CN108366201A - A kind of electronic flutter-proof method based on gyroscope - Google Patents

A kind of electronic flutter-proof method based on gyroscope Download PDF

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Publication number
CN108366201A
CN108366201A CN201810146840.7A CN201810146840A CN108366201A CN 108366201 A CN108366201 A CN 108366201A CN 201810146840 A CN201810146840 A CN 201810146840A CN 108366201 A CN108366201 A CN 108366201A
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China
Prior art keywords
gyroscope
pmf
matrix
method based
rotation angle
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CN201810146840.7A
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Chinese (zh)
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CN108366201B (en
Inventor
王思俊
刘琰
瞿关明
冯江涛
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Tianjin Tiandi Weiye Information System Integration Co Ltd
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Tianjin Tiandi Weiye Information System Integration Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Gyroscopes (AREA)
  • Studio Devices (AREA)
  • Adjustment Of Camera Lenses (AREA)

Abstract

The present invention provides a kind of electronic flutter-proof method based on gyroscope, and this method comprises the following steps：The X, Y, Z axis of gyroscope is overlapped with Sensor respectively；The rotation angle of the X, Y, Z axis of Sensor is detected by gyroscope；Rotation angle and current lens field angle are matched；The estimation between two frames is done using Feature Points Matching method, calculates the projection matrix P Matrix of two frames；By gyroscope rotation angle and P Matrix by together with the weight fusion in method；Using the projection matrix after fusion, present frame is projected, is then cut out the image of target sizes, to realize the effect of stabilization.Using the anti-fluttering method of the present invention, it can effectively solve the problem that background caused by large area object of which movement pulls, while can reduce at night, influence of the picture noise to characteristic point matching method.

Description

A kind of electronic flutter-proof method based on gyroscope
Technical field
The invention belongs to security monitoring technologies, more particularly, to a kind of electronic flutter-proof method based on gyroscope.
Background technology
The protection and monitor field of requirement with to(for) the application scenarios of video camera becomes increasingly complex, the vibrations pair of installation environment The influence of image also can be more and more.In order to guarantee in various complex environments, the vibrations in environment are filtered out, are acquired It is particularly important to steady and audible image.
During vibrations, the data of Sensor acquisitions can follow the swing of camera lens and change, and so as to cause shake, lead to figure As obscuring, the purpose of monitoring cannot achieve.
Simple electronic flutter-proof can not solve the problems, such as that big object passes through background dragging caused by camera lens is and the low noise that shines is asked Topic, so addition gyroscope, can directly judge with the presence or absence of shake, to solve the above problems.
Invention content
In view of this, the present invention is directed to propose a kind of electronic flutter-proof method based on gyroscope, to solve in above-mentioned background The problem of mentioning.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of electronic flutter-proof method based on gyroscope, includes the following steps：
(1) X, Y, Z axis of gyroscope is overlapped with Sensor respectively；
(2) the rotation angle A, B, C of the X, Y, Z axis of Sensor are detected by gyroscope；
(3) rotation angle and current lens field angle are matched, matching formula is a quadratic polynomial
F=a*x2+b*X；Respective angles α, beta, gamma are obtained by matching formula operation；
(4) estimation between two frames is done using Feature Points Matching method, calculates the projection matrix PMF of two framessift；
(5) according to α, beta, gamma finds out corresponding spin matrix PMF respectivelyα,PMFβ,PMFγ；
(6) by gyroscope rotation angle and PMFsiftTogether by the weight fusion in method,
Final matrix P-Matrix is found out,
P-Matrix=A*PMFα*B*PMFβ*C*PMFγ*D*PMFsift, ABCD is the weight of corresponding matrix；
(7) using the projection matrix after fusion, present frame is projected, the image of target sizes is then cut out, Realize stabilization.
Further, the gyroscope is needed with Sensor in the same plane, to reduce the complexity of correction.
Further, the matching for the angle and field angle that the gyroscope measures with each camera lens internal reference dynamic change.
Further, the projection matrix PMFsiftFor the matrix of 3X3, select to use according to the computing capability of hardware platform Parameter number.
Compared with the existing technology, a kind of electronic flutter-proof method based on gyroscope of the present invention has the advantage that：
The anti-fluttering method of the present invention can effectively solve the problem that background caused by large area object of which movement pulls, while can drop It is low at night, influence of the picture noise to characteristic point matching method.
Description of the drawings
The attached drawing for constituting the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is a kind of execution flow chart of electronic flutter-proof method based on gyroscope described in the embodiment of the present invention；
Fig. 2 is the schematic diagram of the X, Y, Z axis of the spiral shell instrument and Sensor described in the embodiment of the present invention.
Fig. 3 is the projection matrix format described in the embodiment of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The present invention use first gyroscope obtain Sensor X, Y, Z axis real-time angular speed, because of gyroscope temperature drift Then reason is being integrated so needing to carry out Kalman filtering in the data to acquisition, to obtain the angle of its rotation The position relationship of degree, gyroscope and Sensor are shown in Fig. 2.
According to the relationship of rotation angle and the field angle of current lens, the motion vector of present image is calculated, is preferably made It is calculated with diagonal field of view angle, is centainly subject to the field angle actually measured, current motion vector is recorded as
Using characteristic point matching method, such as sift methods, the characteristic point in image is found, then to the spy in two width figures Sign point is matched, and matched principle uses the mode of neighborhood maximums, and match point can be limited by the way that contiguous range is arranged Sensitivity, by the feature point group screened at matching pair, in order to solve the matrix of a 3X3, it is only necessary to 5 pairs of match points, But there are many match point screened, so we need fit metric, by way of least square method, obtain optimal Projection matrix P-Matrix, matrix format are shown in Fig. 3.
This method is needed the projection matrix P-Matrix and gyroscope rotating vector of pure electronic flutter-proof methodIt is fused to Together, wherein needing a fusion weight GyroWeight, integration percentage is adjusted by changing GyroWeight, is merged Matrix PMF.
Using fusion matrix PMF, projective transformation is carried out to present frame, can change in projection process the position of image pixel with And then the size of image is cut out and amplifies to image, reach and set so needing to find picture centre in projection process The resolution ratio set, to realize the effect of stabilization.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.

