CN108496369A - Transmission of video, method of reseptance, system, equipment and unmanned vehicle - Google Patents

Transmission of video, method of reseptance, system, equipment and unmanned vehicle Download PDF

Info

Publication number
CN108496369A
CN108496369A CN201780005017.8A CN201780005017A CN108496369A CN 108496369 A CN108496369 A CN 108496369A CN 201780005017 A CN201780005017 A CN 201780005017A CN 108496369 A CN108496369 A CN 108496369A
Authority
CN
China
Prior art keywords
video data
sub
data unit
subgraph
video
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201780005017.8A
Other languages
Chinese (zh)
Inventor
朱磊
崔浩
龚明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Shenzhen Dajiang Innovations Technology Co Ltd
Original Assignee
Shenzhen Dajiang Innovations Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Dajiang Innovations Technology Co Ltd filed Critical Shenzhen Dajiang Innovations Technology Co Ltd
Publication of CN108496369A publication Critical patent/CN108496369A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/234—Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs
    • H04N21/2343—Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs involving reformatting operations of video signals for distribution or compliance with end-user requests or end-user device requirements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
    • H04N19/164—Feedback from the receiver or from the transmission channel
    • H04N19/166—Feedback from the receiver or from the transmission channel concerning the amount of transmission errors, e.g. bit error rate [BER]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
    • H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/238—Interfacing the downstream path of the transmission network, e.g. adapting the transmission rate of a video stream to network bandwidth; Processing of multiplex streams
    • H04N21/2385—Channel allocation; Bandwidth allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream, rendering scenes according to MPEG-4 scene graphs
    • H04N21/4402—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream, rendering scenes according to MPEG-4 scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display

Abstract

A kind of transmission of video of offer of the embodiment of the present invention, method of reseptance, system, equipment and unmanned vehicle, this method include：Video data is decomposed into multiple sub-video data units；The multiple sub-video data unit is encoded respectively；One or more characteristics of one or more characteristics and the sub-video data unit based on channel select the sub-video data unit after one or more codings and transmit.The embodiment of the present invention by video data by being decomposed into multiple sub-video data units, and multiple sub-video data units are encoded respectively, according to the characteristic of the characteristic of channel and sub-video data unit, sub-video data unit after the one or more codings of selection, so that the sub-video data unit after the one or more codings selected meets the characteristic of channel, information source and the mismatch problems of channel can be efficiently solved, can effectively reduce video data due to message source and channel mismatch problems and caused by transmission delay shake.

