CN106791476A - A kind of image-pickup method and device - Google Patents
A kind of image-pickup method and device Download PDFInfo
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- CN106791476A CN106791476A CN201710055957.XA CN201710055957A CN106791476A CN 106791476 A CN106791476 A CN 106791476A CN 201710055957 A CN201710055957 A CN 201710055957A CN 106791476 A CN106791476 A CN 106791476A
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
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Abstract
The present invention discloses a kind of image-pickup method and device, and incorrect technical problem is exposed to area-of-interest in image during solving and gather image in the prior art.Method, including：According to preset destination object type, region of interest ROI is determined from the image of camera collection；The exposure evaluation index of the ROI is calculated, and Expose f iotaducials are calculated according to the exposure evaluation index；According to the Expose f iotaducials and preset exposure standard value, the camera parameter of the camera is adjusted；Next two field picture is gathered according to the camera parameter.Using technical solution of the present invention.The technical problem for overcoming prior art to exist, improves the exposure correctness of area-of-interest in image.
Description
Technical field
The present invention relates to computer realm, more particularly to a kind of image-pickup method and device.
Background technology
At present, the adjust automatically algorithm of camera is based on various artificial it is assumed that for example global average metering, central emphasis are surveyed
Light, spot light-metering etc..However, in the scene such as senior auxiliary driving or automatic Pilot, environment becomes during camera collection image
Change fast, environmental difference larger, same criterion adjust automatically camera is difficult to use in whole image gatherer process；In addition,
In some specific applications, its importance degree of region different in same image is also inconsistent, for example：In automatic Pilot, more
The area-of-interests (i.e. ROI, Region of Interest) such as road surface, vehicle, pedestrian, tricycle on road surface are paid attention in, and
And it is not concerned with the regions such as sky；Further for example, in safety monitoring, focusing more on human face region.But existing camera adjust automatically
Algorithm can not well adapt to these specific applications, so as to cause ROI expose it is incorrect so that the image effect of collection compared with
Difference, so that carrying out that follow-up treatment accuracy is relatively low, poor-performing based on the image for collecting.
The content of the invention
In view of the above problems, the present invention provides a kind of image-pickup method and device, to solve automatic in the prior art tune
The poor incorrect technical problem of the image exposure for causing camera to collect of whole algorithm.
The embodiment of the present invention, on the one hand, provide a kind of image-pickup method, method includes：
According to preset destination object type, region of interest ROI is determined from the image of camera collection；
The exposure evaluation index of the ROI is calculated, and Expose f iotaducials are calculated according to the exposure evaluation index；
According to the Expose f iotaducials and preset exposure standard value, the camera parameter of the camera is adjusted；
Next two field picture is gathered according to the camera parameter.
The embodiment of the present invention, on the other hand, there is provided a kind of image collecting device, device includes：
Area determination unit, for according to preset destination object type, determining that sense is emerging from the image of camera collection
Interesting region ROI；
Computing unit, the exposure evaluation index for calculating the ROI, and exposure is calculated according to the exposure evaluation index
Benchmark；
Adjustment unit, for according to the Expose f iotaducials and preset exposure standard value, adjusting the camera ginseng of the camera
Number；
Collecting unit, for gathering next two field picture according to the camera parameter.
In technical solution of the present invention, the ROI in image is determined according to preset destination object type, and according to the ROI
Exposure evaluation index be calculated Expose f iotaducials, the camera of camera is adjusted with the Expose f iotaducials and preset exposure standard value
Parameter, next two field picture is gathered using the camera parameter after adjustment.Due to camera collection image frequency is higher, time interval compared with
Short, less, the ROI between former frame and latter two field picture is heavy for the scene difference shot between previous frame image and latter two field picture
It is folded more, therefore, the Expose f iotaducials that the exposure evaluation index of the ROI according to previous frame image is calculated are more accurate, more
Meet the requirement of the ROI exposures of next two field picture, therefore, adjust camera based on the Expose f iotaducials and preset exposure standard value
Camera parameter is more accurate, and next two field picture is gathered using the camera parameter after adjustment so that the ROI exposure effects in next two field picture
Fruit is more preferably.
Other features and advantages of the present invention will be illustrated in the following description, also, the partly change from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write
Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and constitutes a part for specification, with reality of the invention
Applying example is used to explain the present invention together, is not construed as limiting the invention.
Fig. 1 is the method flow diagram of image-pickup method in the embodiment of the present invention；
Fig. 2 is the structural representation of image collecting device in the embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Embodiment one
It is the method flow diagram of image-pickup method in the embodiment of the present invention referring to Fig. 1, the method includes：
Step 101, according to preset destination object type, determine ROI from the image of camera collection.
