CN106375740A - Method, device and system for generating RGB image - Google Patents
Method, device and system for generating RGB image Download PDFInfo
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- CN106375740A CN106375740A CN201610859097.0A CN201610859097A CN106375740A CN 106375740 A CN106375740 A CN 106375740A CN 201610859097 A CN201610859097 A CN 201610859097A CN 106375740 A CN106375740 A CN 106375740A
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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
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/64—Circuits for processing colour signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/64—Circuits for processing colour signals
- H04N9/646—Circuits for processing colour signals for image enhancement, e.g. vertical detail restoration, cross-colour elimination, contour correction, chrominance trapping filters
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Abstract
The invention relates to a method, device and system for generating an RGBIR image. The method comprises the following steps of: receiving an RGBIR image signal sent by an RGBIR sensor; performing interpolation of the RGBIR image signal through an interpolation method so as to obtain a first image signal; removing an infrared IR component at each pixel point position in the first image signal so as to obtain a second image signal; and performing federated filtering of the first image signal and the second image signal so as to obtain a filtered RGB image. By utilizing the characteristic that the signal-to-noise ratio of the RGBIR image signal, the IR component of which is not removed, is high, federated filtering of the low-signal-to-noise-ratio image signal, the IR component of which is removed, is carried out according to the correlation of the image signal having high signal-to-noise ratio and the low-signal-to-noise-ratio image signal, the IR component of which is removed; therefore, the signal-to-noise ratio of the RGB image is increased; and particularly, the signal-to-noise ratio of the image obtained in an environment having low colour temperature or low illumination is improved.
Description
Technical field
The present invention relates to image processing field, more particularly, to a kind of methods, devices and systems of generation rgb image.
Background technology
Rgbir sensor is a kind of new sensor, is equipped with the imageing sensor of rgbir filter.Rgbir filter
Array arrangement mode and conventional color filter array (color filter array, cfa), such as Bayer color filter array
The arrangement mode of (bayer cfa) is different, as depicted in figs. 1 and 2.Fig. 1 is the array schematic diagram of bayer sensor, and r represents figure
As pixels covering red filter all on sensor, referred to as red (red, r) passage；G represents all on imageing sensor and covers
(b represents the pixel covering blueness for green, g) passage, and referred to as blue (blue b) leads to for the pixel of lid green filter, referred to as green
Road.Fig. 2 is the array schematic diagram of rgbir sensor, and the array of rgbir filter is by the half in bayer color filter lens array
Green component is replaced by infrared light (infrared) component, this partial pixel referred to as infrared (infrared, ir) passage, and
Rgbir filter can sense visible ray and black light simultaneously, represents black light infrared light ir here.In order to be based on
Rgbir sensor obtains normal rgb coloured image, need by rgbir sensor senses to r, g, b passage pixel in ir
Composition removes.
In prior art, each picture in original image can be obtained by image interpolation is carried out to the rgbir image inputting
The pixel of the disappearance on vegetarian refreshments position, calculates the numerical value of rgb passage in output image and ir passage, determines correction coefficient,
Rgb passage and infrared ir passage are separated according to correction coefficient, and corrects rgb passage, finally export rgb image.
But the rgb exporting can be caused by of the prior art acquisition to scheme based on the rgbir image that rgbir sensor obtains
The signal to noise ratio of picture is relatively low, especially in the case that colour temperature is higher or illuminance is relatively low.
Content of the invention
The invention provides a kind of methods, devices and systems of generation rgb image, to realize colour temperature is higher or illumination
Degree ratio in the case of relatively low, improves the signal to noise ratio of rgb image.
In a first aspect, the invention provides a kind of method of generation rgb image, the method includes: receives rgbir sensor
The rgbir picture signal sending；Row interpolation is entered to input rgbir picture signal by interpolation and obtains higher the of signal to noise ratio
One picture signal, the first picture signal can be understood as carrying the Bayer (bayer) of infrared ir component on each pixel position
Picture signal；Remove the infrared ir component on each pixel position in the first image, and rgb passage is corrected, obtain
Second picture signal, wherein, the second picture signal can be understood as rgbir picture signal relatively and removes on each pixel position
Ir component after bayer image；First picture signal and secondary signal image are carried out Federated filter and obtains filtered rgb
Image.
The Federated filter that the present invention provides, can be bilateral by for example guiding wave filter (guided filter), joint
The wave filter such as wave filter (joint bilateral filter) are related to the second picture signal according to the first picture signal
Property, the second picture signal is filtered obtain filtered rgb image.
By the method for generation rgb image provided in an embodiment of the present invention, believed using the rgbir image not removing ir component
Make an uproar the high feature of ratio, during noise remove, using not removing the rgbir picture signal of ir component and remove ir component
The dependency of rgbir picture signal, to remove ir component low signal-to-noise ratio rgbir picture signal carry out Federated filter it is achieved that
Process to the image being obtained based on rgbir sensor, the signal to noise ratio of the rgb image obtaining after improve process；Meanwhile, also bright
The aobvious signal to noise ratio improving the image obtaining under low colour temperature or low-light (level) environment.
In conjunction with a first aspect, in the first mode in the cards of first aspect, by interpolation to rgbir image
Signal enters row interpolation to obtain the first picture signal, comprising: by each pixel ir in interpolation calculation rgbir picture signal
G pixel value on passage is to obtain the first picture signal.