Description

Transmission of video, method of reseptance, system, equipment and unmanned vehicle
Technical field
The present embodiments relate to image processing field more particularly to a kind of transmission of video, method of reseptance, system, equipment And unmanned vehicle.
Background technology
Equipped with capture apparatus, capture apparatus can take photo by plane unmanned vehicle, and pass through unmanned flight in the prior art The video taken photo by plane wirelessly is sent to the receiving device such as user terminal, remote controler on ground by the communication system of device Deng.
The scene or object that the capture apparatus of unmanned vehicle is shot in different time may be different, therefore, per frame image The corresponding bit stream data size of data can real-time change (i.e. information source meeting real-time change)；In addition, by unmanned vehicle and reception The distance between equipment, relative position, with the presence or absence of block, with the presence or absence of the influence of the factors such as electromagnetic interference, unmanned vehicle Channel width between receiving device also can real-time change (i.e. channel can real-time change), the variation of message source and channel is mutually only It is vertical, it is difficult to predict.The transmission of present frame level image data and reception mode are relatively fixed, it is difficult to adapt to the information source of real-time change Channel lacks effective image transmitting and image method of reseptance, may cause due to real-time information source and channel mismatch problem and shape At image transmitting delay jitter.
Invention content
A kind of transmission of video of offer of the embodiment of the present invention, method of reseptance, system, equipment and unmanned vehicle, effectively to drop The transmission delay of low video data is shaken.
The one side of the embodiment of the present invention is to provide a kind of video transmission method, including：
Video data is decomposed into multiple sub-video data units, wherein each sub-video data unit include one or Multiple subgraphs；
The multiple sub-video data unit is encoded respectively；And
One or more characteristics of one or more characteristics and the sub-video data unit based on channel, selection One or more coding after sub-video data unit and transmit.
The other side of the embodiment of the present invention is to provide a kind of video receiving method, including：
Receive the sub-video data unit after multiple codings；
Sub-video data unit after the multiple coding is decoded；
The video data is rebuild according to decoded sub-video data unit, wherein the video data includes one Or multiple images frame, the sub-video data unit include the multiple sons obtained after being decomposed to each in described image frame At least one of image subgraph.
The other side of the embodiment of the present invention is to provide a kind of Video transmission system, including：
One or more imaging devices are configured as acquisition video data；And
One or more processors in the loose impediment, work alone or synergistically, and the processor is configured as：
Video data is decomposed into multiple sub-video data units, wherein each sub-video data unit include one or Multiple subgraphs；
The multiple sub-video data unit is encoded respectively；And
One or more characteristics of one or more characteristics and the sub-video data unit based on channel, selection One or more coding after sub-video data unit and transmit.
The other side of the embodiment of the present invention is to provide a kind of receiving device, including：At communication interface, one or more Device is managed, is worked alone or synergistically, the communication interface and processor communication connection；
The communication interface is for receiving the sub-video data unit after multiple codings；
One or more of processors are used for：Control decoder to the sub-video data unit after the multiple coding into Row decoding；Rebuild the video data according to decoded sub-video data unit, wherein the video data include one or Multiple images frame, the sub-video data unit include the multiple subgraphs obtained after being decomposed to each in described image frame At least one of picture subgraph.
The other side of the embodiment of the present invention is to provide a kind of unmanned vehicle, including：
Fuselage；
Dynamical system is mounted on the fuselage, for providing flying power；
And above-mentioned Video transmission system.
Transmission of video, method of reseptance, system, equipment and unmanned vehicle provided in this embodiment, by by video data Multiple sub-video data units are decomposed into, and multiple sub-video data units are encoded respectively, according to the characteristic of channel and son The characteristic of video data unit selects the sub-video data unit after one or more codings and the sub-video chosen Data cell, so that the sub-video data unit after the one or more codings selected meets the characteristic of channel, when what is selected One or more coding after sub-video data unit in matched channel, can efficiently solve information source with The mismatch problems of channel, can effectively reduce video data due to message source and channel mismatch problems and caused by transmission delay shake.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this For the those of ordinary skill of field, without having to pay creative labor, other are can also be obtained according to these attached drawings Attached drawing.
Fig. 1 is the schematic diagram of transmission delay provided in an embodiment of the present invention shake；
Fig. 2 is the flow chart of video transmission method provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram provided in an embodiment of the present invention for constituting sub-video data unit；
Fig. 4 is the schematic diagram for the composition sub-video data unit that another embodiment of the present invention provides；
Fig. 5 is the schematic diagram for the composition sub-video data unit that another embodiment of the present invention provides；
Fig. 6 is the flow chart for the video transmission method that another embodiment of the present invention provides；
Fig. 7 is the structural schematic diagram of frame image provided in an embodiment of the present invention；
Fig. 8 is coefficient image of the frame image provided in an embodiment of the present invention after Hadamard transform；
Fig. 9 is the schematic diagram that spatial alternation provided in an embodiment of the present invention decomposes；
Figure 10 is the schematic diagram that space down-sampling provided in an embodiment of the present invention decomposes；
Figure 11 is the flow chart of video receiving method provided in an embodiment of the present invention；
Figure 12 is the schematic diagram of decoded subgraph provided in an embodiment of the present invention；
Figure 13 is the schematic diagram for the decoded subgraph that another embodiment of the present invention provides；
Figure 14 is the schematic diagram provided in an embodiment of the present invention for rebuilding original image；
Figure 15 is the schematic diagram for the reconstruction original image that another embodiment of the present invention provides；
Figure 16 is the structure chart of Video transmission system provided in an embodiment of the present invention；
Figure 17 is the structure chart of receiving device provided in an embodiment of the present invention；
Figure 18 is the structure chart of unmanned vehicle provided in an embodiment of the present invention.
Reference numeral：
11- subgraph 12- subgraph 13- subgraph 14- subgraphs
21- subgraph 22- subgraph 23- subgraph 24- subgraphs
31- subgraph 32- subgraph 33- subgraph 34- subgraphs
41- subgraph 42- subgraph 43- subgraph 44- subgraphs
51- subgraph 52- subgraph 53- subgraph 54- subgraphs
61- subgraph 62- subgraph 63- subgraph 64- subgraphs
310- sub-video data unit 320- sub-video data unit 330- sub-video data units
340- sub-video data unit 410- sub-video data unit 420- sub-video data units
430- sub-video data unit 50- picture frame 510- sub-video data units
520- sub-video data unit 530- sub-video data unit 540- sub-video data units
550- sub-video data unit 560- sub-video data unit 570- sub-video data units
580- sub-video data unit 1600- Video transmission system 1601- imaging devices
1602- processor 1700- receiving device 1701- communication interface 1702- processors
1800- unmanned vehicle 1801- motor 1802- propellers
1803- electron speed regulator 1804- flight controllers
1806- processor 1807- support equipment 1805- imaging devices
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is clearly retouched It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention In embodiment, every other implementation obtained by those of ordinary skill in the art without making creative efforts Example, shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or it may be simultaneously present component placed in the middle.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases Any and all combinations of the Listed Items of pass.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following Feature in embodiment and embodiment can be combined with each other.
The stability of the transmission delay of image data is to weigh the important indicator of image transmission system performance, ensures that image data passes Defeated delay is the primary condition for ensureing the video image smoothness of receiving terminal and showing, however, during image transmitting, information source, The real-time change of channel can cause the shake of transmission delay between frame and frame, reduce the performance of image transmission system, first combine figure below 1, respectively by taking information source variation and channel variation as an example, the jitter problem of the other image data transmission delay of frame level is described in detail.
Fig. 1 includes scene one and scene two, and in scene one, the bandwidth of the channel between transmitting terminal and receiving terminal keeps steady It is fixed.During using the transmission image data, it is assumed that the camera of transmitting terminal moves suddenly or cameras line Interior object fast moves suddenly, for example, at a time, the reference object of camera is the sky of blue, in subsequent time, Camera turns to the motley fire balloon for going to fly in shooting on high suddenly, corresponding bit stream data after causing frame 4 to encode Size increases to twice of corresponding bit stream data size after frame 3 encodes, i.e. unexpected variation occurs for information source, at this point, the biography of frame 4 Defeated delay can become twice of the transmission delay of frame 3.
In scene two, per the corresponding bit stream data size kept stable of frame image, i.e. information source keeps stablizing.It is passing During defeated image data, it is assumed that 4 corresponding channel width of frame suddenly drops to the half of 3 corresponding channel width of frame, such as The unmanned vehicle of capture apparatus is carried when being shot to reference object, reference object is basically unchanged, however in flight In the process, unmanned vehicle is suddenly close to neighbouring wireless communication base station, and wireless communication base station can be to unmanned vehicle at this time Transmission channel have an impact, that is, cause channel to change, the bandwidth of channel falls to the wide half of original tape, similarly, frame 4 Transmission delay can also become twice of transmission delay of frame 3.
Either information source variation or channel variation are can be seen that from the description of Fig. 1, can all cause the other picture number of frame level According to the shake of transmission delay, in addition the variation of information source and the variation of channel are mutual indepedent, it is difficult to predict, at present to every frame picture number According to coding mode be relatively fixed, the message source and channel of real-time change can not be adapted to.
With reference to Fig. 1, the method provided in an embodiment of the present invention for transmission of video is described in detail, is regarded with effective reduction The transmission delay of frequency evidence is shaken.
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of video transmission method.Fig. 2 carries for the embodiment of the present invention The flow chart of the video transmission method of confession.As shown in Fig. 2, the method in the present embodiment, may include：
Step S201, video data is decomposed into multiple sub-video data units, wherein each sub-video data unit packet Include one or more subgraphs.
