, the linearly transforming the defogged image of the image to be defogged to obtain the optimized defogged image of the image to be defogged includes:
linearly transforming the defogged image of the image to be defogged through a formula (III) to obtain the optimized defogged image of the image to be defogged
Idehaze＝a·Id+ b/255 (three)
Wherein, IdehazeFor optimized defogged images of the image to be defogged, a is constant, b is constant, IdAnd the image to be defogged is a defogged image of the image to be defogged.
In a second aspect, the present invention provides an image defogging device comprising:
a first acquisition unit configured to acquire an image to be defogged;
the second acquisition unit is used for acquiring an atmospheric light value according to the image to be defogged;
the third acquisition unit is used for acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
a fourth obtaining unit, configured to obtain a row position where each pixel in the R-channel frequency domain matrix is located and a column position where each pixel in the R-channel frequency domain matrix is located;
a fifth obtaining unit, configured to obtain a weighted average filter formed by weighting a gaussian filter, a gaussian high-pass filter, and a gaussian band-stop filter according to a preset number of rows of pixels of an image to be defogged, a preset number of columns of pixels of the image to be defogged, a row position where each pixel in the R-channel frequency domain matrix is located, and a column position where each pixel in the R-channel frequency domain matrix is located;
the convolution unit is used for convolving the R channel frequency domain matrix with the weighted average filter and converting a convolution result into a space domain so as to obtain a transmittance map;
and the sixth acquisition unit is used for acquiring the defogged image of the image to be defogged according to the atmospheric light value and the transmissivity map.
According to the technical scheme, the weighted average filter consisting of the Gaussian filter, the Gaussian high-pass filter and the Gaussian band elimination filter is convolved with the R channel frequency domain matrix, so that the acquired defogged image is high in definition and better in refinement degree, and the problems of image distortion, halation and the like in the prior art are solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating an image defogging method according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of an image defogging device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of an image defogging method according to an embodiment of the present invention.
As shown in fig. 1, an image defogging method of the present embodiment includes:
s11, acquiring an image to be defogged;
s12, obtaining an atmospheric light value according to the image to be defogged;
s13, acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
it can be understood that the R-channel matrix of the image to be defogged can be converted into an R-channel frequency domain matrix of the R-channel matrix of the image to be defogged by fourier transform.
S14, acquiring the row position of each pixel in the R channel frequency domain matrix and the column position of each pixel in the R channel frequency domain matrix;
s15, acquiring a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter according to the preset number of pixel rows of the image to be defogged, the preset number of pixel columns of the image to be defogged, the row position of each pixel in the R channel frequency domain matrix and the column position of each pixel in the R channel frequency domain matrix;
s16, convolving the R channel frequency domain matrix with the weighted average filter, and converting the convolution result into a space domain to obtain a transmittance map;
it will be appreciated that the convolution result may be converted to spatial domain by an inverse fourier transform.
And S17, acquiring the defogged image of the image to be defogged according to the atmospheric light value and the transmissivity graph.
According to the invention, the weighted average filter composed of the Gaussian filter, the Gaussian high-pass filter and the Gaussian band elimination filter is convolved with the R channel frequency domain matrix, so that the obtained defogged image has high definition and better refinement degree, and the problems of image distortion, halation and the like in the prior art are solved.
As a preferred embodiment, the step S15 includes:
obtaining a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter through a formula (I) according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a row position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix
H＝w1H1+w2H2+w3H3 1
Wherein, H1 is a Gaussian filter,
k is a constant, σ is a constant, H2 is a gaussian high-pass filter,
h3 is a gaussian band-stop filter,
freq is constant, width is constant, x is row position of each pixel in the R channel frequency domain matrix, y is column position of each pixel in the R channel frequency domain matrix, u is preset pixel row number of the image to be defogged, v is preset pixel column number of the image to be defogged, w is preset pixel column number of the image to be defogged1、w2W is constant, and w1＝w2＝w3＝1/3。
In practical applications, generally, k is 1.2, σ is 50, freq is 100, width is 10,
as a preferred embodiment, the step S17 includes:
obtaining a defogged image of the image to be defogged through a formula (II) according to the atmospheric light value and the transmissivity graph
Wherein J (x) is a defogged image of the image to be defogged, I (x) is an image to be defogged, t (x) is a transmissivity graph, and A is an atmospheric light value.
As a preferred embodiment, after the step S11 and before the step S12, the method further comprises:
and carrying out sampling processing on the image to be defogged.
In this embodiment, the to-be-defogged image may be interlaced and interlaced to obtain pixel values, so as to obtain a downsampled image of the size of the original image 1/4.
Since the number of pixels of an image to be defogged is reduced, the processing efficiency can be improved.
It is worth noting that such processing does not affect the sharpness of the defogged image.
As a preferred embodiment, the step S12 includes:
acquiring the brightness value of an R, G, B channel of each pixel in the image to be defogged;
acquiring the minimum value of the R, G, B channel brightness values of each pixel;
determining an image formed by a channel corresponding to the minimum value in the R, G, B channel brightness values of each pixel as a dark channel image of the image to be defogged;
and acquiring an atmospheric light value according to the dark channel image of the image to be defogged.