In conjunction with a first aspect, in the second mode in the cards of first aspect, by interpolation to described rgbir
Picture signal enters row interpolation to obtain the first picture signal, comprising:
By the r pixel value in r, g, b, ir passage on each pixel in interpolation calculation rgbir picture signal, g picture
Element value and b pixel value, to obtain the first picture signal；
Wherein, the first picture signal is including three picture signals, r, g, b of each pixel of a picture signal
It is r pixel value and the picture signal of ir pixel value with ir passage；R, g, b and ir of each pixel of one picture signal leads to
Road is g pixel value and the picture signal of ir pixel value, and r, g, b and ir passage of each pixel of another picture signal is equal
Picture signal for b pixel value and ir pixel value.
The first mode in the cards in conjunction with first aspect or the second mode in the cards of first aspect
In, in the third mode in the cards of first aspect, remove red on each pixel position in the first picture signal
Outer ir component is to obtain the second picture signal, comprising: by each pixel position in interpolation calculation rgbir picture signal
Ir pixel value to obtain the 3rd picture signal, the 3rd picture signal is that r, g, b and ir passage of each pixel is ir picture
The picture signal of element value；First picture signal and the 3rd picture signal are subtracted each other to obtain the second picture signal.By this design
Scheme, the rgbir picture signal that can obtain rgbir sensor be converted to traditional bayer picture signal it is easy to tradition
Image-signal processor (image signal processor, isp) docking, can be processed using traditional algorithm, be subtracted
Lack the cost of exploitation.
In conjunction with the third mode in the cards of first aspect, in the 4th kind of mode in the cards of first aspect
In, the first picture signal and the second picture signal are carried out Federated filter to obtain filtered rgb image, comprising:
Distance according to the first pixel in the first picture signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, the first reference image vegetarian refreshments is the pixel around described first pixel；
Determine in the second picture signal second pixel corresponding with the first pixel and corresponding with the first reference image vegetarian refreshments
The second reference image vegetarian refreshments；
Weighted average is carried out to the second reference pixel point in the second picture signal according to weight, determines the second pixel
Pixel value, to obtain filtered rgb image.
In conjunction with the 4th kind of mode in the cards of first aspect to first aspect, the 5th kind in first aspect may be real
In existing mode, filtered rgb image is used for being supplied to image-signal processor and being processed scheming with the rgb obtaining exporting
Picture.
In conjunction with a first aspect, in the 6th kind of mode in the cards of first aspect, by image-signal processor pair
Filtered rgb image is processed to obtain rgb image, comprising:
Color correction matrix, camera lens shadow correction, AWB or mosaic processing are carried out to filtered rgb image
At least one of process obtain export rgb image.
In conjunction with a first aspect, in the 7th kind of mode in the cards of first aspect, image-signal processor is to filtering
Rgb image afterwards is processed to obtain the rgb image exporting, comprising:
By r, the g and b pixel on each pixel r, g and b passage in rgb image filtered described in interpolation calculation
Value, to obtain the 4th picture signal；
4th picture signal is carried out color correction matrix, camera lens shadow correction, AWB process obtain described defeated
The rgb image going out；
Wherein, the 4th picture signal includes r, g, b and ir passage of each pixel and is the picture signal of r pixel value,
R, g, b and ir passage of each pixel is the picture signal of g pixel value, and r, g, b and ir passage of each pixel
It is the picture signal of b pixel value.
In conjunction with the arbitrary implementation in the mode arbitrary in the cards in first aspect to first aspect, in first party
In the 8th kind of mode in the cards in face, interpolation includes bilinear interpolation method.
Second aspect, the invention provides a kind of device of generation rgb image, this device includes: receiving unit, interpolation list
Unit, removal component cells and filter unit.Receiving unit is used for receiving the rgbir picture signal of rgbir sensor transmission；Interpolation
Unit, obtains the first picture signal for entering row interpolation by interpolation to rgbir picture signal；Remove component cells, use
In removing the infrared ir component on each pixel position in the first picture signal to obtain the second picture signal；Filter unit,
For the first picture signal and the second picture signal are carried out Federated filter to obtain filtered rgb image.
Wherein, the first picture signal can be understood as carrying the bayer picture signal of ir component on each pixel position；
Second picture signal can be understood as the bayer picture signal after rgbir image removes the ir component on each pixel position.
Can be filtered by such as guided filter, joint bilateral filter etc. in Federated filter of the present invention
Ripple device, according to the dependency of the first signal noise ratio (snr) of image, is filtered to the second image, obtains filtered rgb image.
By device provided in an embodiment of the present invention, using the high feature of the rgbir signal noise ratio (snr) of image not removing ir component,
During noise remove, using the rgbir picture signal not removing ir component and the rgbir picture signal removing ir component
Dependency, to remove ir component low signal-to-noise ratio rgbir picture signal carry out Federated filter it is achieved that passing to based on rgbir
The process of the image that sensor obtains, the signal to noise ratio of the rgb image obtaining after improve process；Meanwhile, also significantly improve low
The signal to noise ratio of the image obtaining under colour temperature or low-light (level) environment.
In conjunction with second aspect, in the first mode in the cards of second aspect, interpolating unit is specifically for passing through
G pixel on each pixel ir passage in interpolation calculation rgbir picture signal enters row interpolation to obtain the first image.
In conjunction with second aspect, in the second mode in the cards of second aspect, interpolating unit specifically for,
By the r pixel value in r, g, b, ir passage on each pixel in interpolation calculation rgbir picture signal, g picture
Element value and b pixel value, to obtain the first picture signal；
Wherein, the first picture signal includes r, g, b and ir passage of each pixel and is r pixel value and ir pixel value
Picture signal, r, g, b and ir passage of each pixel is g pixel value and the picture signal of ir pixel value, and each picture
R, g, b and ir passage of vegetarian refreshments is b pixel value and the picture signal of ir pixel value.
