CN106357994B - The synchronous method and device of telemetry and video image data - Google Patents
The synchronous method and device of telemetry and video image data Download PDFInfo
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- CN106357994B CN106357994B CN201610752316.5A CN201610752316A CN106357994B CN 106357994 B CN106357994 B CN 106357994B CN 201610752316 A CN201610752316 A CN 201610752316A CN 106357994 B CN106357994 B CN 106357994B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
Abstract
The embodiment of the invention discloses the synchronous method of a kind of telemetry and video image data, comprising: (1) obtains telemetry and video image data to be synchronized；(2) telemetry of acquisition is parsed, obtains the first observation area center sequence based on telemetry, and obtain geographical base map；(3) key images frame sequence is extracted from the video image data got, and key images frame sequence and geographical base map are subjected to Corresponding matching, obtain the second observation area center sequence based on video image data.The present invention realizes that video image data is synchronous with telemetry, and ensure that synchronous accuracy, and due to by key images frame extractive technique greatly reduce picture frame match consumed by calculation amount, improve treatment effeciency.
Description
Technical field
The present invention relates to the same of Telemetering Data Processing technical field more particularly to a kind of telemetry and video image data
One step process and device.
Background technique
During such as unmanned plane during flying, video image data and telemetry are difference recording and storages,
In, video image data is that unmanned plane load is generated and stored, and telemetry is flight control system generation and storage, and in flight knot
Video image data file and telemetry file are generated after beam respectively.Due to the factors such as communication delay, link shakiness, video figure
Picture data and telemetry are often nonsynchronous, i.e., video image data and telemetry can not correspond.However,
With the gradually in-depth and refinement of the analysis analysis to data, need to synchronize place to telemetry and video image data
Reason.
To solve the problems, such as that data are synchronous, a kind of existing way be using manual type according to the position of telemetry and
Video content compare with it is synchronous, this mode is not only time-consuming and laborious, but also since the limitation of artificial treatment causes to synchronize
As a result also not ideal enough.Another way is that the calculating of relative position is realized using image matching method, since images match is calculated
Computationally intensive, the low efficiency of method, the computing resource of consumption and time are excessive, can not effectively apply in the processing of actual video
In.
To sum up, it is synchronous with video image data that a kind of more effective synchronous method realization telemetry is needed at present, and
Improve data synchronous efficiency and accuracy.
Summary of the invention
Example of the present invention provides the processing method and processing device of a kind of telemetry and video image data, for distant in realization
On the basis of measured data is synchronous with video image data, synchronous efficiency and accuracy are improved.
A kind of synchronous method of telemetry and video image data, this method comprises:
Obtain telemetry and video image data to be synchronized；
Key images frame sequence is extracted from the video image data, includes adjacent in the key images frame sequence
Multiple images frame in multiple images frame；
Corresponding video area center sequence is determined according to the telemetry；
Match the key images frame sequence and the video area center sequence；
According to matching result, interpolation processing is carried out to the telemetry, is obtained synchronous with the video image data
Telemetry.
It is preferably, described that key images frame sequence is extracted from the video image data, comprising:
Multiple images frame is extracted from the video image data got based on image information entropy.
It is preferably, described that corresponding video area center sequence is determined according to the telemetry, comprising:
According to the geography information in the telemetry, multiple base map regions in base map are determined；
Determine the center position information in the base map region；
The video area center sequence is determined according to the center position information.
Preferably, the matching key images frame sequence and the video area center sequence, comprising:
The feature of at least one picture frame in the key images frame is extracted using first resolution；
Corresponding geographical base map is determined according to the described image frame feature that the first resolution extracts, if can not be true
Fixed corresponding geographical map, then using the second resolution higher than first resolution at least one in the key images frame
The feature of picture frame determines that corresponding geographical map extracts again；
The key images frame after determination matches with the video area center sequence.
Preferably, described according to matching result, interpolation processing is carried out to the telemetry, is obtained and the video image
The synchronous telemetry of data includes:
Interpolation is carried out to the telemetry；
Obtain the telemetry with the video data synchronization.
A kind of synchronizing device of telemetry and video image data, the device include:
Module is obtained, for obtaining telemetry and video image data to be synchronized；
Telemetry analysis module determines corresponding video area center sequence according to the telemetry；
Video image data analysis module extracts key images frame sequence, the key from the video image data
Include the multiple images frame in adjacent multiple images frame in image frame sequence；
Synchronization module is tied for matching the key images frame sequence and the video area center sequence according to matching
Fruit carries out interpolation processing to the telemetry, obtains the telemetry synchronous with the video image data.