As a preferred embodiment, the acquiring of the atmospheric light value according to the dark channel image of the image to be defogged in the step S12 includes:
acquiring the brightness value of each pixel in the dark channel image, and sequencing the brightness values of the pixels from large to small;
and selecting the brightness values of the front preset number from the sequencing result, and acquiring the atmospheric light value according to the brightness values of the preset number.
As a preferred embodiment, the obtaining of the atmospheric light value according to the preset number of brightness values in step S12 includes:
acquiring a brightness value of an R, G, B channel of each pixel in the first pixel set; the first pixel set is a set formed by pixels in the image to be defogged corresponding to each brightness value in the preset number of brightness values;
acquiring the maximum brightness value in the brightness values of R, G, B channels of each pixel in the first pixel set;
determining a maximum luminance value of the luminance values of the R, G, B channels for each pixel in the first set of pixels to be an atmospheric light value.
As a preferred embodiment, the method further comprises:
and carrying out linear transformation on the defogged image of the image to be defogged so as to obtain the optimized defogged image of the image to be defogged.
In this embodiment, the defogged image of the image to be defogged is linearly transformed by the formula (iii) to obtain the optimized defogged image of the image to be defogged
Idehaze＝a·Id+ b/255 (three)
Wherein, IdehazeFor optimized defogged images of the image to be defogged, a is constant, b is constant, IdAnd the image to be defogged is a defogged image of the image to be defogged.
In practical applications, typically, a is 1.4 and b is-20.
It can be understood that the contrast of the defogged image can be improved through the linear transformation, so that the defogged image is clearer.
Fig. 2 is a schematic structural diagram of an image defogging device according to an embodiment of the invention.
As shown in fig. 2, an image defogging device includes: a first acquisition unit 21, a second acquisition unit 22, a third acquisition unit 23, a fourth acquisition unit 24, a fifth acquisition unit 25, a convolution unit 26, and a seventh acquisition unit 27, wherein,
the first acquisition unit 21 is used for acquiring an image to be defogged;
the second obtaining unit 22 is configured to obtain an atmospheric light value according to the image to be defogged;
the third obtaining unit 23 is configured to obtain an R channel matrix of the image to be defogged, and obtain an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
the fourth obtaining unit 24 is configured to obtain a row position where each pixel in the R-channel frequency domain matrix is located and a column position where each pixel in the R-channel frequency domain matrix is located;
the fifth obtaining unit 25 is configured to obtain a weighted average filter formed by weighting a gaussian filter, a gaussian high-pass filter, and a gaussian band-stop filter according to a preset number of rows of pixels of an image to be defogged, a preset number of columns of pixels of the image to be defogged, a row position of each pixel in the R-channel frequency domain matrix, and a column position of each pixel in the R-channel frequency domain matrix;
the convolution unit is used for 26 convolving the R channel frequency domain matrix with the weighted average filter and converting a convolution result into a space domain to obtain a transmittance map;
the sixth obtaining unit 27 is configured to obtain a defogged image of the image to be defogged according to the atmospheric light value and the transmittance map.
An image defogging device and an image defogging method of the invention are in one-to-one correspondence, and are not described in detail herein.
It should be noted that, in the respective components of the apparatus of the present invention, the components therein are logically divided according to the functions to be implemented, but the present invention is not limited thereto, and the respective components may be re-divided or combined as needed, for example, some components may be combined into a single component, or some components may be further decomposed into more sub-components.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus according to an embodiment of the invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware.
The above embodiments are only suitable for illustrating the present invention and not limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (9)
1. An image defogging method, comprising:
acquiring an image to be defogged;
acquiring an atmospheric light value according to the image to be defogged;
acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
acquiring the row position of each pixel in the R-channel frequency domain matrix and the column position of each pixel in the R-channel frequency domain matrix;
acquiring a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a line position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix;
convolving the R channel frequency domain matrix with the weighted average filter, and converting a convolution result into a space domain to obtain a transmittance map;
acquiring a defogged image of the image to be defogged according to the atmospheric light value and the transmissivity map;
according to the preset number of pixel rows of the image to be defogged, the preset number of pixel columns of the image to be defogged, the row position of each pixel in the R channel frequency domain matrix and the column position of each pixel in the R channel frequency domain matrix, a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band elimination filter is obtained, and the method comprises the following steps:
obtaining a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter through a formula (I) according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a row position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix
H＝w1H1+w2H2+w3H3 1
Wherein, H1 is a Gaussian filter,
k is a constant, σ is a constant, H2 is a gaussian high-pass filter,
h3 is a gaussian band-stop filter,
freq is constant, width is constant, x is row position of each pixel in the R channel frequency domain matrix, y is column position of each pixel in the R channel frequency domain matrix, u is preset pixel row number of the image to be defogged, v is preset pixel column number of the image to be defogged, w is preset pixel column number of the image to be defogged1、w2W is constant, and w1＝w2＝w3＝1/3。
2. The method of claim 1, wherein after acquiring the image to be defogged and before acquiring the atmospheric light value from the image to be defogged, the method further comprises:
and carrying out sampling processing on the image to be defogged.
