CN108616702A - Image processing method and device - Google Patents
Image processing method and device Download PDFInfo
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- CN108616702A CN108616702A CN201611178830.9A CN201611178830A CN108616702A CN 108616702 A CN108616702 A CN 108616702A CN 201611178830 A CN201611178830 A CN 201611178830A CN 108616702 A CN108616702 A CN 108616702A
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- electronic equipment
- target object
- target
- image
- electronic
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
- H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
Abstract
The invention discloses a kind of image processing method and devices.Wherein, this method includes：Obtain the situation of movement for the target object that electronic equipment detection target object obtains, wherein multiple electronic equipment is moved according to the situation of movement of target object, to keep relative position of the multiple electronic equipment respectively between target object constant；Multiple electronic equipment the first image that photographic subjects object obtains from different perspectives is obtained, multiple first images are obtained；Multiple first images are synthesized, the stereopsis of target object is obtained.The present invention solves the technical issues of stereopsis that can not record moving object in the prior art.
Description
Technical field
The present invention relates to image domains, in particular to a kind of image processing method and device.
Background technology
For static object, its solid can be recorded by way of putting camera in surrounding fixed position
Image still for mobile object, can not carry out and record its stereopsis through the above way.
For above-mentioned problem, currently no effective solution has been proposed.
Invention content
An embodiment of the present invention provides a kind of image processing method and devices, at least to solve not recording in the prior art
The technical issues of stereopsis of moving object.
One side according to the ... of the embodiment of the present invention provides a kind of image processing method, including：Obtain electronic equipment inspection
Survey the situation of movement for the target object that target object obtains, wherein the more electronic equipments are according to the target object
Situation of movement moved, to keep the more electronic equipments, respectively the relative position between the target object is not
Become；It obtains the more electronic equipments and shoots the first image that the target object obtains from different perspectives, obtain described in multiple
First image；Multiple described first images are synthesized, the stereopsis of the target object is obtained.
Further, the more electronic equipments are electronic equipment described in N platforms, obtain the more electronic equipments from difference
The first image that target object described in angle shot obtains, obtaining multiple described first images includes：I-th electronic equipment according to
The image acquisition units of itself identify the target object；I-th electronic equipment is with object described in the i-th angle shot
Body obtains described first image, wherein i-th angle is the angle of the relatively described target object of i-th electronic equipment
Degree, wherein i takes 1 to N successively, and the 1st angle to N angles is N number of mutually different angle, and N is the integer more than 1.
Further, multiple described first images are synthesized, the stereopsis for obtaining the target object includes：It obtains
Take the shooting time of every described first image；Multiple identical described first images of shooting time are synthesized, institute is obtained
State stereopsis.
Further, multiple identical described first images of shooting time are synthesized, obtains the stereopsis packet
It includes：The background parts in described first image are removed, the first image after background removal is obtained；By shooting time it is identical multiple
The first image after background removal is synthesized, and the stereopsis is obtained.
Further, obtaining the situation of movement of the target object that electronic equipment detection target object obtains includes：It is more
Target electronic device in electronic equipment described in platform generates the first movement locus according to the situation of movement of the target object,
In, the target electronic device is moved according to first movement locus；The target electronic device calculates described in more
Remaining the every electronic equipment in electronic equipment in addition to the target electronic device is relative to the target electronic device
Relative position；The relative position is sent in the more electronic equipments except target electricity by the target electronic device
Remaining electronic equipment other than sub- equipment；Every electronics in the more electronic equipments in addition to the target electronic device is set
It is standby according to first movement locus and itself to generate movement locus relative to the relative position of the target electronic device, and press
It is moved according to the movement locus of generation.
Further, before the situation of movement for obtaining the target object that electronic equipment detection target object obtains,
The method further includes：Obtain the standard time；Every electricity in the more electronic equipments is calibrated according to the standard time
The time of sub- equipment.
Another aspect according to the ... of the embodiment of the present invention additionally provides a kind of image processing apparatus, including：First obtains list
Member, the situation of movement for obtaining the target object that electronic equipment detection target object obtains, wherein the more electronics
Equipment is moved according to the situation of movement of the target object, with keep the more electronic equipments respectively with the object
Relative position between body is constant；Second acquisition unit, for obtaining described in the more electronic equipments shoot from different perspectives
The first image that target object obtains, obtains multiple described first images；Synthesis unit, for by multiple described first images into
Row synthesis, obtains the stereopsis of the target object.