The first mode in the cards in conjunction with second aspect or the second mode in the cards of second aspect,
In the third mode in the cards of second aspect, remove component cells specifically for extremely described by interpolation
Ir pixel value on each pixel position in rgbir picture signal, to obtain the 3rd picture signal, the 3rd picture signal is every
R, g, b and ir passage of individual pixel is the picture signal of ir pixel value；First picture signal and the 3rd picture signal are entered
Row subtracts each other, to obtain the second picture signal.
In conjunction with the third mode in the cards of second aspect, mode in the cards in the 4th of second aspect
In, filter unit specifically for,
Distance according to the first pixel in the first picture signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, the first reference image vegetarian refreshments is the pixel around the first pixel；
Determine in the second picture signal second pixel corresponding with the first pixel and corresponding with the first reference image vegetarian refreshments
The second reference image vegetarian refreshments；
Weighted average is carried out to the second reference pixel point in the second picture signal according to weight, determines the second pixel
Pixel value, to obtain filtered rgb image.
In conjunction with the 5th kind of mode in the cards of second aspect to second aspect, filtered image is used for being supplied to
Image-signal processor is processed to obtain the rgb image exporting.
In conjunction with second aspect, in the 6th kind of mode in the cards of second aspect, image-signal processor is specifically used
In,
Color correction matrix, camera lens shadow correction, AWB or mosaic processing are carried out to filtered rgb image
At least one of process obtain export rgb image.
In conjunction with second aspect, in the 7th kind of mode in the cards of second aspect, image-signal processor is specifically used
In,
By r, the g and b pixel value on each pixel r, g and b passage in interpolation calculation filtered rgb image,
To obtain the 4th picture signal；
4th picture signal is carried out color correction matrix, camera lens shadow correction, AWB process obtain export
Rgb image；
Wherein, the 4th picture signal includes three picture signals, r, g, b and ir of each pixel in a picture signal
Passage is the picture signal of r pixel value；In one picture signal, r, g, b and ir passage of each pixel is g pixel value
Picture signal；In another picture signal, r, g, b and ir passage of each pixel is the picture signal of b pixel value.
In conjunction with second aspect to second aspect any one may mode arbitrary in the cards in implementation, the
In 8th kind of mode in the cards of two aspects, interpolation includes bilinear interpolation method.
The third aspect, the embodiment of the present invention provides a kind of system, and this system includes rgbir sensor, memorizer and process
Device.
Rgbir sensor, for receiving rgbir picture signal；
Memorizer, for store instruction and rgbir picture signal；
Processor, for calling the instruction in described memorizer, and executes and completes that in first aspect, any one can enable
Mode and any one of second aspect mode in the cards.
A kind of methods, devices and systems of the generation rgb image being provided based on the present invention, by using original rgbir figure
As the high feature of Signal-to-Noise, that is, picture signal (the first image not removing the ir component on each pixel position
Signal) the high feature of signal to noise ratio, by its picture signal (the second image letter with the ir component removing on each pixel position
Number) carry out Federated filter, during noise remove, using the first picture signal high s/n ratio signal dependency to
The Low SNR signal of two picture signals filters the process it is achieved that to the image obtaining based on rgbir sensor, improves place
The signal to noise ratio of the rgb image obtaining after reason.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, will make to required in the embodiment of the present invention below
Accompanying drawing be briefly described it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the array schematic diagram of bayer sensor；
Fig. 2 is the array schematic diagram of rgbir sensor；
Fig. 3 is a kind of apparatus structure schematic diagram of generation rgb image provided in an embodiment of the present invention；
Fig. 4 is a kind of method flow diagram of generation rgb image provided in an embodiment of the present invention；
Fig. 5 is another kind of method flow diagram generating rgb image provided in an embodiment of the present invention；
Fig. 6 is the processing procedure sketch generating rgb image；
Fig. 7 is another kind of method flow diagram generating rgb image provided in an embodiment of the present invention；
Fig. 8 is another kind of processing procedure sketch generating rgb image provided in an embodiment of the present invention；
Fig. 9 is the processing procedure abbreviation of another generation rgb image provided in an embodiment of the present invention；
Figure 10 is a kind of apparatus structure schematic diagram of generation rgb image provided in an embodiment of the present invention.
Specific embodiment
In order to allow rgbir sensor obtain normal rgb image, need (r) passage red in rgbir sensor, green
The black light part perceiving in color (g) passage and blue (b) passage removes.In the present invention by rgbir sensor senses
To black light be written as infrared light (infrared light, ir).The invention provides a kind of new framework is processing rgbir
The image that sensor obtains, makes the signal to noise ratio of the rgb image finally obtaining improve.
A kind of method and apparatus of raising rgbir sensor signal to noise ratio that the present invention provides, obtains according to rgbir sensor
Rgbir picture signal, using the edge sharpness of signal in high s/n ratio rgbir picture signal, every in rgbir image to removing
The low signal-to-noise ratio (SNR) images after ir component on individual pixel position are filtered, thus improving the letter of the rgb image finally obtaining
Make an uproar ratio.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on this
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of not making creative work
Apply example, all should belong to the scope of protection of the invention.
Fig. 3 is a kind of structural representation of generation rgb picture system provided in an embodiment of the present invention.As shown in figure 3, this is
System 100 can include rgbir sensor 110, processing meanss 120, image-signal processor 130, display 140 and communication bus
150, rgbir sensors 110, processing meanss 120, image-signal processor (image signal processor, isp) 130,
Display 140 is connected with each other by communication bus 150, and completes communication each other.