Claims (4)

1. a kind of electronic flutter-proof method based on gyroscope, it is characterised in that：Include the following steps：
(1) X, Y, Z axis of gyroscope is overlapped with Sensor respectively；
(2) the rotation angle A, B, C of the X, Y, Z axis of Sensor are detected by gyroscope；
(3) rotation angle and current lens field angle are matched, matching formula is a quadratic polynomial
F=a*x2+b*X；Respective angles α, beta, gamma are obtained by matching formula operation；
(4) estimation between two frames is done using Feature Points Matching method, calculates the projection matrix PMF of two framessift；
(5) according to α, beta, gamma finds out corresponding spin matrix PMF respectivelyα,PMFβ,PMFγ；
(6) by gyroscope rotation angle and PMFsiftTogether by the weight fusion in method, final matrix P- is found out Matrix,
P-Matrix=A*PMFα*B*PMFβ*C*PMFγ*D*PMFsift, ABCD is the weight of corresponding matrix；
(7) using the projection matrix after fusion, present frame is projected, the image of target sizes is then cut out, realized Stabilization.
2. a kind of electronic flutter-proof method based on gyroscope according to claim 1, it is characterised in that：The gyroscope needs It will be with Sensor in the same plane, to reduce the complexity of correction.
3. a kind of electronic flutter-proof method based on gyroscope according to claim 1, it is characterised in that：The gyroscope is surveyed The matching of the angle and field angle of amount with each camera lens internal reference dynamic change.
4. a kind of electronic flutter-proof method based on gyroscope according to claim 1, it is characterised in that：The projection matrix PMFsiftFor the matrix of 3X3, according to the number of the computing capability of hardware platform parameter selected to use.
CN201810146840.7A 2018-02-12 2018-02-12 Electronic anti-shake method based on gyroscope Active CN108366201B (en)

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CN110049246A (en) * 2019-04-22 2019-07-23 联想(北京)有限公司 Video anti-fluttering method, device and the electronic equipment of electronic equipment
CN110248048A (en) * 2019-06-21 2019-09-17 苏宁云计算有限公司 A kind of detection method and device of video jitter
CN111225155A (en) * 2020-02-21 2020-06-02 Oppo广东移动通信有限公司 Video anti-shake method, video anti-shake device, electronic equipment, computer equipment and storage medium
CN112291476A (en) * 2020-10-30 2021-01-29 维沃移动通信（杭州）有限公司 Shooting anti-shake processing method and device and electronic equipment
WO2021102893A1 (en) * 2019-11-29 2021-06-03 Oppo广东移动通信有限公司 Method and apparatus for video anti-shaking optimization and electronic device
CN113923340A (en) * 2020-07-09 2022-01-11 武汉Tcl集团工业研究院有限公司 Video processing method, terminal and storage medium

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CN112291476A (en) * 2020-10-30 2021-01-29 维沃移动通信（杭州）有限公司 Shooting anti-shake processing method and device and electronic equipment

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