The executive agent of the present embodiment can be the processor with image processing function, controller, it is also possible to general Processor does not limit specifically herein.The present embodiment introduces the principle of video transmission method by taking image processor as an example, figure As processor obtains the video data that the capture apparatus that is carried on unmanned vehicle is shot in real time, which may include one Frame image, can also include continuous multiple image, and video data can be decomposed into multiple sub-video data lists by image processor Member, the present embodiment does not limit video data is decomposed after the obtained number of sub-video data unit, each sub-video number Include one or more subgraphs according to unit.Wherein, one kind that video data is decomposed into multiple sub-video data units is feasible Be achieved in that：The each picture frame for including by video data is multiple subgraphs per frame picture breakdown, chooses each figure As at least one subgraph of frame, selected subgraph constitutes sub-video data unit, i.e. sub-video data unit includes regarding Frequency at least one of multiple subgraphs that each picture frame decomposes in.The present embodiment does not limit a video counts According to including picture frame number, in order to schematically illustrate the decomposable process of video data, it is assumed that the video data include 6 figure As frame, i.e. 6 frame images, in addition, in other embodiments, the number for the picture frame that video data includes can also be other values.
As shown in figure 3, the video data includes 6 picture frames, respectively frame 1, frame 2, frame 3, frame 4, frame 5, frame 6, to frame 1, frame 2, frame 3, frame 4, frame 5, frame 6 are decomposed respectively, and the present embodiment does not limit for the subgraph that each picture frame resolves into Number only schematically illustrates herein as shown in figure 3, each picture frame is broken down into 4 subgraphs, is decomposed to each picture frame The number of the subgraph obtained afterwards can also be other values.Each sub-video data unit includes to each in 6 picture frames After being decomposed, at least one of corresponding 4 subgraphs of each picture frame subgraph.Optionally, each sub-video number Include a subgraph in 6 picture frames in corresponding 4 subgraphs of each picture frame according to unit, as shown in figure 3, son regards Frequency data cell 310 includes a subgraph 11 of frame 1, a subgraph 21 of frame 2, a subgraph 31 of frame 3, frame 4 One subgraph 61 of one subgraph 41, a subgraph 51 of frame 5, frame 6；Similarly, sub-video data unit 320, son regard Frequency data cell 330, sub-video data unit 340 respectively include a subgraph of each picture frame in 6 picture frames.
In addition, the number for the subgraph that different sub-video data units include can be with difference, as shown in figure 4, sub-video Data cell 410 includes two subgraphs 11,12 of frame 1, two subgraphs 21,22 of frame 2, two subgraphs 31 of frame 3, 32, a subgraph 41 of frame 4, a subgraph 51 of frame 5, frame 6 a subgraph 61；Sub-video data unit 420 wraps Include a subgraph 13 of frame 1, a subgraph 23 of frame 2, a subgraph 33 of frame 3, two subgraphs 42,43 of frame 4, Two subgraphs 52,53 of frame 5, two subgraphs 62,63 of frame 6；Sub-video data unit 430 includes every in 6 picture frames One subgraph of a picture frame.
Optionally, the subgraph that each sub-video data unit includes is not overlapped.Each picture frame pair in multiple images frame The mode that the combination of at least one of the multiple subgraphs answered subgraph constitutes sub-video data unit can also have other groups Conjunction mode, will not enumerate herein.
In addition, video data is also possible to only include an a picture frame i.e. frame image, as shown in figure 5,50 indicate video counts According to including a picture frame, which is decomposed, the present embodiment does not limit a picture frame is decomposed after The picture frame 50 is optionally decomposed into 4 subgraphs, subgraph 11 as shown in Figure 5, son by the number of obtained subgraph Image 12, subgraph 13, subgraph 14.Sub-video data is constituted with subgraph 11, subgraph 12, subgraph 13, subgraph 14 Unit can be divided into following several achievable modes：
A kind of achievable mode is：Each sub-video data unit includes a subgraph, sub-video as shown in Figure 5 Data cell 510, sub-video data unit 520, sub-video data unit 530, sub-video data unit 540.
Another achievable mode is：Each sub-video data unit includes two subgraphs, and the present embodiment does not limit The combination for two subgraphs that one sub- video data unit includes, optionally, sub-video data list as shown in Figure 5 Member 550 and sub-video data unit 560, wherein sub-video data unit 550 includes subgraph 11 and subgraph 12, sub-video Data cell 560 includes subgraph 13 and subgraph 14.
Another achievable mode is：The number for the subgraph that each sub-video data unit includes is different, such as Fig. 5 institutes The sub-video data unit 570 and sub-video data unit 580 shown, wherein sub-video data unit 570 includes 3 subgraphs, Sub-video data unit 580 includes 1 subgraph, alternatively, sub-video data unit 570 includes 1 subgraph, sub-video data Unit 580 includes 3 subgraphs, and the present embodiment does not limit, and constitutes the combination side of 3 subgraphs of a sub- video data unit Formula, optionally, sub-video data unit 570 include subgraph 11, subgraph 12, subgraph 13, and sub-video data unit 580 wraps Enclosed tool image 14.
Step S202, the multiple sub-video data unit is encoded respectively.
Image processor is using each sub-video data unit as coding units, to each of multiple sub-video data units Sub-video data unit is encoded respectively, and multiple bit stream datas are obtained after coding, optionally, to a sub- video data unit A bit stream data is obtained after coding, coding herein includes message sink coding and/or channel coding, and the mode of message sink coding can be with Including H.263, H.264, H.265, MPEG4 etc., the mode of channel coding may include Error Correction of Coding, and the type of error correcting code can be with Including RS codes, that is, Reed Solomon code, convolutional code, Turbo code, Polar codes, interlaced code, pseudo-random sequence scrambler etc..
Step S203, the one or more of one or more characteristics and the sub-video data unit based on channel Characteristic selects the sub-video data unit after one or more codings and transmits.
In the present embodiment, one or more characteristics of channel include at least bandwidth.Alternatively, the one or more of channel is special Property include following at least one:Noise, interference, signal-to-noise ratio, bit error rate, rate of fading, bandwidth.
One or more characteristics of sub-video data unit include：Bit stream data after the sub-video data cell encoding The encircled energy of size or the sub-video data unit.
One of one or more characteristics and sub-video data unit of the image processor based on current radio channel or Multiple characteristics select one or more to be transmitted by wireless channel, example from the sub-video data unit after multiple codings It is such as sent to receiving device, which can be remote controler smart mobile phone, tablet computer, ground control station, electricity on knee Brain, wrist-watch, bracelet etc. and combinations thereof.Wherein, the sub-video data unit after the one or more codings of selection can be by following several The feasible mode of kind is realized：
The first feasible mode is：Sub-video data unit after the one or more codings of selection, so that one Or total bit stream data size of the sub-video data unit after multiple codings is matched with channel width.
For example, image processor obtains the sub- video data unit 310- of as shown in Figure 34 after being decomposed to video data 340, the size that bit stream data is obtained after being separately encoded to 4 sub- video data units is S0, S1, S2, S3, current radio channel Bandwidth be T, then image processor can select one or more code streams according to the bandwidth T of wireless channel from 4 bit stream datas The foundation of data, selection can be：The total size of selected one or more code stream is as possible close to the bandwidth of wireless channel T chooses one or more to be combined so that sub-video data unit after combination that is, from multiple sub-video data units Total bit stream data size ensures that wireless channel can send code stream with current bandwidth as close possible to the bandwidth of wireless channel Data sub-video data unit as big as possible.For example, current bandwidth S0, S1, S2, S3 and less than or equal to channel, it can Sub-video data unit 310, sub-video data unit 320, sub-video data unit 330, sub-video number after being encoded with selection Transmitted according to unit 340, when S0, S1, S2, S3 and be more than T, it is maximum bit stream data can be chosen from S0, S1, S2, S3 Three, it is assumed that maximum three of bit stream data is S0, S1, S2, if S0, S1, S2 and be less than T, image processor may be selected Sub-video data unit 310, sub-video data unit 320, sub-video data unit 330 after coding transmit, and so on, When S0, S1, S2 and be more than T, can choose other can be with the sum of transmitted stream data with the bandwidth of current wireless channel The combination of maximum sub-video data unit.
Second of feasible mode be：Multiple sub-video data units carry out priority row according to the encircled energy Sequence.According to the priority and channel width of the sub-video data unit, the sub-video after one or more of codings is selected Data cell.
Since the encircled energy of each sub-video data unit in multiple sub-video data units can identical or phase Closely, it can also be different, therefore, in other embodiments, if the encircled energy of each sub-video data unit is different, may be used also Priority ranking is carried out to multiple sub-video data unit with the encircled energy based on each sub-video data unit, it is optional , encircled energy is bigger, and priority is higher.For example, image processor obtains after being decomposed to video data such as the institute of Fig. 3,4 or 5 The 4 sub- video data units shown, 4 sub- video data units are denoted as sub-video data unit A, sub-video data list respectively First B, sub-video data unit C, sub-video data cells D, and the priority of 4 sub- video data units is successively decreased successively, antithetical phrase Bit stream data size after video data unit A codings is S0, and the bit stream data size after sub-video data unit B coding is S1, the bit stream data size after sub-video data unit C code are S2, the code stream number after sub-video data cells D coding It is S3 according to size.
In some cases, image processor needs the bit stream data size and letter according to sub-video data unit after coding Road bandwidth selects sub-video data unit and transmits, need in some cases according to the priority of sub-video data unit and The bandwidth selection sub-video data unit of channel simultaneously transmits.For example, being selected from the sub-video data unit after above-mentioned 4 codings Sub-video data unit after the one or more codings gone out, the foundation of selection can be：Selected one or more codings Total bit stream data size of sub-video data unit afterwards is less than channel width, and the preferential selection higher sub-video of priority Data cell, to ensure that the sub-video data unit of high priority is preferentially sent.For example, when S0, S1, S2, S3 and small In or equal to channel current bandwidth, can select coding after sub-video data unit A, sub-video data unit B, sub-video Data cell C, sub-video data cells D are transmitted, when S0, S1, S2, S3 and be more than T, it is determined that preceding 3 priority is higher Bit stream data be encode after sub-video data unit A, the sub-video data unit B after coding and coding after sub-video number According to unit C, if S0, S1, S2 and be less than T, image processor is to the sub-video data unit A after coding, the son after coding Video data unit B is transmitted with the sub-video data unit C after coding；If it is S0, S1, S2 and be more than T, it is determined that preceding two The higher sub-video data unit A of a priority, sub-video data unit B, and so on, ensure at least by highest priority The A transmission of sub-video data unit.
The present embodiment by video data by being decomposed into multiple sub-video data units, and to multiple sub-video data units It is encoded respectively, according to the characteristic of the characteristic of channel and sub-video data unit, selects the sub-video after one or more codings Data cell, so that the sub-video data unit after the one or more codings selected meets the characteristic of channel, it can be effectively The mismatch problems for solving information source and channel, can effectively reduce video data due to message source and channel mismatch problems and caused by transmit and prolong When shake.
The embodiment of the present invention provides a kind of video transmission method.Fig. 6 is the transmission of video that another embodiment of the present invention provides The flow chart of method.On the basis of embodiment shown in Fig. 2, video data includes one or more picture frames, as shown in fig. 6, Method in the present embodiment may include：
Step S601, each in one or more of video data picture frame is resolved into multiple subgraphs Picture.
On the basis of the above embodiments, video data may include a frame image, can also include continuous multiframe figure Picture, the present embodiment do not limit the number for the pixel that a frame image includes, do not limit the pixel value of each pixel yet.At image It, specifically can be by each frame image in the frame or multiple image in the video data when reason device decomposes video data Be decomposed into multiple subgraphs, the sub-video data unit include obtained after being decomposed to each in described image frame it is more At least one of a subgraph subgraph.