Further, the more electronic equipments are electronic equipment described in N platforms, and the second acquisition unit includes：I-th knows
Small pin for the case unit is arranged on i-th electronic equipment, for identifying institute according to the image acquisition units of i-th electronic equipment
State target object；I-th shooting subelement, is arranged on i-th electronic equipment, for target described in the i-th angle shot
Object obtains described first image, wherein i-th angle is the angle of the relatively described target object of i-th electronic equipment
Degree, wherein i takes 1 to N successively, and the 1st angle to N angles is N number of mutually different angle, and N is the integer more than 1.
Further, the synthesis unit includes：Subelement is obtained, when shooting for obtaining every described first image
Between；Synthesizing subunit obtains the stereopsis for synthesizing multiple identical described first images of shooting time.
Further, the synthesizing subunit includes：Module is removed, for removing the background portion in described first image
Point, obtain the first image after background removal；Synthesis module is used for first after multiple identical background removals of shooting time
Image is synthesized, and the stereopsis is obtained.
Further, the first acquisition unit includes：Subelement is generated, the mesh in the more electronic equipments is set
It marks on electronic equipment, for generating the first movement locus according to the situation of movement of the target object, wherein the target electronic
Equipment is moved according to first movement locus；Computation subunit is arranged in the target electronic device, for calculating
Remaining the every electronic equipment in the more electronic equipments in addition to the target electronic device is relative to the target
The relative position of electronic equipment；Transmission sub-unit is arranged in the target electronic device, for sending the relative position
To remaining electronic equipment in the more electronic equipments in addition to the target electronic device；Subelement is controlled, is arranged more
On every electronic equipment in electronic equipment described in platform in addition to the target electronic device, for moving rail according to described first
Every electronic equipment in electronic equipment described in mark and Duo Tai in addition to the target electronic device is relative to the target electronic
The relative position of equipment generates movement locus, and controls every in addition to the target electronic device in the more electronic equipments
Platform electronic equipment is moved according to the movement locus of generation.
Further, described device further includes：Third acquiring unit is set for obtaining electronics in the first acquisition unit
Before the situation of movement for the target object that standby detection target object obtains, the standard time is obtained；Alignment unit is used for basis
The standard time calibrates the time of every electronic equipment in the more electronic equipments.
In embodiments of the present invention, target object is kept in motion, and multiple electronic equipment detection target object obtains
To the motion conditions of target object, the motion state of itself is adjusted according to the motion conditions of target object so that itself and target
Object keeps opposing stationary, and every electronic equipment from different perspectives shoots target object, obtains multiple images, this is more
It opens image to be synthesized, obtains the stereopsis of target object, reached the technique effect of the stereopsis of record moving object,
And then solves the technical issues of stereopsis that can not record moving object in the prior art.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and constitutes the part of the present invention, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of image processing method according to the ... of the embodiment of the present invention；
Fig. 2 is the position view of multiple electronic equipment and target object according to the ... of the embodiment of the present invention；
Fig. 3 is the movement locus schematic diagram of multiple electronic equipment and target object according to the ... of the embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of image processing apparatus according to the ... of the embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of image processing method is provided, it should be noted that in attached drawing
The step of flow illustrates can execute in the computer system of such as a group of computer-executable instructions, although also,
Logical order is shown in flow chart, but in some cases, it can be to execute shown different from sequence herein or retouch
The step of stating.
Fig. 1 is a kind of flow chart of image processing method according to the ... of the embodiment of the present invention.The image processing method is applied to
Has the electronic equipment of driving device, driving device is used to provide driving force so that electronic equipment can move for electronic equipment
Dynamic, electronic equipment also has image acquisition units.
As shown in Figure 1, this method comprises the following steps：
Step S102 obtains the situation of movement for the target object that electronic equipment detection target object obtains, wherein more electricity
Sub- equipment is moved according to the situation of movement of target object, to keep phase of the multiple electronic equipment respectively between target object
It is constant to position.
Step S104 obtains multiple electronic equipment the first image that photographic subjects object obtains from different perspectives, obtains more
Open the first image.
Multiple first images are synthesized, obtain the stereopsis of target object by step S106.
Target object is mobile object, can be moved freely in a certain range.
Electronic equipment can be robot.Electronic equipment can have the binocular camera for shooting.
Multiple electronic equipment is moved according to the situation of movement of target object, to keep multiple electronic equipment respectively and mesh
The relative position marked between object is constant, that is, every electronic equipment is all static relative to target object.