3. The method according to claim 1 or 2, characterized in that acquiring atmospheric light values from the image to be defogged comprises:
acquiring the brightness value of an R, G, B channel of each pixel in the image to be defogged;
acquiring the minimum value of the R, G, B channel brightness values of each pixel;
determining an image formed by a channel corresponding to the minimum value in the R, G, B channel brightness values of each pixel as a dark channel image of the image to be defogged;
and acquiring an atmospheric light value according to the dark channel image of the image to be defogged.
4. The method according to claim 3, wherein obtaining an atmospheric light value from a dark channel image of the image to be defogged comprises:
acquiring the brightness value of each pixel in the dark channel image, and sequencing the brightness values of the pixels from large to small;
and selecting the brightness values of the front preset number from the sequencing result, and acquiring the atmospheric light value according to the brightness values of the preset number.
5. The method of claim 4, wherein obtaining an atmospheric light value from the preset number of brightness values comprises:
acquiring a brightness value of an R, G, B channel of each pixel in the first pixel set; the first pixel set is a set formed by pixels in the image to be defogged corresponding to each brightness value in the preset number of brightness values;
acquiring a luminance value of R, G, B channel of each pixel in the first pixel set;
determining a maximum luminance value of the luminance values of the R, G, B channels for each pixel in the first set of pixels to be an atmospheric light value.
6. The method according to claim 1 or 2, characterized in that the method further comprises:
and carrying out linear transformation on the defogged image of the image to be defogged so as to obtain the optimized defogged image of the image to be defogged.
7. The method according to claim 1 or 2, wherein obtaining a defogged image of the image to be defogged according to the atmospheric light value and the transmittance map comprises:
obtaining a defogged image of the image to be defogged through a formula (II) according to the atmospheric light value and the transmissivity graph
Wherein J (x) is a defogged image of the image to be defogged, I (x) is an image to be defogged, t (x) is a transmissivity graph, and A is an atmospheric light value.
8. The method of claim 6, wherein linearly transforming the defogged image of the image to be defogged to obtain an optimized defogged image of the image to be defogged comprises:
linearly transforming the defogged image of the image to be defogged through a formula (III) to obtain the optimized defogged image of the image to be defogged
Idehaze＝a·Id+ b/255 (three)
Wherein, IdehazeFor optimized defogged images of the image to be defogged, a is constant, b is constant, IdAnd the image to be defogged is a defogged image of the image to be defogged.
9. An image defogging device, comprising:
a first acquisition unit configured to acquire an image to be defogged;
the second acquisition unit is used for acquiring an atmospheric light value according to the image to be defogged;
the third acquisition unit is used for acquiring an R channel matrix of the image to be defogged and acquiring an R channel frequency domain matrix of the R channel matrix of the image to be defogged;
a fourth obtaining unit, configured to obtain a row position where each pixel in the R-channel frequency domain matrix is located and a column position where each pixel in the R-channel frequency domain matrix is located;
a fifth obtaining unit, configured to obtain a weighted average filter formed by weighting a gaussian filter, a gaussian high-pass filter, and a gaussian band-stop filter according to a preset number of rows of pixels of an image to be defogged, a preset number of columns of pixels of the image to be defogged, a row position where each pixel in the R-channel frequency domain matrix is located, and a column position where each pixel in the R-channel frequency domain matrix is located;
the convolution unit is used for convolving the R channel frequency domain matrix with the weighted average filter and converting a convolution result into a space domain so as to obtain a transmittance map;
a sixth acquiring unit, configured to acquire a defogged image of the image to be defogged according to the atmospheric light value and the transmittance map;
according to the preset number of pixel rows of the image to be defogged, the preset number of pixel columns of the image to be defogged, the row position of each pixel in the R channel frequency domain matrix and the column position of each pixel in the R channel frequency domain matrix, a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band elimination filter is obtained, and the method comprises the following steps:
obtaining a weighted average filter formed by weighting a Gaussian filter, a Gaussian high-pass filter and a Gaussian band-stop filter through a formula (I) according to a preset pixel line number of an image to be defogged, a preset pixel column number of the image to be defogged, a row position of each pixel in the R channel frequency domain matrix and a column position of each pixel in the R channel frequency domain matrix
H＝w1H1+w2H2+w3H3 1
Wherein, H1 is a Gaussian filter,
k is constant, σ is constant, H2 is Gaussian high-pass filterThe wave filter is used for filtering the received signal,
h3 is a gaussian band-stop filter,
freq is constant, width is constant, x is row position of each pixel in the R channel frequency domain matrix, y is column position of each pixel in the R channel frequency domain matrix, u is preset pixel row number of the image to be defogged, v is preset pixel column number of the image to be defogged, w is preset pixel column number of the image to be defogged1、w2W is constant, and w1＝w2＝w3＝1/3。
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