Preferably, the video image data analysis module, according to image information entropy from the video image data got
Middle extraction multiple images frame.
Preferably, the video image data analysis module determines base map according to the geography information in the telemetry
In multiple base map regions；Determine the center position information in the base map region；It is determined according to the center position information
The video area center sequence.
Preferably, the synchronization module extracts at least one picture frame in the key images frame using first resolution
Feature；Corresponding geographical base map is determined according to the described image frame feature that the first resolution extracts, if can not be true
Fixed corresponding geographical map, then using the second resolution higher than first resolution at least one in the key images frame
The feature of picture frame determines that corresponding geographical map extracts again；The key images frame and the video area after determination
Domain center sequence matches.
Preferably, the synchronization module carries out interpolation to the telemetry；It obtains distant with the video data synchronization
Measured data.
By using in the technical solution of the present invention, the telemetry synchronous with video image data can be obtained, protect
Synchronous accuracy is demonstrate,proved；And since key images frame sequence is made of the picture frame in adjacent multiple images frame,
Consumed calculation amount is matched by the way that picture frame can be greatly reduced using key images frame, improves treatment effeciency.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the synchronous method process signal of a kind of telemetry and video image data provided in an embodiment of the present invention
Figure；
Fig. 2 is the overall flow signal of the synchronous method of telemetry provided in an embodiment of the present invention and video image data
Figure；
Fig. 3 is a kind of structural representation of the synchronizing device of telemetry and video image data provided in an embodiment of the present invention
Figure.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is the synchronous method process signal of a kind of telemetry and video image data provided in an embodiment of the present invention
Figure.
As shown in Figure 1, this method comprises:
Step 101, telemetry and video image data to be synchronized are obtained；
Step 102, key images frame sequence is extracted from the video image data, is wrapped in the key images frame sequence
Containing the multiple images frame in adjacent multiple images frame；
Step 103, corresponding video area center sequence is determined according to the telemetry；
Step 104, the key images frame sequence and the video area center sequence are matched；
Step 105, according to matching result, interpolation processing is carried out to the telemetry, is obtained and the video image number
According to synchronous telemetry.
It should be noted that the number of above-mentioned each step is only a kind of the exemplary of implementation procedure in the embodiment of the present invention
Illustrating, the embodiment of the present invention is not done clearly specific sequencing to each step and is limited, some steps can carry out simultaneously, or
It does not carry out by above-mentioned number, for example, step 102 and step 103 can carry out simultaneously, or can first carry out in step 103
Content, then execute the content in step 102.
In the embodiment of the present invention, the first sight based on telemetry is respectively obtained according to telemetry and video image data
Regional center sequence and the key images frame sequence based on video image data are surveyed, and then according to matching result, to telemetry
Interpolation processing is carried out, since the sample frequency of telemetry is lower than the sample frequency of video image data, passes through matching and interpolation
After processing, telemetry corresponding with the key images frame in video image data can be obtained, not only realize video image data
It is synchronous with telemetry, and ensure that synchronous accuracy.Simultaneously as key images frame is adjacent multiple images frame
In a picture frame, thus by key images frame extractive technique greatly reduce picture frame match consumed by calculation amount,
Improve treatment effeciency.
Specifically, for extracting in key images frame sequence (step 102), key images frame is adjacent multiple images frame
In a picture frame, that is to say, that, it is assumed that in video image data include picture frame 1 to picture frame 100, then can be from picture frame
1 extracts a key images frame into picture frame 10, a key images frame is extracted into picture frame 10 from picture frame 11, with this
Analogize, can extract 10 key images frames；Alternatively, a key images frame can also be extracted into picture frame 20 from picture frame 1,
A key images frame is extracted into picture frame 20 from picture frame 21, and so on, it can extract 5 key images frames；And or
Person can also extract a key images frame into picture frame 10 from picture frame 1, extract one into picture frame 30 from picture frame 11
Key images frame extracts a key images frame into picture frame 60 from picture frame 31, i.e., from random multiple adjacent images
A key images frame is extracted in frame.Further, one can be extracted from multiple adjacent picture frames according to image information entropy
Key images frame, alternatively, other extraction foundations can also rule of thumb be arranged with actual conditions by those skilled in the art.