Every electronic equipment is all different relative to angle, the orientation of target object, and every electronic equipment is to object
Body is shot, and the first image is obtained, multiple first images are obtained in multiple electronic equipment one.Every first image is all from difference
Angle records the image of target object.
Multiple first images are synthesized, the stereopsis of target object can be accessed, include in the stereopsis
Target object comprehensive information.
In embodiments of the present invention, target object is kept in motion, and multiple electronic equipment detection target object obtains
To the motion conditions of target object, the motion state of itself is adjusted according to the motion conditions of target object so that itself and target
Object keeps opposing stationary, and every electronic equipment from different perspectives shoots target object, obtains multiple images, this is more
It opens image to be synthesized, obtains the stereopsis of target object, solve the solid that can not record moving object in the prior art
The technical issues of image, has reached the technique effect of the stereopsis of record moving object.
Optionally, multiple electronic equipment is N platform electronic equipments, obtains multiple electronic equipment photographic subjects object from different perspectives
The first image that body obtains, obtaining multiple first images includes：I-th electronic equipment is identified according to the image acquisition units of itself
Target object；I-th electronic equipment obtains the first image with the i-th angle shot target object, wherein the i-th angle is i-th
The angle of electronic equipment relative target object, wherein i takes 1 to N successively, and the 1st angle to N angles is N number of mutually different angle
Degree, N are the integer more than 1.
For example, 3 electronic equipments are shown in Fig. 2, respectively electronic equipment E1, electronic equipment E2, electronic equipment E3, A
For target object.Target object A is movement, and electronic equipment E1, electronic equipment E2, electronic equipment E3 are according to target object A's
Motion conditions adjust the motion conditions of itself, to keep itself relative position between target object A constant.
Electronic equipment E1, electronic equipment E2, electronic equipment E3 are different relative to angle, the orientation of target object,
This 3 electronic equipments respectively shoot target object, obtain 3 the first images.This 3 first images are right from different perspectives
The image of target object is recorded, this 3 first images are synthesized, the stereopsis of target object A has just been obtained.
Optionally, multiple first images are synthesized, the stereopsis for obtaining target object includes：Obtain every first
The shooting time of image；Multiple identical first images of shooting time are synthesized, stereopsis is obtained.
Every electronic equipment can all shoot to obtain multiple first images, this multiple first image can be in different times
Shooting.Electronic equipment, can the records photographing time when shooting image.By reading shooting time, it is able to know that electronic equipment
Shoot the time of image.
Multiple identical first images of shooting time that distinct electronic apparatuses are shot are synthesized, target object is obtained
Stereopsis.
For example, electronic equipment E1 shown in Figure 2 shot to obtain the first image P11 at the T1 moment, shot at the T2 moment
To the first image P12, shoot to obtain the first image P13 at the T3 moment.
Electronic equipment E2 shot to obtain the first image P21 at the T1 moment, shot to obtain the first image P22 at the T2 moment,
The T3 moment shoots to obtain the first image P23.
Electronic equipment E3 shot to obtain the first image P31 at the T1 moment, shot to obtain the first image P32 at the T2 moment,
The T3 moment shoots to obtain the first image P33.
It is all that the first image P11, the first image P21, the first image P31 at T1 moment is synthesized by shooting time, obtains
To target object the T1 moment stereo-picture.
It is all that the first image P12, the first image P22, the first image P32 at T2 moment is synthesized by shooting time, obtains
To target object the T2 moment stereo-picture.
It is all that the first image P13, the first image P23, the first image P33 at T3 moment is synthesized by shooting time, obtains
To target object the T3 moment stereo-picture.
Optionally, before the situation of movement for obtaining the target object that electronic equipment detection target object obtains, method is also
Including：Obtain the standard time；The time of every electronic equipment in multiple electronic equipment is calibrated according to the standard time.
Time in electronic equipment is likely to be accurate, it is also possible to inaccurate.If in multiple electronic equipment
Time irreversibility, then being synthesized by multiple identical first images of shooting time, during obtaining stereopsis, just
It will appear mistake, that is, multiple different first images of actual photographed time, which are carried out synthesis, can obtain the image of mistake.
In order to avoid the above problem, school is carried out to the time of every electronic equipment in multiple electronic equipment using the standard time
It is accurate so that the time synchronization in multiple electronic equipment.
Optionally, multiple identical first images of shooting time are synthesized, obtaining stereopsis includes：Removal first
Background parts in image obtain the first image after background removal；By after multiple identical background removals of shooting time
One image is synthesized, and stereopsis is obtained.