Specifically, by each spatial decomposition in one or more of video data picture frame at multiple subgraphs Picture, the present embodiment introduce the process that spatial decomposition is carried out to the frame image, specifically by taking the frame image that video data includes as an example It can be realized by following several feasible modes：
The first feasible mode：Using Fourier's correlating transforms or orthogonal transformation by one in the video data or Each spatial decomposition in multiple images frame is at multiple subgraphs.
Fourier's correlating transforms or orthogonal transformation are become from Hadamard transform, discrete cosine transform, discrete fourier It changes, select in Walsh-Hadanjard Transform, Haar transform or slant transform.The present embodiment specifically by taking Hadamard transform as an example, is situated between It continues and carries out the process of spatial decomposition to the frame image.In other embodiments, other spatial alternations can also be used to the frame Image carries out spatial decomposition.
It is illustrated in figure 7 the schematic diagram of a frame image, the present embodiment does not limit the number for the pixel that a frame image includes, By taking a frame image includes 16 pixels as an example, wherein P1-P16 indicates the pixel value of 16 pixels, for 16 pixels In every 4 adjacent pixels pixel value carry out spatial alternation decomposition, 4 subgraphs are resolved into, below with Hadamard transform It is schematically illustrated, specific spatial alternation decomposable process includes the following steps：
Step 1 take every 4 adjacent pixels in 16 pixels as a unit progress Hadamard transform, for example, The conversion coefficient that P1, P2, P3, P4 are obtained after Hadamard transform is H1, H2, H3, H4, wherein P1, P2, P3, P4 and H1, Relationship between H2, H3, H4 meets formula (1), (2), (3), (4)：
H1=(P1+P2+P3+P4+1)>>1 (1)
H2=(P1+P2-P3-P4+1)>>1 (2)
H3=(P1+P3-P2-P4+1)>>1 (3)
H4=(P1+P4-P2-P3+1)>>1 (4)
Include the average energy of 4 pixels according to formula (1), (2), (3), (4) H1, H2 includes 4 pictures Vegetarian refreshments is in the average gradient of vertical direction, and H3 includes 4 pixel average gradients in the horizontal direction, and H4 includes 4 pictures Intersection gradient, that is, texture information of vegetarian refreshments.As it can be seen that the encircled energy of the encircled energy highest of H1, H2 and H3 take second place, H4's Encircled energy is minimum, and when restoring P1, P2, P3, P4 with H1, H2, H3 and H4, H1 is essential, i.e., H1 is most important, Secondary is H2, H3 important, is finally that H4 is important, and therefore, H1 is most important, H2, H3 importance is taken second place, the importance of H4 is minimum, i.e., The importance of H1, H2, H3, H4 are successively decreased successively.Similarly, same Hadamard transform is carried out to P5-P8 and obtains H5-H8, H5, H6, The encircled energy of H7, H8 successively decrease successively, and the importance of H5, H6, H7, H8 are successively decreased successively, and same hada is carried out to P9-P12 Hadamard transform obtains H9-H12, and the encircled energy of H9, H10, H11, H12 successively decrease successively, the importance of H9, H10, H11, H12 according to It is secondary to successively decrease, same Hadamard transform is carried out to P13-P16 and obtains H13-H16, the encircled energy of H13, H14, H15, H16 according to Secondary to successively decrease, the importance of H13, H14, H15, H16 are successively decreased successively, obtain coefficient image as shown in Figure 8.
Step 2 decomposes the conversion coefficient obtained after Hadamard transform in different subgraphs, and the present embodiment does not limit The number of the subgraph obtained after the number of the subgraph obtained after being decomposed to every frame Image space transformation, such as decomposition is 4, It only schematically illustrates herein, in other embodiments, the number of the subgraph obtained after being decomposed to every frame Image space transformation It can also be other values.Optionally, H1 is assigned into first subgraph, H2 is assigned to second subgraph, H3 is assigned into third H4 is assigned to the 4th subgraph by a subgraph.Similarly, H5-H8 is decomposed in 4 subgraphs, H9-H12 is decomposed 4 In subgraph, H13-H16 is decomposed in 4 subgraphs, decomposition result as shown in Figure 9 is obtained, wherein subgraph 1 is concentrated The highest conversion coefficient of encircled energy, subgraph 2 and subgraph 3 have concentrated the conversion coefficient that encircled energy takes second place, son Image 4 has concentrated the conversion coefficient of encircled energy minimum, therefore subgraph 1 is most important, subgraph 2, subgraph 3 importance Take second place, the importance of subgraph 4 is minimum.
As can be seen from FIG. 9, the resolution ratio of each subgraph is original before decomposing in 4 subgraphs after spatial alternation decomposes The a quarter of image.
Second of feasible mode：It will be in one or more of video data picture frame using space down-sampling Each spatial decomposition is at multiple subgraphs.
The present embodiment does not limit the number of the subgraph to being obtained after the decomposition of every frame image space down-sampling, such as after decomposition The number of obtained subgraph is 4, is only schematically illustrated herein, in other embodiments, to being adopted under every frame image space The number for the subgraph that sample obtains after decomposing can also be other values, on the basis of Fig. 7, for every 4 in 16 pixels The pixel value of adjacent pixel carries out space down-sampling, resolves into 4 subgraphs, specific space down-sampling decomposable process For：With every 4 adjacent pixels in 16 pixels for a unit, 4 pixels in a unit are decomposed not With subgraph in, for example, P1 is decomposed first subgraph, P2 is decomposed into second subgraph, P3 is decomposed the P4 is decomposed the 4th subgraph by three subgraphs, similarly, P5-P8 is decomposed 4 subgraphs, P9-P12 is decomposed 4 P13-P16 is decomposed 4 subgraphs, obtains decomposition result as shown in Figure 10 by a subgraph.
As can be seen from FIG. 10, before the resolution ratio of each subgraph is decomposition in 4 subgraphs after space down-sampling decomposes The a quarter of original image.Without loss of generality, it is assumed that the size of original image is W*H before decomposing, if original image is decomposed For 4 subgraphs, the line number or row number of original image or the corresponding picture element matrix of subgraph are started counting up from 0, then first son It may include that coordinate is the pixel of (2i, 2j) in original image in image, whereinThe It may include that coordinate in original image is the pixel of (2i+1,2j) in two subgraphs, may include in third subgraph original Coordinate is the pixel of (2i, 2j+1) in image, may include that coordinate is (2i+1,2j+1) in original image in the 4th subgraph Pixel.
It can be by video data according to any i.e. spatial alternation or space down-sampling mode in above-mentioned isolation One or more of each spatial decomposition in picture frame at multiple subgraphs.In the present embodiment, a picture frame is For a frame image, multiple images frame is multiple image.The video data includes one or more picture frames, the sub-video Data cell includes at least one of the multiple subgraphs obtained after being decomposed to each in described image frame subgraph.
If there are one picture frame in video data, the isolation of the picture frame as shown in fig. 9 or 10, sub-video number May include at least one of the multiple subgraphs obtained after the picture frame decomposes subgraph, such as a sub-video according to unit Data cell include a subgraph, each subgraph obtained after decomposition is compressed, encode can be obtained coding after Bit stream data.
If there is continuous multiple images frame in video data, the isolation of each picture frame, that is, each frame image is such as Shown in Fig. 9 or Figure 10, such as video data connects including 24 picture frames if each picture frame is broken down into 4 subgraphs 24 continuous picture frames will obtain 24*4 subgraph after being decomposed, each sub-video data unit may include 24*4 subgraph In multiple subgraphs, specifically, the sub-video data unit includes after being decomposed to each in described image frame At least one of the corresponding multiple subgraphs of each picture frame arrived subgraph, the sub-video data unit can be 4, Wherein, each in the sub-video data unit includes a subgraph of each picture frame in 24 picture frames. Each sub-video data unit is compressed, encodes the bit stream data after can be obtained coding.
According to Fig. 9 or Figure 10 it is found that each subgraph includes a part for picture frame.As shown in Figure 10, each subgraph One or more pixels including picture frame.As shown in figure 9, each subgraph includes one or more conversion systems of picture frame Number.Receiving device is when rebuilding a frame image as described in Figure 7, Tu10Zhong, subgraph 1, subgraph 2, subgraph 3, subgraph 4 Importance it is identical.In Fig. 9, subgraph 1 is most important, subgraph 2, subgraph 3 importance take second place, the importance of subgraph 4 Minimum, in the present embodiment, multiple sub-video data units carry out priority ranking according to the encircled energy.Due to subgraph The highest conversion coefficient of encircled energy, subgraph 2 and subgraph 3 has been concentrated to concentrate the conversion that encircled energy takes second place as 1 Coefficient, subgraph 4 have concentrated the conversion coefficient of encircled energy minimum, if a sub- video data unit includes a subgraph Picture includes then the highest priority of the sub-video data unit of subgraph 1, including the sub-video data of subgraph 2 or subgraph 3 The priority of unit is taken second place, including the priority of the sub-video data unit of subgraph 4 is minimum.
Step S602, the multiple sub-video data unit is encoded respectively.
The multiple sub-video data unit is encoded respectively and can be realized by following several feasible modes：
The first feasible mode：Multiple sub-video data units are encoded by multiple individual encoders.
Specifically, using the multiple individual encoder to the multiple sub-video data unit parallel encoding；Alternatively, The multiple sub-video data unit is encoded using different Video coding rules；Alternatively, being compiled using identical video Code rule encodes the multiple sub-video data unit.
Second of feasible mode：Two or more in multiple sub-video data units are compiled by one and same coding device Code.
The third feasible mode：Based on the video compression standard of motion compensation in the multiple sub-video data unit At least one encoded.
4th kind of feasible mode：The multiple sub-video data unit is compressed according to different compression ratios.It should Compression ratio is determined according to one or more characteristics of the sub-video data unit.
Step S603, the one or more of one or more characteristics and the sub-video data unit based on channel Characteristic selects the sub-video data unit after one or more codings and transmits.
In the present embodiment, if a sub- video data unit includes a subgraph, as shown in figure 9, subgraph 1 is most heavy Want, subgraph 2, subgraph 3 importance take second place, the importance of subgraph 4 is minimum, then includes the sub-video data of subgraph 1 The highest priority of unit, including the priority of the sub-video data unit of subgraph 2 or subgraph 3 is taken second place, including subgraph 4 Sub-video data unit priority it is minimum.It is big to the bit stream data after the sub-video data unit A codings comprising subgraph 1 Small is S0, is S1 to the bit stream data size after the sub-video data unit B coding comprising subgraph 2, to including subgraph 3 Bit stream data size after sub-video data unit C code is S2, after the sub-video data cells D coding comprising subgraph 4 Bit stream data size be S3.Image processor can be according to historical data transmitting-receiving error condition, current sub-video data unit Priority, the bit stream data size after current sub-video data cell encoding and Real-time Channel estimated value such as channel Bandwidth is combined transmission, to reach information source and channel real-time matching to 4 sub- video data units.For example, when S0, S1, Current bandwidth S2, S3 and less than or equal to channel can select the sub-video data unit A after coding, sub-video data Unit B, sub-video data unit C, sub-video data cells D are transmitted, when S0, S1, S2, S3 and be more than T, it is determined that preceding 3 A higher bit stream data of priority is the sub-video data unit A after encoding, sub-video data unit B and coding after coding Sub-video data unit C afterwards, if it is S0, S1, S2 and be less than T, image processor is to the sub-video data unit after coding A, the sub-video data unit B after coding and the sub-video data unit C after coding are transmitted；If S0, S1, S2 and be more than T, it is determined that the higher sub-video data unit A of the first two priority, sub-video data unit B, and so on, guarantee at least will be excellent The first highest sub-video data unit A transmission of grade.