Rgbir sensor 110 is used for receiving rgbir picture signal, and rgbir picture signal is sent to processing meanss
120 carry out picture signal process.Processing meanss 120 are used for rgbir picture signal is processed to obtain hinge structure
The high rgb picture signal of signal to noise ratio.Image-signal processor isp130 is used for processing the rgb obtaining picture signal further
To the visual rgb image of user, and provide a user with the rgb image of display by display 140.
This processing means 120 can include receptor 121, processor 122 and memorizer 123.Receptor 121 is used for receiving
The rgbir picture signal that rgbir sensor sends.Memorizer 123 be used for store instruction and the rgbir picture signal that receives with
And rgbir picture signal after treatment.Processor 122 is used for calling the instruction in memorizer, and executes following operation:
Row interpolation is entered to the rgbir picture signal receiving by interpolation and obtains the first picture signal；
Remove infrared ir component on each pixel position in the first picture signal to obtain the second picture signal；
First picture signal and the second picture signal are carried out Federated filter to obtain filtered rgb image.
In embodiments of the present invention, processor 122 can be CPU (central processing unit,
Cpu), this processor 120 can also be other general processors, digital signal processor (digital signal
Processor, dsp), special IC (application specific integrated circuit, asic), existing
Become programmable gate array (field-programmable gate array, fpga) or other PLDs, discrete
Door or transistor logic, discrete hardware components etc..General processor can be microprocessor or this processor also may be used
To be any conventional processor etc..
Memorizer 123 can include read only memory and random access memory, and provides instruction sum to processor 122
According to.The a part of of memorizer can also include nonvolatile RAM.For example, memorizer can be with storage device class
The information of type.
Communication bus 150, in addition to including data/address bus, can also include power bus, controlling bus and status signal total
Line etc..But for the sake of clear explanation, in figure, various buses are all designated as communication bus 150.
In addition, in embodiments of the present invention, this system can also in can also include image-signal processor 130, with
In carrying out processing the rgb image obtaining data filtered rgb image, this processing procedure can be included to filtered rgb
Image carries out the process of at least one of color correction matrix, camera lens shadow correction, AWB or mosaic processing and obtains
The rgb image of output.
It should be noted that image-signal processor 130 can be arranged in processing meanss 120, real in the present invention to this
Apply in example and be not intended to be limited in any.
Fig. 4 is a kind of method flow diagram of raising rgbir sensor signal to noise ratio provided in an embodiment of the present invention.As Fig. 4 institute
Show, the executive agent of the method 200 can be the system shown in Fig. 3, the method 200 can specifically include following steps:
S210, receives the rgbir picture signal that rgbir sensor sends.
S220, enters row interpolation by interpolation to rgbir picture signal and obtains the first picture signal.
Specifically, the first picture signal be to rgbir sensor acquisition to original rgbir picture signal enter after row interpolation
The image obtaining, this picture signal can be understood as carrying Bayer (bayer) the image letter of ir component on each pixel position
Number.
It should be noted that in s220, during interpolation calculation is carried out to original rgbir image, can be to each picture
The color lacking on vegetarian refreshments position and infrared light ir component enter row interpolation.
The pixel value of this color on the disappearance corresponding Color Channel of color in rgbir picture signal specifically can be obtained,
As the pixel value of certain on r passage in r, g, b, ir passage on each pixel position g, b, ir, can be respectively from g passage
Obtain g pixel value, b passage obtains b pixel value, ir passage obtains ir pixel value, and is added on r passage, briefly may be used
So that by the g pixel value on g passage, ir pixel value copy (copy) on the b pixel value and ir passage on b passage is on r passage.
Row interpolation can also be entered by this interpolation method on g, b, ir passage, to obtain the first picture signal.
S230, removes the infrared ir component on each pixel position in the first picture signal and is believed with obtaining the second image
Number.
In s230, can be by determining the correction coefficient in correction rgbir image according to the first picture signal, according to school
Positive coefficient corrects rgbir image, obtains removing the image of the ir component on each pixel position, that is, the second image letter
Number.
In embodiments of the present invention, the correction coefficient of correction rgbir image is determined according to the first picture signal, can be concrete
Including: step 1: under a certain illumination condition, that is, under a certain illuminance, standard is shot using cutoff filter and checks colors
Card, calculates the meansigma methodss to colour atla colors block four-way (r, g, b, ir passage) pixel；Step 2: with step 1 same illumination bar
Under part, collocation can be shot to colour atla by the optical filter of visible ray and infrared light, and calculates to colour atla colors block four-way picture
The meansigma methodss of element；Step 3: the meansigma methodss being obtained according to step 1 and step 2, using 4 × 4 matrixes as shown in formula (1), will
The meansigma methodss obtaining in step 1 substitute into formula (1) as the numerical value of a certain passage of rgbir on the right side of formula (1), by step 2
In the meansigma methodss that obtain, the numerical value as a certain passage of rgbir on the left of formula (1) substitutes into formula (1), using least square
Method is calculated a in formula 1xx；Step 4: repeat step 1, to the process of step 3, completes formula under different illumination conditions
(1) correction coefficient under different illumination in.
It should be noted that in embodiments of the present invention, this correction coefficient can also be the correction coefficient pre-setting
Table, when needing to determine correction coefficient according to the first image, need to count in rgbir image in Statistical Area rgb a little logical
The meansigma methodss of road pixel and the meansigma methodss of ir passage pixel, the meansigma methodss according to rgb passage pixel and ir passage pixel average
Value query correction coefficient table, determines the one group of correction coefficient matching with rgbir image.
Then the correction coefficient passing through to determine calculates rgbir image, removes every in rgbir picture signal in trimming process
The ir component of individual pixel, obtains removing the bayer picture signal of ir component.