Before by shooting time, multiple identical first images are synthesized, can first it remove in multiple first images
Then multiple first images are synthesized, can remove the interference of background by background parts again, obtain being more clear mesh outstanding
Mark the stereopsis of object.By identifying and interacting, the main body (target object) that is taken is confirmed, and removed from current 3D images
Background is cut out the main body that is taken.
Multiple electronic equipment generate the movement locus of itself method can be it is following any one：
Multiple electronic equipment generates the first method of the movement locus of itself：
Multiple electronic equipment can respectively detect the motion conditions of target object in real time, then respectively according to target object
Motion conditions and itself the movement locus of itself is generated in real time relative to the position of target object, so that itself and target object phase
To static.
As shown in figure 3, one shares 3 electronic equipments, respectively electronic equipment E1, electronic equipment E2, electronic equipment E3, A
For target object.Target object A is movement, and electronic equipment E1, electronic equipment E2, electronic equipment E3 are according to target object A's
Motion conditions are moved, to keep itself relative position between target object A constant.Electronic equipment E1, electronic equipment
E2, electronic equipment E3 detect the motion conditions of target object A in real time, itself is generated according to the motion conditions of target object A
Movement locus, so that itself keeps opposing stationary with target object A.Track G0 shows the movement locus of target object A；Track
G1 shows the movement locus of electronic equipment E1；Track G2 shows the movement locus of electronic equipment E2；Track G3 shows electricity
The movement locus of sub- equipment E3.
Multiple electronic equipment generates the second method of the movement locus of itself：
Target electronic device in multiple electronic equipment generates the first movement locus according to the situation of movement of target object,
In, target electronic device is moved according to the first movement locus；Target electronic device, which calculates, removes target in multiple electronic equipment
Relative position of remaining the every electronic equipment relative to target electronic device other than electronic equipment；Target electronic device will be opposite
Position is sent in multiple electronic equipment remaining electronic equipment in addition to target electronic device；Target is removed in multiple electronic equipment
Every electronic equipment other than electronic equipment is according to the first movement locus and itself relative position relative to target electronic device
Movement locus is generated, and is moved according to the movement locus of generation.
There is communication capacity between multiple electronic equipment, it can be by wherein electronic equipment (target electronic device) basis
The situation of movement of target object generates the first movement locus, when target electronic device is moved according to the first movement locus,
Target electronic device and the relative position of target object are constant.
Every electronic equipment in multiple electronic equipment in addition to target electronic device is according to the first movement locus and itself
Relative position relative to target electronic device generates movement locus, and is moved according to the movement locus of generation, so that
Itself is constant with the relative position of target object.
In the second approach, target electronic device can be any one in multiple electronic equipments, can also be multiple
Strongest one of computing capability in electronic equipment.
In multiple electronic equipment, only target electronic device needs to detect the motion conditions of target object, other electronics are set
The standby motion conditions that need not all detect target object so that the workload of electronic equipment is significantly less.
Since every electronic equipment is all static relative to target object, so being also between arbitrary two electronic equipments
Opposing stationary, that is, relative position of arbitrary two electronic equipments at any one moment remains unchanged.Target electronic device meter
Calculating remaining every electronic equipment can be real-time detection, be calculated relative to the relative position of target electronic device, also may be used
To be any time detection during the motion, calculate, detection, meter can also be before target object setting in motion
It arrives, can also be input by user.
Every electronic equipment in multiple electronic equipment in addition to target electronic device is according to the first movement locus and itself
Relative position relative to target electronic device generates movement locus, and is moved according to the movement locus of generation.
Since every electronic equipment in multiple electronic equipment in addition to target electronic device is relative to target electronic device
Static, target electronic device is static relative to target object, and therefore, every electronic equipment is both relative to mesh in multiple electronic equipment
It is static to mark object.
In embodiments of the present invention, it is communicated by multiple electronic equipment ad-hoc network, realizes that cooperative motion, collaboration follow bat
3D images are taken the photograph, and then synthesize comprehensive 3D images.
By taking robot as an example, illustrate image processing method provided in an embodiment of the present invention.
More robots establish connection by network or other modes, and guarantee can exchange information.Robot passes through information
It exchanges and confirms and adjust mutual orientation.Positioning includes but not limited to use vision with adjustment orientation, ultrasound, the technologies such as microwave.