In the embodiment of the present invention, destination object type can flexibly be set according to application scenarios, and the application does not do strict limit
It is fixed.For example, in automatic Pilot field, destination object type can be the combination of one or more of：Road surface, traffic sign,
Pedestrian, vehicle, tricycle, motorcycle, electric motor car etc.；In safety-security area, destination object class can be face, pedestrian etc..
Preferably, in step 101, ROI is determined from the image of camera collection, implements and can be found in step A- steps
B：
Step A, using preset algorithm (such as algorithm of target detection, semantic segmentation algorithm, Algorithm of Scene etc., this
Considered critical is not done in application) determine the semantic label of each pixel in described image；
In the embodiment of the present invention, type and the destination object type of semantic label are corresponded, for example：In automatic Pilot neck
Domain, semantic label type contains one or more of：It is road surface, traffic sign, vehicle, bicycle, tricycle, motorcycle, electronic
Car etc..In safety-security area, semantic label includes face or pedestrian etc..
Step B, according to semantic label and the pixel of the destination object type matching, determine the ROI in described image.
Preferably, in abovementioned steps B can by but be not limited only to following two modes and realize：
Mode 1, the closed area that the pixel of institute's semantic tags and the destination object type matching is constituted is defined as
ROI in described image.Wherein, pixel of the closed area comprising semantic label with destination object type matching.
Mode 2, the set that the pixel of institute's semantic tags and the destination object type matching is constituted is defined as it is described
ROI in image.
Step 102, the exposure evaluation index for calculating the ROI, and Expose f iotaducials are calculated according to the exposure evaluation index.
Step 102 is implemented may include but be not limited only in the following manner：The exposure for calculating the pixel that the ROI is included is straight
Fang Tu；The histogrammic median of exposure or average are calculated, the median or average that will be calculated are defined as exposure
Benchmark.
Those skilled in the art can also be equal by counting the partitioned histogram of ROI region, sub-category histogram, regional luminance
The modes such as value variance obtain Expose f iotaducials, are not described in detail herein.
Step 103, according to the Expose f iotaducials and preset exposure standard value, adjust the camera parameter of the camera.
In the embodiment of the present invention, exposure standard value determines previously according to application scenarios, is an empirical value, and this programme is not made
Considered critical.For example, under automatic Pilot scene, if destination object type is vehicle and/road surface, corresponding exposure standard
Value is set to 90.
Preferably, in embodiment of the present invention step 103, can by but be not limited only in the following manner realize：By the exposure
Benchmark and exposure standard value are input into preset PID (proportional-integral derivative controller), the camera as described in the PID control
Camera parameter.
In the embodiment of the present invention, camera parameter may include aperture time, aperture, ISO (i.e. speed) value etc..
Step 104, next two field picture is gathered according to the camera parameter.
Embodiment two
It is the structural scheme of mechanism of image collecting device in the embodiment of the present invention referring to Fig. 2, the device includes：
Area determination unit 21, for according to preset destination object type, sense being determined from the image of camera collection
Interest region ROI；
Computing unit 22, the exposure evaluation index for calculating the ROI, and exposure is calculated according to the exposure evaluation index
Light benchmark；
Adjustment unit 23, for according to the Expose f iotaducials and preset exposure standard value, adjusting the camera of the camera
Parameter；
Collecting unit 24, for gathering next two field picture according to the camera parameter.
Preferably, area determination unit 21, specifically for：Each pixel in described image is determined using preset algorithm
Semantic label；According to semantic label and the pixel of the destination object type matching, the ROI in described image is determined.
Preferably, area determination unit 21 is determined according to semantic label and the pixel of the destination object type matching
ROI in described image, specifically for：
The closed area that institute's semantic tags are constituted with the pixel of the destination object type matching is defined as the figure
ROI as in；Or, institute's semantic tags and the set that the pixel of the destination object type matching is constituted are defined as described
ROI in image.
Preferably, computing unit 22, specifically include：
First computation subunit, the exposure histogram for calculating the pixel that the ROI is included；
Second computation subunit, for calculating the histogrammic median of exposure or average, in being calculated
Digit or average are defined as Expose f iotaducials.
Preferably, the adjustment unit 23, specifically for：By the Expose f iotaducials and exposure standard value be input into ratio-
In integral-derivative controller PID, the camera parameter of camera as described in the PID control.
In technical solution of the present invention, the ROI in image is determined according to preset destination object type, and according to the ROI
Exposure evaluation index be calculated Expose f iotaducials, the camera of camera is adjusted with the Expose f iotaducials and preset exposure standard value
Parameter, next two field picture is gathered using the camera parameter after adjustment.Due to camera collection image frequency is higher, time interval compared with
Short, less, the ROI between former frame and latter two field picture is heavy for the scene difference shot between previous frame image and latter two field picture
It is folded more, therefore, the Expose f iotaducials that the exposure evaluation index of the ROI according to previous frame image is calculated are more accurate, more
Meet the requirement of the ROI exposures of next two field picture, therefore, adjust camera based on the Expose f iotaducials and preset exposure standard value
Camera parameter is more accurate, and next two field picture is gathered using the camera parameter after adjustment so that the ROI exposure effects in next two field picture
Fruit is more preferably.