In certain embodiments, if a sub- video data unit includes a subgraph, as shown in Figure 10, subgraph 1, Subgraph 2, subgraph 3, the importance of subgraph 4 are identical, or in some cases subgraph 1, subgraph 2, subgraph 3, The importance of subgraph 4 not can determine that, that is, include sub-video data unit A, the sub-video number comprising subgraph 2 of subgraph 1 It is identical according to unit B, the sub-video data unit C comprising subgraph 3, the priority of the sub-video data cells D comprising subgraph 4 Or priority can not determine, the bit stream data size after sub-video data unit A codings is S0, sub-video data unit Bit stream data size after B codings is S1, and the bit stream data size after sub-video data unit C code is S2, sub-video Bit stream data size after data cell D codings is S3.Image processor can be according to the transmitting-receiving error condition of historical data, current The bit stream data size of sub-video data unit and the estimated value such as channel width of Real-time Channel, to 4 sub-video datas Unit is combined transmission, to reach information source and channel real-time matching.For example, it is S0, S1, S2, S3 and be less than or equal to channel Current bandwidth, can select coding after sub-video data unit A, sub-video data unit B, sub-video data unit C, son Video data unit D is transmitted, when S0, S1, S2, S3 and be more than T, it is maximum that bit stream data can be chosen from S0, S1, S2, S3 Three, it is assumed that maximum three of bit stream data is S0, S1, S2, if S0, S1, S2 and be less than T, image processor is optional The sub-video data unit A after coding, sub-video data unit B, sub-video data unit C is selected to transmit, and so on, when It is S0, S1, S2 and be more than T, can choose other with the bandwidth of current wireless channel can with transmitted stream data and most The combination of big sub-video data unit.
In addition, if the corresponding transmission data amount of delay jitter that wireless channel allows is D, the bit stream data after combination is big It is small to fall in the range of [T-D, T+D].
The present embodiment by by each spatial decomposition in one or more of video data picture frame at multiple sons Image, specific spatial decomposition include that spatial alternation decomposes and the decomposition of space down-sampling so that the sub-picture pack obtained after decomposition One or more pixels of picture frame, or one or more conversion coefficients including picture frame are included, by the son obtained after decomposing Image is combined into sub-video data unit, when sending the sub-video data unit after encoding so that sub-video data unit is compiled The characteristic (such as bandwidth) of bit stream data size and channel after code matches, or makes the priority of sub-video data unit Match with the characteristic (such as bandwidth) of channel, can realize information source and channel matched in this way, reduces the other video data of frame level Transmission delay caused by due to message source and channel mismatch problems is shaken.
The embodiment of the present invention provides a kind of video receiving method.Figure 11 is video receiving method provided in an embodiment of the present invention Flow chart.As shown in figure 11, the method in the present embodiment may include：
Step S1101, the sub-video data unit after multiple codings is received.
, wherein the video data includes one or more picture frames, and the sub-video data unit includes to the figure At least one of the multiple subgraphs obtained after being decomposed as each in frame subgraph.
Specifically, when video data includes a frame or multiple image, to the decomposition of video data can such as Fig. 3, Fig. 4 or Shown in Fig. 5, sub-video data unit is obtained；Wherein, being decomposed to each frame image of video data can be such as Fig. 9 or Figure 10 Shown, specific decomposable process is consistent with above-described embodiment, and details are not described herein again.
In the present embodiment, receiving device receives the sub-video after multiple codings of the communication system transmission of unmanned vehicle Data cell, wherein video data may include one or more picture frames, and unmanned vehicle will regard before sending video data Frequency resolves into multiple subgraphs according to each picture frame for including, and specific decomposition method refers to portion described previously herein Point, sub-video data unit include in the corresponding multiple subgraphs of each picture frame that each picture frame decomposes at least One, i.e. each sub-video data unit includes at least one subgraph of each picture frame, to reduce every height Correlation between video data unit neutron image avoids being lost or being distorted in transmission process due to sub-video data unit And the higher subgraph of correlation is caused to lose or be distorted.Because of the phase between the subgraph obtained after same frame picture breakdown Closing property is higher, and when the higher subgraph loss of correlation or distortion, it will be difficult to recovery is made of the higher subgraph of correlation Picture frame.
For example, receiving device receives 4 sub- video data units, each sub-video data unit includes one such as Fig. 9 Or the subgraph that Figure 10 is decomposed.
Step S1102, the sub-video data unit after the multiple coding is decoded.
Specifically, being decoded respectively to the sub-video data unit after the multiple coding, for example, receiving device is to this Sub-video data unit after 4 codings is decoded respectively, i.e., is solved respectively to the corresponding bit stream data of 4 subgraphs Code, obtains decoded sub-video data unit.When group video data unit transmits in wireless channel, since noise is dry It disturbs, multipath effect, the reasons such as decline, the sub-video data unit and unmanned vehicle obtained after receiving device may be caused to decode The coding that sends of communication system real after sub-video data unit it is different, receive mistake so as to cause receiving device.
If what communication system was sent is the subgraph after 4 codings as shown in Figure 9, receiving device is to bit stream data solution 4 subgraphs obtained after code are as shown in figure 12, wherein if subgraph 1 transmits correctly, H1 and h1 is identical, H2 and h2 is identical, H3 and h3 is identical, H4 and h4 is identical, if 1 error of transmission of subgraph, in H1 and h1, H2 and h2, H3 and h3, H4 and h4 at least One group differs.Similarly, other subgraphs transmit correct or error of transmission, turn after the conversion coefficient and transmission before transmitting Changing coefficient, there is also same relationships.
If what communication system was sent is the subgraph after 4 codings as shown in Figure 10, receiving device is to bit stream data 4 subgraphs obtained after decoding are as shown in figure 13, wherein if subgraph 1 transmits correctly, P1 and p1 is identical, P2 and p2 phases With, P3 and p3, identical, P4 and p4 are identical, if 1 error of transmission of subgraph, in P1 and p1, P2 and p2, P3 and p3, P4 and p4 extremely Rare one group differs.Similarly, other subgraphs transmit correct or error of transmission, the picture after pixel and transmission before transmitting There is also same relationships for element.
Step S1103, the video data is rebuild according to decoded sub-video data unit.
Specifically, the error of transmission of one or more subgraphs of the sub-video data unit is detected, and according to reception Correct subgraph rebuilds the video data.For example, receiving device decodes after obtaining 4 subgraphs bit stream data, detection Each subgraph transmits correct or error of transmission, and rebuilds original image according to correct subgraph is received.
In the present embodiment, the subgraph that communication system is sent is subgraph shown in Fig. 9, the son that receiving device receives Image is as shown in figure 12, in fig. 12, it is assumed that subgraph 2 receives mistake, and subgraph 1, subgraph 3, subgraph 4 receive just Really, then receiving device rebuilds original image according to subgraph shown in Figure 12 1, subgraph 3, subgraph 4, is rebuilding original image When, video data is rebuild using inverse transformation, and a value is distributed to the subgraph of error of transmission in sub-video data unit, it is a kind of It is feasible to be achieved in that：Value to the subgraph distribution of error of transmission in sub-video data unit is 0.For example, in fig. 12, H2, h6, h10, h14 of subgraph 2 are set to 0, by above-described embodiment it is found that H1, H2, H3, H4 be according to P1, P2, P3, What P4 was obtained, therefore, when rebuilding original image, need to carry out Hadamard inverse transformation to h1, h2, h3, h4, if spatial alternation point Using other spatial alternations when solving picture frame, then when receiving device rebuilds original image, using corresponding spatial alternation Inverse transformation, the present embodiment to h1, h2, h3, h4 carry out Hadamard inverse transformation after, obtain p1, p2, p3, p4, wherein h1, h2, Relationship between h3, h4 and p1, p2, p3, p4 meets formula (5), (6), (7), (8)：
P1=(h1+h2+h3+h4+1)>>1 (5)
P2=(h1+h2-h3-h4+1)>>1 (6)
P3=(h1+h3-h2-h4+1)>>1 (7)
P4=(h1+h4-h2-h3+1)>>1 (8)
Wherein, 0 h2, H1 and h1 is identical, H3 and h3 is identical, H4 and h4 is identical, therefore, is obtained by Hadamard inverse transformation P1, p2, p3, p4 and original image in pixel value P1, P2, P3, P4 may be different, but according to receiving correct subgraph Original image is rebuild, the image rebuild can be ensured close to original image.Similarly, Hadamard inversion is carried out to h5, h6, h7, h8 Get p5, p6, p7, p8 in return, to h9, h10, h11, h12 carry out Hadamard inverse transformation obtain p9, p10, p11, p12, to h13, H14, h15, h16 carry out Hadamard inverse transformation and obtain p13, p14, p15, p16, wherein h6, h10, h14 are 0, further according to Kazakhstan The p1-p16 obtained up to agate inverse transformation rebuilds original image, as shown in figure 14.
In other embodiments, the subgraph that communication system is sent is subgraph shown in Fig. 10, and receiving device receives Subgraph it is as shown in figure 13, in fig. 13 it is assumed that subgraph 3 receive mistake, subgraph 1, subgraph 2, subgraph 4 receive Correctly, then receiving device rebuilds original image according to subgraph shown in Figure 13 1, subgraph 2, subgraph 3, subgraph 4, in weight When building original image, a value, another feasible realization side are distributed to the subgraph of error of transmission in sub-video data unit Formula is：It is determined using interpolation method to the value of the subgraph distribution of error of transmission in sub-video data unit, specifically, to son The value of the subgraph distribution of error of transmission in video data unit is determined according to transmitting correct subgraph, and error of transmission Subgraph and transmit correct subgraph and come from the same picture frame.For example, in fig. 13, subgraph 3 receives mistake, subgraph Picture 1, subgraph 2, subgraph 4 receive correctly, then subgraph 3 is not involved in reconstruction process, i.e., receiving device is only according to subgraph 1, subgraph 2, subgraph 4 rebuild original image, and detailed process is as follows：Due to original image include 16 pixels, subgraph 1, Subgraph 2, subgraph 4 share 12 pixels, as can be seen from FIG. 10, in original image in 16 pixels every 4 it is adjacent Pixel is broken down into 4 different subgraphs, therefore, original image is rebuild according to subgraph 1, subgraph 2, subgraph 4 When, first pixel p 1 of subgraph 1, first pixel p 2 of subgraph 2, first pixel p 4 of subgraph 4 are former respectively 3 pixels P1, P2, P4 in adjacent 4 pixels of first group of beginning image, similarly, p5, p6, p8 are in original image P5-P8 respectively 3 pixel P5, P6, P8, p9, p10, p12 are 3 pixel P9, P10, P12 in original image P9-P12 respectively, p13, P14, p16 are 3 pixel P 13, P 14, P 16 in original image P13-P16 respectively, according to p1, p2, p4, p5, p6, p8, Image A as shown in figure 15 can be obtained in p9, p10, p12, p13, p14, p16, and the hollow remaining pixels of image A are to receive mistake The pixel that subgraph 3 includes, since subgraph 3 receives mistake, subgraph 3 cannot participate in rebuilding the process of original image. Since p1, p2, p4, p5, p6, p8, p9, p10, p12, p13, p14, p16 are properly received, i.e. p1, p2, p4, p5, p6, P8, p9, p10, p12, p13, p14, p16 are identical as the pixel in original image same position respectively, and the present embodiment can basis Interpolation method determines the hollow remaining pixel values of image A, and a kind of feasible interpolation method is：P3 is equal to the arithmetic average of p1, p2, p4, P7 is equal to the arithmetic average of p5, p6, p8, and p11 is equal to the arithmetic average of p9, p10, p12, and p15 is equal to p13, p14, p16 Arithmetic average, the original image B to be rebuild.Wherein, it has been merely given as interpolation here and has determined the hollow remaining pictures of image A A kind of method of element value, those skilled in the art may be used other interpolation methods and determine the hollow remaining pixel values of image A, at this In be not specifically limited.
The present embodiment is decoded multiple sub-video data units by receiving device respectively, obtains decoded son and regards Frequency data cell, and original image is rebuild according to decoded sub-video data unit, specifically, correct according to being received after decoding Subgraph rebuild original image, can partial subgraph picture receive mistake in the case of so that the image of reconstruction is utmostly Close to original image, improve fault-tolerant ability of receiving device during reconstruction image, enhance the robustness of system.