Alternatively, in embodiments of the present invention, interpolation calculation can be carried out to rgbir picture signal using interpolation, obtain
Ir component on the r passage of each pixel, g passage, b passage and ir passage in rgbir picture signal, obtains rgbir figure
As the picture signal of ir component is on r, g, b, ir passage of each pixel in signal, with to s220 in obtain
Bayer (bayer) picture signal carrying ir component on each pixel position in rgbir picture signal carries out subtracting each other
Bayer picture signal except ir component.
S240, the first picture signal and the second picture signal are carried out Federated filter with filtered rgb image.
Alternatively, in embodiments of the present invention, according to the first picture signal the second picture signal is carried out Federated filter with
Obtain output image signal, may include that
Distance according to the first pixel in the first picture signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, the first reference image vegetarian refreshments is the pixel around the first pixel；Determine in the second picture signal with first
Corresponding second pixel of pixel and second reference image vegetarian refreshments corresponding with the first reference image vegetarian refreshments；According to weight to described
The second reference pixel point in two picture signals carries out weighted average, determines the pixel value of the second pixel, after being filtered
Rgb image.
Briefly, bayer picture signal and the removal of ir component will be carried on each the pixel position obtaining in s220
The bayer picture signal of the ir component on each pixel position in rgbir picture signal carries out Federated filter, this Federated filter
Process can determine difference weight according to the signal edge acutance in the bayer picture signal not removing ir component, according to determination
Difference weight determine the pixel value of each pixel in the bayer picture signal removing ir component: ir component will be removed
The pixel value of each pixel weighted average of the pixel value of this pixel and pixel value about in bayer picture signal
Determine, to realize the filtering to the bayer picture signal removing ir component.Its process is for example: when at image border, between pixel
When difference is larger, is done average weighted weighted value and reduced, kept original pixel value in other words, to keep picture signal as far as possible
Edge sharpness.
In embodiments of the present invention, joint filter is carried out to the image removing ir component according to the image not removing ir component
Ripple, using guidance as wave filter (guided filter), or can also adopt joint two-sided filter, implement in the present invention
In example, this is not intended to be limited in any.
By the method for generation rgb image provided in an embodiment of the present invention, using the high spy of original rgbir signal noise ratio (snr) of image
Point, during noise remove, using the high signal-to-noise ratio image signal not removing ir component and the low noise removing ir component
The ratio dependency of picture signal, carries out Federated filter it is achieved that to based on rgbir to the rgbir picture signal removing ir component
The process of the image that sensor obtains, the signal to noise ratio of the rgb image obtaining after improve process；Meanwhile, also significantly improve
The signal to noise ratio of the image obtaining under low colour temperature or low-light (level) environment.
Alternatively, as another embodiment of the present invention, the method 200 can also include:
S250, filtered rgb image is supplied to image-signal processor and is processed to obtain the rgb figure exporting
Picture.
Specifically, according to the high s/n ratio rgbir picture signal not removing ir component, to the low signal-to-noise ratio removing ir component
Picture signal after picture signal carries out Federated filter can not be identified, and needs by image-signal processor (image
Signal processor, isp) processed, obtain the image that can identify.
Image-signal processor needs output image signal is carried out color correction matrix, camera lens shadow correction, automatically white
Balance and mosaic etc. process the rgb image obtaining exporting.
Below according to Fig. 5 and Fig. 9, technical scheme is described in detail.
Fig. 5 is a kind of flow chart of the method for raising rgb signal noise ratio (snr) of image provided in an embodiment of the present invention.As shown in figure 5,
The executive agent of the method 300 can be system as shown in Figure 3, and the method 300 specifically includes following steps:
S310, the g pixel value on each pixel ir passage in the rgbir picture signal being received by interpolation calculation
Obtain the first picture signal.
Specifically, in embodiments of the present invention, the method for bilinear interpolation can be passed through to the ir in rgbir picture signal
The pixel of passage carries out interpolation calculation, obtains the g pixel value of ir channel position, to obtain the first picture signal, as shown in Figure 6.
It should be noted that in embodiments of the present invention, the g on ir channel position is obtained by the method for bilinear interpolation
The numerical value of pixel is a kind of implementation, in embodiments of the present invention, can also realize rgbir image by other means
The numerical value of the g pixel on ir channel position, for example: calculate ir passage on g pixel value when, can be by the g pixel in g passage
Numerical value copy (copy) arrive ir passage position, obtain the g pixel value on ir channel position, in embodiments of the present invention to this
It is not intended to be limited in any.
S320, by the ir pixel value on each pixel position in interpolation calculation rgbir picture signal, to obtain
Three picture signals.
In s320, interpolation calculation is carried out to rgbir image, obtain being ir picture on each pixel r, g, b, ir passage
The picture signal of element value, that is, the 3rd picture signal is it is also possible to referred to as ir full width figure is as shown in Figure 6.
S330, the first picture signal and the 3rd picture signal is subtracted each other and obtains the second picture signal.
In embodiments of the present invention, can by by the bayer picture signal not removing ir component obtaining in s310, with
The 3rd picture signal obtaining in s320 step is subtracted each other, and will go the ir component on each pixel position in the first picture signal
Fall, obtain the second picture signal, that is, remove the bayer picture signal of ir component, as shown in Figure 6.
It should be noted that the signal to noise ratio of the bayer picture signal of removal ir component obtaining in s330 is relative in s310
The signal to noise ratio of the bayer picture signal not removing ir component obtaining is low.
S340, carries out Federated filter according to the first picture signal to the second picture signal.
In s340, according to signal to noise ratio high do not remove the bayer picture signal of ir component and the bayer removing ir component
The dependency of picture signal, is filtered processing to the bayer picture signal removing ir component, the output image after being processed
Signal.