Step (step 103) is determined for video area center sequence, is assisted according to unmanned plane telemetry protocol and load telemetering
View parses telemetry, obtains the posture and location information of unmanned plane corresponding to every frame and load, and then according to nothing
The focal length of the information such as man-machine and load posture and position and load calculates the region of video, to realize determining for video hub
Position obtains the video based on telemetry and surveys regional center sequence.
The number of the embodiment of the present invention, the key images frame of extraction is more, then can make final synchronized result more subject to
Really, correspondingly, it also will increase calculation amount, consume process resource；Conversely, the number of the key images frame extracted is fewer, then can make
The accuracy rate for obtaining synchronized result finally is declined, correspondingly, it may also reduce calculation amount improves efficiency.Based on above content,
The number of the specific key images frame to be extracted can be by those skilled in the art on the basis of comprehensively considering actual conditions, root
It is configured according to experience, the embodiment of the present invention is not specifically limited in this embodiment.
Below by taking the first key images frame as an example, to illustrate key images frame geographical base map corresponding with video image data
Carry out matched detailed process.Wherein, the first key images frame is any of the multiple key images frame.The present invention is real
Applying geographical base map corresponding with video image data in example is that the high definition base map for extracting corresponding region according to planning course line obtains.
Feature extraction is carried out to the first key images frame using first resolution first, and will be extracted using first resolution
To feature geographical base map corresponding with the video image data matched, at this point, can terminate to match if successful match
Process needs to propose the first key images frame progress feature using the second resolution higher than first resolution if it fails to match
It takes, and the feature geographical base map corresponding with the video image data extracted using second resolution is matched, this
When, if successful match, matching process can be terminated, if it fails to match, needed using the third resolution ratio higher than second resolution
Feature extraction is carried out to the first key images frame, and so on, until the first key images frame and the video image data pair
The geographical base map successful match answered.
By the above process it is found that in the embodiment of the present invention, first the first key images frame is carried out using low resolution special
Sign is extracted, and is matched with geographical base map, if successful match, can no longer carry out high-resolution feature extraction, so as to
Enough substantially increase computational efficiency and processing speed.
In the embodiment of the present invention, by the multiple key images frame geographical base map corresponding with the video image data into
After row matching, multiple geographical base map regions with multiple key images frame successful match can be obtained, by obtaining multiple geographical bottoms
The center position information of graph region can obtain the observation area center sequence based on video image data.
In step 104 and 105, according to the matching result of video area center sequence and keyframe sequence, and key
The location information at each observation area center in frame sequence carries out interpolation processing to telemetry.
Since the sample frequency of telemetry is lower than the sample frequency of video image data, to video in the embodiment of the present invention
After image data carries out the extraction of key images frame, still it will appear based on the regional center in video image data keyframe sequence
Number be greater than the video area center sequence based on telemetry in video area center number.Therefore, by that will regard
After frequency domain center sequence and keyframe sequence are matched, keyframe sequence corresponding with each video area center can be obtained
In video hub corresponding to some key frame (in real process, may there is that it fails to match, that is, abnormal data occur, this
Place puts aside abnormal data).Wherein, keyframe sequence corresponding with each video area center can be multiple and video area
The center of video area in the nearest keyframe sequence of centre distance.
After completing the matching of video area center sequence and keyframe sequence, due to corresponding to video in keyframe sequence
The Center Number in (geographical base map region) is more, and there are still base map regional centers corresponding to Partial key frame sequence not to correspond to
Video area center, at this point, interpolation processing can be carried out to telemetry, be obtained and the video image according to location information
The synchronous telemetry of data realizes that video image data is synchronous with telemetry.It is former based in specific Interpolation Process
Then can rule of thumb it be arranged by those skilled in the art.
Fig. 2 is the overall flow signal of the synchronous method of telemetry provided in an embodiment of the present invention and video image data
Figure.
Specifically it is situated between below with reference to synchronous method of the Fig. 2 to telemetry in the embodiment of the present invention and video image data
It continues.It is as shown in Figure 2:
Step 201, video image data to be synchronized is obtained；
Step 202, multiple key images frames are extracted from the video image data got；
Step 203, the multiple key images frame geographical base map corresponding with the video image data is matched；
Step 204, the second observation area center sequence based on video image data is obtained；
Step 301, telemetry to be synchronized is obtained；
Step 302, telemetry is parsed according to unmanned plane telemetry protocol and load telemetry protocol；
Step 303, it is calculated by region, obtains the first observation area center sequence based on telemetry, and extract ground
Manage base map；
Step 401, the first observation area center sequence and the second observation area center sequence are matched；
Step 402, according to the matching of first observation area center sequence and second observation area center sequence
As a result, carrying out interpolation processing to the telemetry；
Step 403, the offline synchronization of video image data and telemetry is realized.