The embodiment of the present invention provides a kind of Video transmission system.Figure 16 is Video transmission system provided in an embodiment of the present invention Structure chart, as shown in figure 16, Video transmission system 1600 includes one or more imaging devices 1601 and loose impediment On one or more processors 1602, one or more imaging devices 1601 be configured as acquisition video data；One or more A processor 1602 works alone or synergistically, is configured as：Video data is decomposed into multiple sub-video data units, wherein Each sub-video data unit includes one or more subgraphs；The multiple sub-video data unit is encoded respectively； And one or more characteristics of the one or more characteristics and the sub-video data unit based on channel, select one Or it sub-video data unit after multiple codings and transmits.
Wherein, one or more characteristics of the channel include at least bandwidth.Alternatively, the one or more of the channel is special Property include following at least one:Noise, interference, signal-to-noise ratio, bit error rate, rate of fading, bandwidth.
Wherein, one or more characteristics of the sub-video data unit include：After the sub-video data cell encoding Bit stream data size or the sub-video data unit encircled energy.
Optionally, total bit stream data size and channel strip of the sub-video data unit after one or more of codings Width matching.Alternatively, the multiple sub-video data unit carries out priority ranking according to the encircled energy.Processor 1602 When selecting the sub-video data unit after one or more codings, it is configured as：According to the preferential of the sub-video data unit Grade and channel width, select the sub-video data unit after one or more of codings.
The concrete principle and realization method of Video transmission system provided in an embodiment of the present invention with embodiment illustrated in fig. 2 class Seemingly, details are not described herein again.
The present embodiment by video data by being decomposed into multiple sub-video data units, and to multiple sub-video data units It is encoded respectively, according to the characteristic of the characteristic of channel and sub-video data unit, selects the sub-video after one or more codings Data cell, so that the sub-video data unit after the one or more codings selected meets the characteristic of channel, when what is selected One or more coding after sub-video data unit in matched channel, can efficiently solve information source with The mismatch problems of channel, can effectively reduce video data due to message source and channel mismatch problems and caused by transmission delay shake.
The embodiment of the present invention provides a kind of Video transmission system.On the basis for the technical solution that embodiment illustrated in fig. 16 provides On, the video data includes one or more picture frames.Video data is decomposed into multiple sub-video datas by processor 1602 When unit, it is configured as：Each in one or more of video data picture frame is resolved into multiple subgraphs, Wherein, each in the sub-video data unit includes in multiple subgraphs that each decomposition obtains in described image frame At least one subgraph.Each subgraph includes a part for described image frame.Specifically, each subgraph includes the figure As one or more pixels of frame.Alternatively, each subgraph includes one or more conversion coefficients of described image frame.
Specifically, processor 1602 each in one or more of video data picture frame is resolved into it is more When a subgraph, it is configured as：By each spatial decomposition in one or more of video data picture frame at more A subgraph.
Processor 1602 is by each spatial decomposition in one or more of video data picture frame at multiple When subgraph, it is configured as：One or more of described video data is schemed using Fourier's correlating transforms or orthogonal transformation As each spatial decomposition in frame is at multiple subgraphs.Wherein, Fourier's correlating transforms or orthogonal transformation are from hada It is selected in Hadamard transform, discrete cosine transform, discrete Fourier transform, Walsh-Hadanjard Transform, Haar transform or slant transform 's.
Alternatively, processor 1602 by each spatial decomposition in one or more of video data picture frame at When multiple subgraphs, it is configured as：It will be every in one or more of video data picture frame using space down-sampling One spatial decomposition is at multiple subgraphs.
In addition, processor 1602 when being encoded respectively to the multiple sub-video data unit can by it is following several can Capable mode is realized：
The first feasible mode：
Processor 1602 controls multiple encoders and is encoded to the multiple sub-video data unit.Specifically, processing Device 1602 controls the multiple encoder to the multiple sub-video data unit parallel encoding；Alternatively, processor 1602 controls The multiple encoder is respectively adopted different Video coding rules and is encoded to the multiple sub-video data unit；Again or Person, processor 1602 control the multiple encoder using identical Video coding rule to the multiple sub-video data unit It is encoded.
Second of feasible mode：Processor 1602 controls encoder to two in the multiple sub-video data unit Or it multiple is encoded.
The third feasible mode：Processor 1602 controls encoder based on the video compression standard of motion compensation to described At least one of multiple sub-video data units are encoded.
4th kind of feasible mode：Processor 1602 is configured as：According to different compression ratios to the multiple sub-video Data cell is compressed.Wherein, compression ratio is determined according to one or more characteristics of the sub-video data unit.
Wherein, the hardware entities that encoder can be independently of processor 1602 and is electrically connected with processor 1602, Can also be the software for realizing encoding function in processor 1602.
In the present embodiment, loose impediment is unmanned vehicle.One or more imaging devices 1601 by carrier with The loose impediment connection, which can be a kind of multiaxis universal joint.
The concrete principle and realization method of Video transmission system provided in an embodiment of the present invention are implemented with shown in Fig. 2-10 Example is similar, and details are not described herein again.
The present embodiment by by each spatial decomposition in one or more of video data picture frame at multiple sons Image, specific spatial decomposition include that spatial alternation decomposes and the decomposition of space down-sampling so that the sub-picture pack obtained after decomposition One or more pixels of picture frame are included, or one or more conversion coefficients including picture frame can be right for a frame image Its multiple subgraph obtained after decomposing is sent after being combined, so that the bit stream data size after combination and channel width Match, or the bit stream data after combination further includes the corresponding bit stream data of subgraph of high importance so that each frame image When transmitting over the wireless channel, information source and channel matched can be realized, reduce the other video data of frame level due to message source and channel Mismatch problems and caused by transmission delay shake.
The embodiment of the present invention provides a kind of receiving device.Figure 17 is the structure of receiving device provided in an embodiment of the present invention Figure, as shown in figure 17, receiving device 1700 include communication interface 1701, one or more processors 1702, one or more at Reason device 1702 works alone or synergistically, communication interface 1701 and the communication connection of processor 1702；Communication interface 1701 is for receiving Sub-video data unit after multiple codings, wherein the video data includes one or more picture frames, the sub-video Data cell includes at least one of the multiple subgraphs obtained after being decomposed to each in described image frame subgraph； One or more processors 1702 are used for：Control decoder is decoded the sub-video data unit after the multiple coding； The video data is rebuild according to decoded sub-video data unit.
Optionally, processor 1702 controls decoder and is decoded to the sub-video data unit after the multiple coding When, it is specifically used for：Control decoder is decoded the sub-video data unit after the multiple coding respectively.Wherein, it decodes The hardware entities that device can be independently of processor 1702 and is electrically connected with processor 1702, can also be processor 1702 The interior software for realizing decoding function.
In addition, processor 1702 is additionally operable to：Detect the transmission of one or more subgraphs of the sub-video data unit Mistake；When processor 1702 rebuilds the video data according to decoded sub-video data unit, it is specifically used for：According to reception Correct subgraph rebuilds the video data.
In addition, processor 1702 is additionally operable to distribute one to the subgraph of error of transmission in the sub-video data unit Value.
Wherein, it is 0 to give the value of the subgraph distribution of error of transmission in the sub-video data unit.
Alternatively, the value to the subgraph distribution of error of transmission in the sub-video data unit is determined using interpolation method 's.Value to the subgraph distribution of error of transmission in the sub-video data unit is determined according to the correct subgraph of transmission , and the subgraph of the error of transmission and the correct subgraph of transmission come from the same picture frame.
When processor 1702 rebuilds the video data according to decoded sub-video data unit, it is specifically used for：Using The video data is rebuild in inverse transformation.
Wherein, the receiving device can be remote controler, smart mobile phone, tablet computer, ground control station, electricity on knee Brain, wrist-watch, bracelet etc. and combinations thereof.
The concrete principle and realization method of receiving device provided in an embodiment of the present invention with Figure 11-15 illustrated embodiment classes Seemingly, details are not described herein again.
The present embodiment is decoded multiple sub-video data units by receiving device respectively, obtains decoded son and regards Frequency data cell, and original image is rebuild according to decoded sub-video data unit, specifically, correct according to being received after decoding Subgraph rebuild original image, can partial subgraph picture receive mistake in the case of so that the image of reconstruction is utmostly Close to original image, improve fault-tolerant ability of receiving device during reconstruction image, enhance the robustness of system.
The embodiment of the present invention provides a kind of control terminal, which includes the receiving device described in above-described embodiment. For example, the control terminal can be remote controler, smart mobile phone, tablet computer, ground control station, laptop computer, wrist-watch, bracelet Deng and combinations thereof, while unmanned vehicle can also be controlled on ground.
The embodiment of the present invention provides a kind of unmanned vehicle.Figure 18 is the knot of unmanned vehicle provided in an embodiment of the present invention Composition, as shown in figure 18, unmanned vehicle 1800 includes：Fuselage, dynamical system and Video transmission system, the dynamical system packet Include following at least one：Motor 1801, propeller 1802 and electron speed regulator 1803, dynamical system are mounted on the fuselage, use In offer flying power；The communication of flight controller 1804 and the dynamical system connects, for control it is described nobody fly 1806 rows Device flies；Wherein, flight controller 1804 includes Inertial Measurement Unit and gyroscope.The Inertial Measurement Unit and the gyro Instrument is for detecting acceleration, pitch angle, roll angle and yaw angle of the unmanned vehicle etc..
Video transmission system include one or more imaging devices 1805 and configure one in loose impediment or Multiple processors 1806, imaging device 1805 are connected to fuselage, and processor 1806 and imaging device by support equipment 1807 1805 communication connections, support equipment 1807 can be specifically holder.The principle and realization method of Video transmission system with it is above-mentioned Embodiment is similar, and details are not described herein again.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or logical by some interfaces, device or unit Letter connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme 's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read- Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various The medium of program code can be stored.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each function module Division progress for example, in practical application, can be complete by different function modules by above-mentioned function distribution as needed At the internal structure of device being divided into different function modules, to complete all or part of the functions described above.On The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (67)