In embodiments of the present invention, during denoising, can be to removing pre- dividing regions in the picture signal of ir component
In block, the numerical value of each pixel is averaged, and this meansigma methods is replaced the numerical value of each pixel in block, is exported
Picture signal.
It should be noted that the picture signal after Federated filter can not be identified by user, need to pass through
S350 process, obtains the rgb image that user can identify.
S350, carries out process by image-signal processor to output image signal and obtains rgb image.
In s350, need by r, the g on each pixel r, g and b passage in interpolation calculation output image signal
With b pixel value, to obtain the 4th picture signal, wherein, r, g, b and ir passage that the 4th picture signal includes each pixel is equal
For the picture signal of r pixel value, r, g, b and ir passage of each pixel is the picture signal of g pixel value, and each picture
R, g, b and ir passage of vegetarian refreshments is the picture signal of b pixel value, as shown in Figure 6；Color correction is carried out to the 4th picture signal
Matrix, camera lens shadow correction, AWB process and obtain rgb image.The image that 4th picture signal can not identify for human eye
Signal, needs to obtain, by image-signal processor (image signal processor, isp), the rgb that user can identify
Image.
It is normal that the rgbir picture signal that the rgbir sensor processing through s310 to s350 obtains can obtain color
Rgb image.
In embodiments of the present invention, by the process of s310 to s340, the rgbir that rgbir sensor obtains can be schemed
As signal is changed into traditional bayer picture signal it is easy to dock with the traditional isp in s350 so that traditional algorithm can weigh
With reducing the cost of exploitation.
Fig. 7 is the method flow diagram of another raising rgb signal noise ratio (snr) of image provided in an embodiment of the present invention.As shown in fig. 7, should
The executive agent of method 400 can be the system shown in Fig. 3, and the method 400 can specifically include following steps:
S410, in r, g, b, ir passage on each pixel in the rgbir picture signal being received by interpolation calculation
R pixel value, g pixel value and b pixel value to be to obtain the first picture signal
Specifically, the enterprising row interpolation of each pixel in rgbir picture signal rgbir sensor being obtained, by interior
Slotting method calculate r pixel value in r, g, b, ir passage on each pixel in rgbir picture signal, g pixel value and b pixel value with
Obtain the first picture signal.R, g, the b and ir passage being obtained on each pixel in rgbir picture signal by interpolation is equal
For the picture signal of r pixel value and ir pixel value, r, g, b and ir passage of each pixel is g pixel value and ir pixel value
Picture signal, and r, g, b and ir passage of each pixel is b pixel value and the picture signal of ir pixel value, or
Say that each first picture signal obtaining is i.e. the first image with ir component r, g, b, ir full width figure respectively, as shown in Figure 8.
S420, removes the ir component on each pixel position in the first picture signal, corrects rgb passage, obtains second
Picture signal.
Ir component on each pixel position in the first picture signal obtaining in s410 step is removed, can pass through
The process of in figure s320 and s330 obtains the second picture signal, repeats no more here for succinct description, as shown in Figure 8.
In embodiments of the present invention, the ir component removing on each pixel position in the first image can pass through method
The method of the ir component on each pixel position of removal mentioned in 200, for example: correction coefficient is determined according to the first image；
Ir component on each pixel position in first image is removed according to correction coefficient, and corrects rgb passage, determine the second image
Signal, as shown in figure 9, describing for succinct, its detailed process will not be described here.
S430, carries out Federated filter according to the first picture signal to the second picture signal and obtains output image signal.
This specific process can be carried out to the second picture signal according to the first picture signal by mention in method 200
The processing mode of Federated filter is processed, and describes for succinct, repeats no more here.
S440, is processed to output image by isp image-signal processor, obtains rgb.
In embodiments of the present invention, isp needs the unrecognizable output image signal to human eye to process, for example, need
Obtain to output image signal is carried out with the process such as color correction matrix, camera lens shadow correction, AWB and mosaic
The rgb image that human eye can identify.
Specifically, implementing of s440 can be according to the s350 in the s250 in method 200 or method 300 to the 4th image
The processing mode of signal, to realize, describes for succinct, its detailed process will not be described here.
Above in conjunction with Fig. 2 to Fig. 9, describe raising rgbir sensor signal to noise ratio according to embodiments of the present invention in detail
Method, below in conjunction with Figure 10, describe device according to embodiments of the present invention in detail.
Figure 10 is a kind of structural representation of device provided in an embodiment of the present invention.As shown in Figure 10, this device 500 is permissible
Including receiving unit 510, interpolating unit 520, remove component cells 530, filter unit 540 and image signal processing unit 550.
Receiving unit 510, for receiving the rgbir picture signal of rgbir sensor transmission.
Interpolating unit 520, obtains the first picture signal for entering row interpolation by interpolation to rgbir image.
Remove component cells 530, for remove the infrared ir component on each pixel position in the first picture signal with
Obtain the second picture signal.
Filter unit 540, for by the first picture signal and the second picture signal carry out Federated filter to be filtered after
Rgb image.
Image signal processing unit 550, for being processed to output image signal to obtain rgb image.
Specifically, the interpolating unit 520 in device enters row interpolation by interpolation to rgbir image, implements in the present invention
In example, interpolation can adopt two-wire interpolation method.For example row interpolation is entered to ir passage, obtain the g pixel of ir passage, obtain every
The bayer picture signal of ir component is carried on individual pixel position；Again by each picture in the bayer picture signal with ir component
Ir component on vegetarian refreshments position removes, and corrects rgb passage, obtains removing the bayer picture signal of ir component；According to not removing
The bayer image of ir component carries out Federated filter, that is, the process in denoising to the bayer image removing ir component, obtains
Output image signal, and output image signal is carried out process the rgb image obtaining normal color by image-signal processor.