It should be noted that the number of above-mentioned each step is only a kind of the exemplary of implementation procedure in the embodiment of the present invention
Illustrating, the embodiment of the present invention is not done clearly specific sequencing to each step and is limited, some steps can carry out simultaneously, or
By above-mentioned number carry out, for example, step 201 and step 301 can carry out simultaneously or step 201 betide step 301 it
Afterwards.
In the above embodiment of the present invention, telemetry and video image data to be synchronized are obtained, it is distant to what is got
Measured data is parsed, and is obtained the first observation area center sequence based on telemetry and (is corresponded to video area center sequence
Column)；Multiple key images frames are extracted from the video image data got, by multiple key images frames and video image data
Corresponding geographical base map is matched, and is obtained the second observation area center sequence based on video image data and (is corresponded to key
Image frame sequence)；According to the matching result of the first observation area center sequence and the second observation area center sequence, to telemetering number
According to interpolation processing is carried out, the telemetry synchronous with video image data is obtained.In the embodiment of the present invention, according to telemetry and
Video image data respectively obtains the first observation area center sequence based on telemetry and based on video image data
Two observation area center sequences, and then according to matching result, interpolation processing is carried out to telemetry, due to the sampling of telemetry
Frequency is lower than the sample frequency of video image data, after matching and interpolation processing, in available and video image data
The corresponding telemetry of key images frame not only realizes that video image data is synchronous with telemetry, but also ensure that synchronization
Accuracy；And since key images frame is a picture frame in adjacent multiple images frame, to pass through key images frame
Extractive technique greatly reduces picture frame and matches consumed calculation amount, improves treatment effeciency.
For above method process, the embodiment of the present invention also provides the offline same of a kind of telemetry and video image data
Device is walked, the particular content of the device is referred to above method implementation.
Based on same idea, Fig. 3 is the offline of a kind of telemetry and video image data provided in an embodiment of the present invention
The structural schematic diagram of synchronizing device, the device include:
Module 501 is obtained, for obtaining telemetry and video image data to be synchronized；
Telemetry analysis module 502 is obtained for parsing to the telemetry got based on telemetry
First observation area center sequence；
Video image data analysis module 503, for extracting multiple key images from the video image data got
Frame matches the multiple key images frame geographical base map corresponding with the video image data, obtains based on video
Second observation area center sequence of image data；The key images frame is an image in adjacent multiple images frame
Frame；
Synchronization module 504, for according to first observation area center sequence and second observation area center sequence
The matching result of column carries out interpolation processing to the telemetry, obtains the telemetry synchronous with the video image data.
Preferably, the video image data analysis module 503 is specifically used for, by following manner from the video got
Multiple key images frames are extracted in image data:
Multiple key images frames are extracted from the video image data got based on image information entropy.
Preferably, the video image data analysis module 503 is specifically used for, by following manner by the multiple key
Picture frame geographical base map corresponding with the video image data is matched:
It is directed to the first key images frame, the first key images frame is any in the multiple key images frame
It is a, it executes:
Feature extraction is carried out to the first key images frame using first resolution；
The feature geographical base map corresponding with the video image data extracted using the first resolution is carried out
Matching carries out feature to the first key images frame using the second resolution for being higher than first resolution if it fails to match
It extracts, until the first key images frame geographical base map successful match corresponding with the video image data.
Preferably, the telemetry analysis module 503 is specifically used for, obtained by following manner based on video image number
According to observation area center sequence:
Determining multiple geographical base map regions with the multiple key images frame successful match；
The center position information for obtaining the multiple geographical base map region, obtains the area of observation coverage based on video image data
Domain center sequence.
Preferably, the synchronization module 504 is specifically used for, the telemetry is carried out at interpolation by following manner
Reason:
According to the matching result of first observation area center sequence and second observation area center sequence, and
The location information at the second observation area center of each of second observation area center sequence carries out the telemetry
Interpolation processing.