1. a kind of video transmission method, which is characterized in that including：
Video data is decomposed into multiple sub-video data units, wherein each sub-video data unit includes one or more Subgraph；
The multiple sub-video data unit is encoded respectively；And
One or more characteristics of one or more characteristics and the sub-video data unit based on channel select one Or it sub-video data unit after multiple codings and transmits.
2. according to the method described in claim 1, it is characterized in that, the video data includes one or more picture frames；
It is described that video data is decomposed into multiple sub-video data units, including：
Each in one or more of video data picture frame is resolved into multiple subgraphs, wherein the son Each in video data unit includes that each in described image frame decomposes obtained at least one of multiple subgraphs Subgraph.
3. according to the method described in claim 2, it is characterized in that, each subgraph includes a part for described image frame.
4. according to the method described in claim 3, it is characterized in that, each subgraph include one of described image frame or Multiple pixels.
5. according to the method described in claim 3, it is characterized in that, each subgraph include one of described image frame or Multiple conversion coefficients.
6. according to claim 2-5 any one of them methods, which is characterized in that described one by the video data or Each in multiple images frame resolves into multiple subgraphs, including：
By each spatial decomposition in one or more of video data picture frame at multiple subgraphs.
7. according to the method described in claim 6, it is characterized in that, described by one or more of video data image Each spatial decomposition in frame at multiple subgraphs, including：
Using Fourier's correlating transforms or orthogonal transformation by each in one or more of video data picture frame Spatial decomposition is at multiple subgraphs.
8. the method according to the description of claim 7 is characterized in that Fourier's correlating transforms or orthogonal transformation are from hada It is selected in Hadamard transform, discrete cosine transform, discrete Fourier transform, Walsh-Hadanjard Transform, Haar transform or slant transform 's.
9. the method according to the description of claim 7 is characterized in that described by one or more of video data image Each spatial decomposition in frame at multiple subgraphs, including：
Using space down-sampling by each spatial decomposition in one or more of video data picture frame at multiple Subgraph.
10. according to claim 1-9 any one of them methods, which is characterized in that one or more characteristics of the channel are extremely Include bandwidth less.
11. according to claim 1-9 any one of them methods, which is characterized in that one or more characteristic packets of the channel Include following at least one:
Noise, interference, signal-to-noise ratio, bit error rate, rate of fading, bandwidth.
12. according to claim 1-11 any one of them methods, which is characterized in that one of the sub-video data unit or Multiple characteristics include：
The energy of bit stream data size or the sub-video data unit after the sub-video data cell encoding is concentrated Degree.
13. according to the method for claim 12, which is characterized in that the sub-video number after the one or more codings of selection According to unit, including：
Sub-video data unit after the one or more codings of selection, so that the sub-video data after one or more of codings Total bit stream data size of unit is matched with channel width.
14. according to the method for claim 12, which is characterized in that the multiple sub-video data unit is according to the energy Concentration degree carries out priority ranking.
15. according to the method for claim 14, which is characterized in that the sub-video number after the one or more codings of selection According to unit, including：
According to the priority and channel width of the sub-video data unit, the sub-video after one or more of codings is selected Data cell.
16. according to claim 1-15 any one of them methods, which is characterized in that described to the multiple sub-video data list Member is encoded respectively, including：
The multiple sub-video data unit is encoded by multiple individual encoders.
17. according to the method for claim 16, which is characterized in that the multiple sub-video data unit is by multiple individual Encoder is encoded, including：
Using the multiple individual encoder to the multiple sub-video data unit parallel encoding.
18. according to the method for claim 16, which is characterized in that the multiple sub-video data unit is by multiple individual Encoder is encoded, including：
The multiple sub-video data unit is encoded using different Video coding rules.
19. according to the method for claim 16, which is characterized in that the multiple sub-video data unit is by multiple individual Encoder is encoded, including：
The multiple sub-video data unit is encoded using identical Video coding rule.
20. according to claim 1-15 any one of them methods, which is characterized in that described to the multiple sub-video data list Member is encoded respectively, including：
Two or more in the multiple sub-video data unit are encoded by one and same coding device.
21. according to claim 1-15 any one of them methods, which is characterized in that described to the multiple sub-video data list Member is encoded respectively, including：
At least one of the multiple sub-video data unit is encoded based on the video compression standard of motion compensation.
22. according to claim 1-15 any one of them methods, which is characterized in that described to the multiple sub-video data list Member is encoded respectively, including：
The multiple sub-video data unit is compressed according to different compression ratios.
23. according to the method for claim 22, which is characterized in that the compression ratio is according to the sub-video data unit One or more characteristics determine.
24. a kind of video receiving method, which is characterized in that including：
Receive the sub-video data unit after multiple codings；
Sub-video data unit after the multiple coding is decoded；
The video data is rebuild according to decoded sub-video data unit, wherein the video data includes one or more A picture frame, the sub-video data unit include the multiple subgraphs obtained after being decomposed to each in described image frame At least one of subgraph.
25. according to the method for claim 24, which is characterized in that the sub-video data list to after the multiple coding Member is decoded, including：
Sub-video data unit after the multiple coding is decoded respectively.
26. the method according to claim 24 or 25, which is characterized in that further include：
Detect the error of transmission of one or more subgraphs of the sub-video data unit；
It is described that the video data is rebuild according to decoded sub-video data unit, including：
The video data is rebuild according to correct subgraph is received.
27. according to the method for claim 26, which is characterized in that further include：
A value is distributed to the subgraph of error of transmission in the sub-video data unit.
28. according to the method for claim 27, which is characterized in that the son of error of transmission in the sub-video data unit The value of image distribution is 0.
29. according to the method for claim 27, which is characterized in that the son of error of transmission in the sub-video data unit The value of image distribution is determined using interpolation method.
30. according to the method for claim 29, which is characterized in that the son of error of transmission in the sub-video data unit The value of image distribution is to be determined according to the correct subgraph of transmission, and the subgraph of the error of transmission and the transmission are correct Subgraph come from the same picture frame.
31. the method according to claim 28 or 29, which is characterized in that described according to decoded sub-video data unit The video data is rebuild, including：
The video data is rebuild using inverse transformation.
32. a kind of Video transmission system, which is characterized in that including：
One or more imaging devices are configured as acquisition video data；And
One or more processors in the loose impediment, work alone or synergistically, and the processor is configured as：
Video data is decomposed into multiple sub-video data units, wherein each sub-video data unit includes one or more Subgraph；
The multiple sub-video data unit is encoded respectively；And
One or more characteristics of one or more characteristics and the sub-video data unit based on channel select one Or it sub-video data unit after multiple codings and transmits.
33. system according to claim 32, which is characterized in that the video data includes one or more picture frames；
When video data is decomposed into multiple sub-video data units by the processor, it is configured as：
Each in one or more of video data picture frame is resolved into multiple subgraphs, wherein the son Each in video data unit includes that each in described image frame decomposes obtained at least one of multiple subgraphs Subgraph.
34. system according to claim 33, which is characterized in that each subgraph includes a part for described image frame.
35. system according to claim 34, which is characterized in that each subgraph includes one of described image frame Or multiple pixels.
36. system according to claim 34, which is characterized in that each subgraph includes one of described image frame Or multiple conversion coefficients.
37. according to claim 33-36 any one of them systems, which is characterized in that the processor is by the video data One or more of each in picture frame when resolving into multiple subgraphs, be configured as：
By each spatial decomposition in one or more of video data picture frame at multiple subgraphs.
38. according to the system described in claim 37, which is characterized in that the processor by one in the video data or When each spatial decomposition in multiple images frame is at multiple subgraphs, it is configured as：
Using Fourier's correlating transforms or orthogonal transformation by each in one or more of video data picture frame Spatial decomposition is at multiple subgraphs.
39. according to the system described in claim 38, which is characterized in that Fourier's correlating transforms or orthogonal transformation are from Kazakhstan Up to being selected in Hadamard transform, discrete cosine transform, discrete Fourier transform, Walsh-Hadanjard Transform, Haar transform or slant transform 's.
40. according to the system described in claim 37, which is characterized in that the processor by one in the video data or When each spatial decomposition in multiple images frame is at multiple subgraphs, it is configured as：
Using space down-sampling by each spatial decomposition in one or more of video data picture frame at multiple Subgraph.
41. according to claim 32-40 any one of them systems, which is characterized in that one or more characteristics of the channel Including at least bandwidth.
42. according to claim 32-40 any one of them systems, which is characterized in that one or more characteristics of the channel Including following at least one:
Noise, interference, signal-to-noise ratio, bit error rate, rate of fading, bandwidth.
43. according to claim 32-42 any one of them systems, which is characterized in that one of the sub-video data unit Or multiple characteristics include：
The energy of bit stream data size or the sub-video data unit after the sub-video data cell encoding is concentrated Degree.
44. system according to claim 43, which is characterized in that the son after the one or more codings of processor selection When video data unit, it is configured as：
Sub-video data unit after the one or more codings of selection, so that the sub-video data after one or more of codings Total bit stream data size of unit is matched with channel width.
45. system according to claim 35, which is characterized in that the multiple sub-video data unit is according to the energy Concentration degree carries out priority ranking.
46. system according to claim 45, which is characterized in that the son after the one or more codings of processor selection When video data unit, it is configured as：
According to the priority and channel width of the sub-video data unit, the sub-video after one or more of codings is selected Data cell.
47. according to claim 32-46 any one of them systems, which is characterized in that
The processor, which is additionally operable to control multiple encoders, encodes the multiple sub-video data unit.
48. system according to claim 47, which is characterized in that the processor is specifically used for controlling the multiple coding Device is to the multiple sub-video data unit parallel encoding.
49. system according to claim 47, which is characterized in that the processor is specifically used for controlling the multiple coding Device is respectively adopted different Video coding rules and is encoded to the multiple sub-video data unit.
50. system according to claim 47, which is characterized in that the processor is specifically used for controlling the multiple coding Device encodes the multiple sub-video data unit using identical Video coding rule.
51. according to claim 32-46 any one of them systems, which is characterized in that the processor is additionally operable to control coding Device encodes two or more in the multiple sub-video data unit.
52. according to claim 32-46 any one of them systems, which is characterized in that the processor is additionally operable to control coding Device encodes at least one of the multiple sub-video data unit based on the video compression standard of motion compensation.
53. according to claim 32-46 any one of them systems, which is characterized in that the processor regards the multiple son When frequency data cell is encoded respectively, it is configured as：
The multiple sub-video data unit is compressed according to different compression ratios.
54. system according to claim 53, which is characterized in that the compression ratio is according to the sub-video data unit One or more characteristics determine.
55. according to claim 32-54 any one of them systems, which is characterized in that the loose impediment is unmanned flight Device.
56. according to claim 32-54 any one of them systems, which is characterized in that one or more of imaging devices are logical Carrier is crossed to connect with the loose impediment.
57. system according to claim 56, which is characterized in that the carrier is a kind of multiaxis universal joint.
58. a kind of receiving device, which is characterized in that including：Communication interface, one or more processors, work alone or synergistically, The communication interface and processor communication connection；
The communication interface is for receiving the sub-video data unit after multiple codings；
One or more of processors are used for：Control decoder solves the sub-video data unit after the multiple coding Code；The video data is rebuild according to decoded sub-video data unit, wherein the video data includes one or more Picture frame, the sub-video data unit include in the multiple subgraphs obtained after being decomposed to each in described image frame At least one subgraph.
59. receiving device according to claim 58, which is characterized in that the processor controls decoder to the multiple When sub-video data unit after coding is decoded, it is specifically used for：
Control decoder is decoded the sub-video data unit after the multiple coding respectively.
60. the receiving device according to claim 58 or 59, which is characterized in that the processor is additionally operable to：Described in detection The error of transmission of one or more subgraphs of sub-video data unit；
When the processor rebuilds the video data according to decoded sub-video data unit, it is specifically used for：According to reception Correct subgraph rebuilds the video data.
61. receiving device according to claim 60, which is characterized in that the processor is additionally operable to：To the sub-video The subgraph of error of transmission in data cell distributes a value.
62. receiving device according to claim 61, which is characterized in that error of transmission in the sub-video data unit Subgraph distribution value be 0.
63. receiving device according to claim 61, which is characterized in that error of transmission in the sub-video data unit Subgraph distribution value using interpolation method determination.
64. receiving device according to claim 63, which is characterized in that error of transmission in the sub-video data unit The value of subgraph distribution be to determine according to transmitting correct subgraph, and the subgraph of the error of transmission and the transmission Correct subgraph comes from the same picture frame.
65. the receiving device according to claim 62 or 63, which is characterized in that the processor is regarded according to decoded son When frequency data cell rebuilds the video data, it is specifically used for：
The video data is rebuild using inverse transformation.
66. a kind of control terminal, which is characterized in that including：Such as claim 58-65 any one of them receiving devices.
67. a kind of unmanned vehicle, which is characterized in that including：
Fuselage；
Dynamical system is mounted on the fuselage, for providing flying power；
And such as claim 32-57 any one of them Video transmission systems.
CN201780005017.8A 2017-03-30 2017-03-30 Transmission of video, method of reseptance, system, equipment and unmanned vehicle Pending CN108496369A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/078728 WO2018176303A1 (en) 2017-03-30 2017-03-30 Video transmitting and receiving method, system, and device, and unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
CN108496369A true CN108496369A (en) 2018-09-04