User triggers or other any modes allow robot combination to open comprehensive 3D photologgings function.Robot passes through binocular vision
It identifies subject, and is in communication with each other in conjunction with self-position, confirm subject, while confirming subject and robot
Relative position.Start recording image, every robot all identifies subject from current binocular vision, and background is gone
It removes, the information such as reservation record time.When object starts mobile, object movement is perceived by binocular vision, calculates object
Change in location between body and robot.Robot keeps the relative position between subject by autonomous as far as possible
It is constant.More robots are calibrated the image of shooting, and synthesize comprehensive 3D images (three-dimensional shadow by recording the time
Picture).
In embodiments of the present invention, it is connected with each other by network or other modes between multiple robots, exchanges information,
Signaling is mutually transmitted between robot, can be cooperated, and is given birth to by synthesizing the 3D images of different angle of same time
At comprehensive image, the comprehensive dynamic 3D photologgings of multi-robot Cooperation are realized.
According to embodiments of the present invention, a kind of image processing apparatus is additionally provided.The image processing apparatus can execute above-mentioned
Image processing method, above-mentioned image processing method can also be implemented by the image processing apparatus.
Fig. 4 is a kind of schematic diagram of image processing apparatus according to the ... of the embodiment of the present invention.The image processing apparatus is applied to
Has the electronic equipment of driving device, driving device is used to provide driving force so that electronic equipment can move for electronic equipment
Dynamic, electronic equipment also has image acquisition units.
As shown in figure 4, the device includes：First acquisition unit 10, second acquisition unit 20, synthesis unit 30.
First acquisition unit 10, the situation of movement for obtaining the target object that electronic equipment detection target object obtains,
Wherein, multiple electronic equipment is moved according to the situation of movement of target object, to keep multiple electronic equipment respectively and target
Relative position between object is constant.
Second acquisition unit 20, for obtaining multiple electronic equipment the first figure that photographic subjects object obtains from different perspectives
Picture obtains multiple first images.
Synthesis unit 30 obtains the stereopsis of target object for synthesizing multiple first images.
Optionally, multiple electronic equipment is N platform electronic equipments, and second acquisition unit 20 includes N number of identification subelement and N number of
Shoot subelement.N number of identification subelement be respectively the 1st identification subelement to N identify subelement.N number of shooting subelement difference
Subelement is shot for the 1st shooting subelement to N.I-th identification subelement, is arranged on i-th electronic equipment, for according to the
The image acquisition units of i platform electronic equipments identify target object.I-th shooting subelement, is arranged on i-th electronic equipment, uses
In with the i-th angle shot target object, the first image is obtained, wherein the i-th angle is i-th electronic equipment relative target object
Angle, wherein i takes 1 to N successively, and the 1st angle to N angles is N number of mutually different angle, and N is the integer more than 1.
Optionally, synthesis unit 30 includes：Obtain subelement, synthesizing subunit.Subelement is obtained, for obtaining every the
The shooting time of one image.Synthesizing subunit obtains solid for synthesizing multiple identical first images of shooting time
Image.
Optionally, synthesizing subunit includes：Remove module, synthesis module.Module is removed, for removing in the first image
Background parts obtain the first image after background removal.Synthesis module, being used for will be after multiple identical background removal of shooting time
The first image synthesized, obtain stereopsis.
Optionally, first acquisition unit includes：Generate subelement, computation subunit, transmission sub-unit, control subelement.
Subelement is generated, is arranged in the target electronic device in multiple electronic equipment, for being given birth to according to the situation of movement of target object
At the first movement locus, wherein target electronic device is moved according to the first movement locus.Computation subunit is arranged in mesh
Mark electronic equipment on, for calculate remaining every electronic equipment in multiple electronic equipment in addition to target electronic device relative to
The relative position of target electronic device.Transmission sub-unit is arranged in target electronic device, more for relative position to be sent to
Remaining electronic equipment in platform electronic equipment in addition to target electronic device.Subelement is controlled, is arranged in multiple electronic equipment
On every electronic equipment in addition to target electronic device, for according in the first movement locus and multiple electronic equipment remove target
Every electronic equipment other than electronic equipment generates movement locus relative to the relative position of target electronic device, and controls more
Every electronic equipment in electronic equipment in addition to target electronic device is moved according to the movement locus of generation.