It can be seen from the above: in the above embodiment of the present invention, obtaining telemetry to be synchronized and video figure
As data, the telemetry got is parsed, the first observation area center sequence based on telemetry is obtained；From obtaining
Multiple key images frames are extracted in the video image data got, correspondingly with video image data by multiple key images frames
Reason base map is matched, and the second observation area center sequence based on video image data is obtained；According in the first observation area
The matching result of heart sequence and the second observation area center sequence carries out interpolation processing to telemetry, obtains and video image
The synchronous telemetry of data.In the embodiment of the present invention, respectively obtained according to telemetry and video image data based on telemetering
First observation area center sequence of data and the second observation area center sequence based on video image data, so according to
With as a result, interpolation processing is carried out to telemetry, since the sample frequency of telemetry is lower than the sampling frequency of video image data
After matching and interpolation processing telemetry corresponding with the key images frame in video image data can be obtained, not only in rate
It realizes that video image data is synchronous with telemetry, and ensure that synchronous accuracy；And since key images frame is phase
A picture frame in adjacent multiple images frame, so that greatly reducing picture frame by key images frame extractive technique matches institute
The calculation amount of consumption, improves treatment effeciency.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the present invention
Form.It is deposited moreover, the present invention can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (6)
1. the synchronous method of a kind of telemetry and video image data, which is characterized in that this method comprises:
(1) telemetry and video image data to be synchronized are obtained；
(2) telemetry obtained to step (1) parses, and obtains the first observation area center sequence based on telemetry
Column, and extract geographical base map；
(3) from the video image data that step (1) is got extract key images frame sequence, by key images frame sequence with
Step (2) geographical base map carries out Corresponding matching, obtains and the matched multiple geographical base map regions of key images frame sequence；
(4) by the center position information in the multiple geographical base map region of step (3), the based on video image data is obtained
Two observation area center sequences；
(5) the first observation area center sequence and the second observation area center sequence are matched；
(6) according to step (2) the first observation area center sequence and step (4) the second observation area center sequence
Matching result carries out interpolation processing to telemetry；
(7) telemetry synchronous with video image data is obtained.
2. the method as described in claim 1, it is characterised in that: key images frame sequence described in step (3) includes multiple passes
Key picture frame；
Key images frame sequence is extracted in slave video image data described in step (3), comprising:
Multiple images frame is extracted from the video image data that image information entropy is got, key images frame is adjacent multiple figures
As a picture frame in frame.
3. method according to claim 2, it is characterised in that: step (3) the key images frame sequence and geographical base map pair
Matched method is answered, is included the following steps:
(31) at least one picture frame feature in the key images frame is extracted using first resolution；
(32) geographical base map according to corresponding to the key images frame characteristic matching that the first resolution extracts；If can not
Match, then at least one picture frame feature in the key images frame is extracted using the second resolution for being higher than first resolution, then
Geographical base map corresponding to secondary matching；
(33) multiple geographical base map regions with multiple key images frame successful match are obtained.
4. the synchronizing device of a kind of telemetry and video image data, which is characterized in that the device includes:
Module is obtained, for obtaining telemetry and video image data to be synchronized；
Telemetry analysis module obtains the first observation area center sequence based on telemetry according to telemetry, and mentions
Take geographical base map；
Video image data analysis module extracts key images frame sequence, by key images frame sequence from video image data
Corresponding matching is carried out with the geographical base map, is obtained and the matched multiple geographical base map regions of key images frame sequence；By multiple
The center position information in geographical base map region obtains the second observation area center sequence based on video image data；
Synchronization module is matched for first observation area center sequence and the second observation area center sequence, according to
Matching result carries out interpolation processing to the telemetry, obtains the telemetry synchronous with the video image data.
5. device as claimed in claim 4, it is characterised in that: the video image data analysis module, middle key images frame
Sequence includes multiple key images frames；Multiple images frame is extracted from the video image data that image information entropy is got, it is crucial
Picture frame is a picture frame in adjacent multiple images frame.
6. device as claimed in claim 4, which is characterized in that the synchronization module extracts the pass using first resolution
At least one picture frame feature in key picture frame；The key images frame characteristic matching institute extracted according to the first resolution is right
The geographical base map answered；If can not match, extracted in the key images frame using the second resolution for being higher than first resolution
At least one picture frame feature matches corresponding geographical base map again；It obtains more with multiple key images frame successful match
A geographical base map region.
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