Family

ID=63344689

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780005017.8A Pending CN108496369A (en) 2017-03-30 2017-03-30 Transmission of video, method of reseptance, system, equipment and unmanned vehicle

Country Status (2)

Country Link
CN (1) CN108496369A (en)
WO (1) WO2018176303A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111565291A (en) * 2020-07-14 2020-08-21 深圳市慧明捷科技有限公司 Multi-base-station image transmission method for unmanned aerial vehicle
WO2020258241A1 (en) * 2019-06-28 2020-12-30 深圳市大疆创新科技有限公司 Image processing method and apparatus for movable platform, movable platform and medium
CN114040226A (en) * 2022-01-10 2022-02-11 北京小鸟科技股份有限公司 Data transmission method, system and equipment for low-bandwidth high-resolution video transmission
CN114424552A (en) * 2019-09-29 2022-04-29 华为技术有限公司 Low-delay source-channel joint coding method and related equipment

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021179304A1 (en) * 2020-03-13 2021-09-16 深圳市大疆创新科技有限公司 Method for automatically adjusting video live broadcast bit rate, video transmission device, and server

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1689334A (en) * 2002-10-04 2005-10-26 皇家飞利浦电子股份有限公司 Method and system for improving transmission efficiency using multiple-description layered encoding
US20060182178A1 (en) * 2005-01-26 2006-08-17 Kenji Oi Moving picture data transmission apparatus
WO2008041954A1 (en) * 2006-10-06 2008-04-10 Agency For Science, Technology And Research Method for encoding, method for decoding, encoder, decoder and computer program products
CN101848499A (en) * 2009-03-25 2010-09-29 上海贝尔股份有限公司 Method for improving classified service transmission in wireless system, network element and system
CN102907096A (en) * 2010-05-10 2013-01-30 三星电子株式会社 Method and apparatus for transmitting and receiving layered coded video
US20140098665A1 (en) * 2006-05-12 2014-04-10 Microsoft Corporation Signaling to application lack of requested bandwidth
CN104349142A (en) * 2014-11-03 2015-02-11 南京航空航天大学 Layered representation-based unmanned plane video adaptive transmission method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013128010A2 (en) * 2012-03-02 2013-09-06 Canon Kabushiki Kaisha Method and devices for encoding a sequence of images into a scalable video bit-stream, and decoding a corresponding scalable video bit-stream
CN103945165A (en) * 2014-05-05 2014-07-23 北京领通科技有限公司 Method and device for processing remote video transmission of terminal device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1689334A (en) * 2002-10-04 2005-10-26 皇家飞利浦电子股份有限公司 Method and system for improving transmission efficiency using multiple-description layered encoding
US20060182178A1 (en) * 2005-01-26 2006-08-17 Kenji Oi Moving picture data transmission apparatus
US20140098665A1 (en) * 2006-05-12 2014-04-10 Microsoft Corporation Signaling to application lack of requested bandwidth
WO2008041954A1 (en) * 2006-10-06 2008-04-10 Agency For Science, Technology And Research Method for encoding, method for decoding, encoder, decoder and computer program products
CN101848499A (en) * 2009-03-25 2010-09-29 上海贝尔股份有限公司 Method for improving classified service transmission in wireless system, network element and system
CN102907096A (en) * 2010-05-10 2013-01-30 三星电子株式会社 Method and apparatus for transmitting and receiving layered coded video
CN104349142A (en) * 2014-11-03 2015-02-11 南京航空航天大学 Layered representation-based unmanned plane video adaptive transmission method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
周文帅等: "基于预测式错误恢复机制的多描述视频编码研究", 《电子与信息学报》 *

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020258241A1 (en) * 2019-06-28 2020-12-30 深圳市大疆创新科技有限公司 Image processing method and apparatus for movable platform, movable platform and medium
CN114424552A (en) * 2019-09-29 2022-04-29 华为技术有限公司 Low-delay source-channel joint coding method and related equipment
CN111565291A (en) * 2020-07-14 2020-08-21 深圳市慧明捷科技有限公司 Multi-base-station image transmission method for unmanned aerial vehicle
CN114040226A (en) * 2022-01-10 2022-02-11 北京小鸟科技股份有限公司 Data transmission method, system and equipment for low-bandwidth high-resolution video transmission
CN114040226B (en) * 2022-01-10 2022-03-11 北京小鸟科技股份有限公司 Data transmission method, system and equipment for low-bandwidth high-resolution video transmission

Also Published As

Publication number Publication date
WO2018176303A1 (en) 2018-10-04

Similar Documents

Publication Publication Date Title
CN108496369A (en) Transmission of video, method of reseptance, system, equipment and unmanned vehicle
US20220385942A1 (en) Face discontinuity filtering for 360-degree video coding
US11277635B2 (en) Predictive coding for 360-degree video based on geometry padding
US10904571B2 (en) Hybrid cubemap projection for 360-degree video coding
US10263695B2 (en) Data communication systems and methods
US10911750B2 (en) System and methods for feedback-based data transmission
KR101844032B1 (en) Method for sending video in region of interest from panoramic-video, server and device
US10938503B2 (en) Video codec data recovery techniques for lossy wireless links
CA3059870A1 (en) 360-degree video coding using face continuities
WO2018067952A1 (en) Geometry conversion and frame packing associated with 360-degree videos
WO2018176340A1 (en) Video transmission method, reception method, system, and unmanned aerial vehicle
CN205510277U (en) Unmanned aerial vehicle panoramic picture transmission equipment
US20160249065A1 (en) Systems and methods for transmission of compressive sensing data
Chen et al. MuVi: Multiview video aware transmission over MIMO wireless systems
WO2019083943A1 (en) Hybrid angular cubemap projection for 360-degree video coding
WO2014071096A1 (en) Preserving rounding errors in video coding
Hu et al. Mobile edge assisted live streaming system for omnidirectional video
Fujihashi et al. Multiview video transmission over underwater acoustic path
WO2018176341A1 (en) Video transmission method, reception method, system, and unmanned aerial vehicle
KR101670767B1 (en) Method for duplicated streaming transmission to provide image stabilization service, recording medium, device and sysytem for performing the method
CN109561119A (en) A kind of data transmission method for uplink, data receiver method and equipment
Qvarfordt et al. High quality mobile XR: Requirements and feasibility
US9300979B2 (en) Methods for transmitting and receiving data contents, corresponding source and destination nodes and storage means
US10129884B1 (en) Multi-thread tx/rx and video data to improve throughput and reliability over cellular based communications systems
Pierce-Mayer Techniques for the Use of Video over Delay Tolerant Networks as a Tool for Safety and Situational Awareness

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
AD01 Patent right deemed abandoned
AD01 Patent right deemed abandoned

Effective date of abandoning: 20220405