Above is core concept of the invention, in order that during those skilled in the art more fully understand the embodiment of the present invention
Technical scheme, and enable the above-mentioned purpose of the embodiment of the present invention, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings
Technical scheme in the embodiment of the present invention is described in further detail.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. a kind of image-pickup method, it is characterised in that including：
According to preset destination object type, region of interest ROI is determined from the image of camera collection；
The exposure evaluation index of the ROI is calculated, and Expose f iotaducials are calculated according to the exposure evaluation index；
According to the Expose f iotaducials and preset exposure standard value, the camera parameter of the camera is adjusted；
Next two field picture is gathered according to the camera parameter.
2. method according to claim 1, it is characterised in that according to preset destination object type, from camera collection
ROI is determined in image, is specifically included：
The semantic label of each pixel in described image is determined using preset algorithm；
According to semantic label and the pixel of the destination object type matching, the ROI in described image is determined.
3. method as claimed in claim 2, it is characterised in that according to the picture of semantic label and the destination object type matching
Element, determines the ROI in described image, specifically includes：
The closed area that institute's semantic tags are constituted with the pixel of the destination object type matching is defined as in described image
ROI；
Or, the set that institute's semantic tags are constituted with the pixel of the destination object type matching is defined as in described image
ROI.
4. the method for claim 1, it is characterised in that calculate the exposure evaluation index of the ROI, and according to the exposure
Light evaluation index calculates Expose f iotaducials, specifically includes：
Calculate the exposure histogram of the pixel that the ROI is included；
The histogrammic median of exposure or average are calculated, the median or average that will be calculated are defined as exposing base
It is accurate.
5. the method for claim 1, it is characterised in that according to the Expose f iotaducials and preset exposure standard value, adjusts
The camera parameter of the whole camera, specifically includes：
The Expose f iotaducials and exposure standard value are input into proportional-integral derivative controller PID, as described in the PID control
The camera parameter of camera.
6. a kind of image collecting device, it is characterised in that including：
Area determination unit, for according to preset destination object type, region of interest being determined from the image of camera collection
Domain ROI；
Computing unit, the exposure evaluation index for calculating the ROI, and exposure base is calculated according to the exposure evaluation index
It is accurate；
Adjustment unit, for according to the Expose f iotaducials and preset exposure standard value, adjusting the camera parameter of the camera；
Collecting unit, for gathering next two field picture according to the camera parameter.
7. device as claimed in claim 6, it is characterised in that area determination unit, specifically for：
The semantic label of each pixel in described image is determined using preset algorithm；
According to semantic label and the pixel of the destination object type matching, the ROI in described image is determined.
8. device as claimed in claim 7, it is characterised in that area determination unit is according to semantic label and the destination object
The pixel of type matching, determines the ROI in described image, specifically for：
The closed area that institute's semantic tags are constituted with the pixel of the destination object type matching is defined as in described image
ROI；
Or, the set that institute's semantic tags are constituted with the pixel of the destination object type matching is defined as in described image
ROI.
9. the device as described in right wants 6, it is characterised in that computing unit, specifically includes：
First computation subunit, the exposure histogram for calculating the pixel that the ROI is included；
Second computation subunit, for calculating the histogrammic median of exposure or average, the median that will be calculated
Or average is defined as Expose f iotaducials.
10. device as claimed in claim 6, it is characterised in that the adjustment unit, specifically for：By the Expose f iotaducials
It is input into proportional-integral derivative controller PID with exposure standard value, the camera parameter of camera as described in the PID control.
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| CN201710055957.XA CN106791476A (en) | 2017-01-25 | 2017-01-25 | A kind of image-pickup method and device |
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| CN201710055957.XA CN106791476A (en) | 2017-01-25 | 2017-01-25 | A kind of image-pickup method and device |
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| CN109618109A (en) * | 2019-01-09 | 2019-04-12 | 深圳英飞拓智能技术有限公司 | A kind of exposure regulating method and regulating system of video camera imaging |
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| CN111654643A (en) * | 2020-07-22 | 2020-09-11 | 苏州臻迪智能科技有限公司 | Exposure parameter determination method and device, unmanned aerial vehicle and computer readable storage medium |
| CN111835961A (en) * | 2019-04-22 | 2020-10-27 | 北京地平线机器人技术研发有限公司 | Information processing method, device and medium for automatic exposure of camera |
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Application publication date: 20170531 |