By the method for raising rgb signal noise ratio (snr) of image provided in an embodiment of the present invention, using original rgbir signal noise ratio (snr) of image
High feature, during noise remove, the dependency using the high signal-to-noise ratio image not removing ir component divides to removing ir
The low signal-to-noise ratio (SNR) images of amount carry out Federated filter it is achieved that process to the image being obtained based on rgbir sensor, improve
The signal to noise ratio of the rgb image obtaining afterwards；Meanwhile, also significantly improve the letter of the image obtaining under low colour temperature or low-light (level) environment
Make an uproar ratio.
Alternatively, as another embodiment of the present invention, interpolating unit 520 is specifically for being schemed by interpolation calculation rgbir
As the g pixel on each pixel ir passage in signal is to obtain the first picture signal.
Alternatively, as another embodiment of the present invention, interpolating unit 520 specifically for,
By the r pixel value in r, g, b, ir passage on each pixel in interpolation calculation rgbir picture signal, g picture
Element value and b pixel value, to obtain the first picture signal；Wherein, the first picture signal include each pixel r, g, b and ir lead to
Road is r pixel value and the picture signal of ir pixel value, and r, g, b and ir passage of each pixel is g pixel value and ir picture
The picture signal of element value, and r, g, b and ir passage of each pixel is b pixel value and the picture signal of ir pixel value.
Alternatively, in embodiments of the present invention, component cells 530 are removed specifically for scheming by interpolation calculation rgbir
As the ir pixel value on each pixel position in signal is to obtain the 3rd image, the 3rd picture signal is each pixel
R, g, b and ir passage is the picture signal of ir pixel value；First picture signal and the 3rd image subtraction are obtained the second image
Signal.
Wherein second picture signal is the picture signal after removing ir component.
Alternatively, as in another embodiment of the present invention, filter unit 540 specifically for,
Distance according to the first pixel in the first picture signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, the first reference image vegetarian refreshments is the pixel around the first pixel；Determine in the second picture signal with first
Corresponding second pixel of pixel and second reference image vegetarian refreshments corresponding with the first reference image vegetarian refreshments；According to weight to the second figure
As the second reference pixel point in signal carries out weighted average, determine the pixel value of the second pixel, to obtain output image letter
Number.
Alternatively, in one embodiment, image signal processing unit 550 specifically for,
Output image signal is carried out in color correction matrix, camera lens shadow correction, AWB or mosaic processing
At least one process obtain export rgb image.
Alternatively, in another embodiment, image signal processing unit 550 specifically for,
By r, the g and b pixel value on each pixel r, g and b passage in interpolation calculation output image signal, to obtain
To the 4th picture signal；4th picture signal is carried out color correction matrix, camera lens shadow correction, AWB process obtain
Described rgb image.
Wherein, the 4th picture signal includes r, g, b and ir passage of each pixel and is the picture signal of r pixel value,
R, g, b and ir passage of each pixel is the picture signal of g pixel value, and r, g, b and ir passage of each pixel
It is the picture signal of b pixel value.
It should be noted that the unit in device 500 provided in an embodiment of the present invention can realize Fig. 4 to Fig. 6 institute
The method of the method 200 to 400 shown or step, describe for succinct, will not be described here its detailed process.
The step of the method in conjunction with the embodiments described herein description or algorithm can be with hardware, computing device
Software module, or the combination of the two is implementing.Software module can be placed in random access memory (ram), internal memory, read only memory
(rom), electrically programmable rom, electrically erasable rom, depositor, hard disk, moveable magnetic disc, cd-rom or technical field
In interior known any other form of storage medium.
Above-described specific embodiment, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be should be understood that the specific embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done etc., all should comprise
Within protection scope of the present invention.
Claims (19)
1. a kind of method of generation rgb image is it is characterised in that methods described includes:
Receive the rgbir picture signal that rgbir sensor sends；
Row interpolation is entered to described rgbir picture signal by interpolation and obtains the first picture signal；
Infrared ir component on each pixel position in removal described first image signal is to obtain the second picture signal；
Described first image signal and described second picture signal are carried out Federated filter to obtain filtered rgb image.
2. method according to claim 1 is it is characterised in that described entered to described rgbir picture signal by interpolation
Row interpolation is to obtain the first picture signal, comprising:
By the g pixel value on each pixel ir passage in rgbir picture signal described in interpolation calculation, to obtain described
One picture signal.
3. method according to claim 1 is it is characterised in that described entered to described rgbir picture signal by interpolation
Row interpolation is to obtain the first picture signal, comprising:
By the r pixel value in r, g, b, ir passage on each pixel in rgbir picture signal described in interpolation calculation, g picture
Element value and b pixel value, to obtain described first image signal；
Wherein, described first image signal includes r, g, b and ir passage of each pixel and is r pixel value and ir pixel value
Picture signal, r, g, b and ir passage of each pixel is g pixel value and the picture signal of ir pixel value, and each picture
R, g, b and ir passage of vegetarian refreshments is b pixel value and the picture signal of ir pixel value.
4. according to the method in claim 2 or 3 it is characterised in that described remove each picture in described first image signal
Infrared ir component on vegetarian refreshments position is to obtain the second picture signal, comprising:
3rd image is obtained by the ir pixel value on each pixel position in rgbir picture signal described in interpolation calculation
Signal, described 3rd picture signal is that r, g, b and ir passage of each pixel is the picture signal of ir pixel value；
Described first image signal and described 3rd picture signal are subtracted each other to obtain described second picture signal.
5. method according to claim 4 it is characterised in that described by described first image signal with described second image
Signal carries out Federated filter to obtain filtered rgb image, comprising:
Distance according to the first pixel in described first image signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, described first reference image vegetarian refreshments is the pixel around described first pixel；
Determine in described second picture signal second pixel corresponding with described first pixel and with described first reference image
The corresponding second reference image vegetarian refreshments of vegetarian refreshments；
Weighted average is carried out according to described weight to the described second reference pixel point in described second picture signal, determines described
The pixel value of the second pixel, to obtain described filtered rgb image.
6. according to the arbitrary described method of claim 1 to 5 it is characterised in that described filtered rgb image is used for being supplied to
Image-signal processor is processed to obtain the rgb image exporting.
7. method according to claim 6 is it is characterised in that described image signal processor is to described filtered rgb
Image is processed to obtain the rgb image exporting, comprising:
Color correction matrix, camera lens shadow correction, AWB or mosaic processing are carried out to described filtered rgb image
At least one of process and obtain the rgb image of described output.
8. method according to claim 6 is it is characterised in that described image signal processor is to described filtered rgb
Image is processed to obtain the rgb image exporting, comprising:
By r, the g and b pixel value on each pixel r, g and b passage in rgb image filtered described in interpolation calculation,
To obtain the 4th picture signal；
Described 4th picture signal is carried out color correction matrix, camera lens shadow correction, AWB process obtain described defeated
The rgb image going out；
Wherein, r, g, b and ir passage that described 4th picture signal includes each pixel is the picture signal of r pixel value,
R, g, b and ir passage of each pixel is the picture signal of g pixel value, and r, g, b and ir passage of each pixel
It is the picture signal of b pixel value.
9. the method according to any one of claim 1 to 8 is it is characterised in that described interpolation includes bilinear interpolation side
Method.
10. a kind of device of generation rgb image is it is characterised in that described device includes:
Receiving unit, for receiving the rgbir picture signal of rgbir sensor transmission；
Interpolating unit, obtains the first picture signal for entering row interpolation by interpolation to described rgbir picture signal；
Remove component cells, for removing the infrared ir component on each pixel position in described first image signal to obtain
Second picture signal；
Filter unit, for by described first image signal and described second picture signal carry out Federated filter to be filtered after
Rgb image.
11. devices according to claim 10 it is characterised in that described interpolating unit specifically for,
Enter row interpolation by the g pixel on each pixel ir passage in rgbir picture signal described in interpolation calculation to obtain
Described first image signal.
12. devices according to claim 10 it is characterised in that described interpolating unit specifically for,
By the r pixel value in r, g, b, ir passage on each pixel in rgbir picture signal described in interpolation calculation, g picture
Element value and b pixel value, to obtain described first image signal；
Wherein, described first image signal includes r, g, b and ir passage of each pixel and is r pixel value and ir pixel value
Picture signal, r, g, b and ir passage of each pixel is g pixel value and the picture signal of ir pixel value, and each picture
R, g, b and ir passage of vegetarian refreshments is b pixel value and the picture signal of ir pixel value.
13. devices according to claim 11 or 12 it is characterised in that described removal component cells specifically for,
By the ir pixel value on each pixel position in rgbir picture signal described in interpolation calculation, to obtain the 3rd figure
As signal, described 3rd picture signal is that r, g, b and ir passage of each pixel is the picture signal of ir pixel value；
Described first image signal and described 3rd picture signal are subtracted each other to obtain described second picture signal.
14. devices according to claim 13 it is characterised in that described filter unit specifically for,
Distance according to the first pixel in described first image signal and the first reference image vegetarian refreshments or the difference of pixel value
Determine weight, wherein, described first reference image vegetarian refreshments is the pixel around described first pixel；
Determine in described second picture signal second pixel corresponding with described first pixel and with described first reference image
The corresponding second reference image vegetarian refreshments of vegetarian refreshments；
Weighted average is carried out according to described weight to the described second reference pixel point in described second picture signal, determines described
The pixel value of the second pixel, to obtain described filtered rgb image.
15. methods according to any one of claim 10 to 14 are it is characterised in that described filtered rgb image is used for
It is supplied to image-signal processor to be processed to obtain the rgb image exporting.
16. devices according to claim 10 it is characterised in that described image signal processor specifically for,
Color correction matrix, camera lens shadow correction, AWB or mosaic processing are carried out to described filtered rgb image
At least one of process and obtain the rgb image of described output.
17. devices according to claim 10 it is characterised in that image-signal processor specifically for,
By r, the g and b pixel value on each pixel r, g and b passage in rgb image filtered described in interpolation calculation,
To obtain the 4th picture signal；
Described 4th picture signal is carried out color correction matrix, camera lens shadow correction, AWB process obtain described defeated
The rgb image going out；
Wherein, r, g, b and ir passage that described 4th picture signal includes each pixel is the picture signal of r pixel value,
R, g, b and ir passage of each pixel is the picture signal of g pixel value, and r, g, b and ir passage of each pixel
It is the picture signal of b pixel value.
18. devices according to any one of claim 10 to 17 are it is characterised in that described interpolation includes bilinear interpolation
Method.
A kind of 19. systems are it is characterised in that described system includes:
Rgbir sensor, for receiving rgbir picture signal；
Memorizer, for store instruction and rgbir picture signal；
Processor, for calling the instruction in described memorizer, and executes following operation:
Receive the rgbir picture signal that rgbir sensor sends；
Row interpolation is entered to described rgbir picture signal by interpolation and obtains the first picture signal；
Infrared ir component on each pixel position in removal described first image signal is to obtain the second picture signal；
Described first image signal and described second picture signal are carried out Federated filter to obtain filtered rgb image.
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