Optionally, device further includes：Third acquiring unit, alignment unit.Third acquiring unit, it is single for being obtained first
Before member 10 obtains the situation of movement for the target object that electronic equipment detection target object obtains, the standard time is obtained.Calibration is single
Member, the time for calibrating every electronic equipment in multiple electronic equipment according to the standard time.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided by the present invention, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
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 combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical 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
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
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 SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of image processing method, which is characterized in that applied to the electronic equipment for having driving device, the driving device is used
In providing driving force for the electronic equipment so that the electronic equipment can move, the electronic equipment is also adopted with image
Collect unit, the method includes：
Obtain the situation of movement for the target object that electronic equipment detection target object obtains, wherein the more electronics are set
It is standby to be moved according to the situation of movement of the target object, with keep the more electronic equipments respectively with the target object
Between relative position it is constant；
It obtains the more electronic equipments and shoots the first image that the target object obtains from different perspectives, obtain described in multiple
First image；
Multiple described first images are synthesized, the stereopsis of the target object is obtained.
2. according to the method described in claim 1, it is characterized in that, more electronic equipments are electronic equipment described in N platforms, obtain
It takes the more electronic equipments to shoot the first image that the target object obtains from different perspectives, obtains multiple described first figures
As including：
I-th electronic equipment identifies the target object according to the image acquisition units of itself；
I-th electronic equipment obtains described first image, wherein described i-th with target object described in the i-th angle shot
Angle is the angle of the relatively described target object of i-th electronic equipment, wherein i takes 1 to N successively, the 1st angle to the angles N
Degree is N number of mutually different angle, and N is the integer more than 1.
3. according to the method described in claim 1, it is characterized in that, multiple described first images are synthesized, obtain described
The stereopsis of target object includes：
Obtain the shooting time of every described first image；
Multiple identical described first images of shooting time are synthesized, the stereopsis is obtained.
4. according to the method described in claim 3, it is characterized in that, multiple identical described first images of shooting time are carried out
Synthesis, obtaining the stereopsis includes：
The background parts in described first image are removed, the first image after background removal is obtained；
The first image after multiple identical background removals of shooting time is synthesized, the stereopsis is obtained.
5. according to the method described in claim 1, it is characterized in that,
Obtaining the situation of movement of the target object that electronic equipment detection target object obtains includes：
Target electronic device in the more electronic equipments generates the first movement rail according to the situation of movement of the target object
Mark, wherein the target electronic device is moved according to first movement locus；
The target electronic device calculates remaining the every institute in addition to the target electronic device in the more electronic equipments
State relative position of the electronic equipment relative to the target electronic device；
The relative position is sent in the more electronic equipments and removes the target electronic device by the target electronic device
Remaining electronic equipment in addition；
Every electronic equipment in the more electronic equipments in addition to the target electronic device moves rail according to described first
Mark generates movement locus with itself relative to the relative position of the target electronic device, and is carried out according to the movement locus of generation
Movement.
6. according to the method described in claim 1, it is characterized in that, described in being obtained in acquisition electronic equipment detection target object
Before the situation of movement of target object, the method further includes：
Obtain the standard time；
The time of every electronic equipment in the more electronic equipments is calibrated according to the standard time.
7. a kind of image processing apparatus, which is characterized in that applied to the electronic equipment for having driving device, the driving device is used
In providing driving force for the electronic equipment so that the electronic equipment can move, the electronic equipment is also adopted with image
Collect unit, described device includes：
First acquisition unit, the situation of movement for obtaining the target object that electronic equipment detection target object obtains,
In, the more electronic equipments are moved according to the situation of movement of the target object, to keep the more electronic equipments
Relative position respectively between the target object is constant；
Second acquisition unit, shoot that the target object obtains from different perspectives for obtaining the more electronic equipments first
Image obtains multiple described first images；
Synthesis unit obtains the stereopsis of the target object for synthesizing multiple described first images.
8. device according to claim 7, which is characterized in that the more electronic equipments are electronic equipment described in N platforms, institute
Stating second acquisition unit includes：
I-th identification subelement, is arranged on i-th electronic equipment, for the Image Acquisition list according to i-th electronic equipment
Member identifies the target object；
I-th shooting subelement, is arranged on i-th electronic equipment, for target object described in the i-th angle shot, obtaining
To described first image, wherein i-th angle is the angle of the relatively described target object of i-th electronic equipment,
In, i takes 1 to N successively, and the 1st angle to N angles is N number of mutually different angle, and N is the integer more than 1.
9. device according to claim 7, which is characterized in that the synthesis unit includes：
Obtain subelement, the shooting time for obtaining every described first image；
Synthesizing subunit obtains the stereopsis for synthesizing multiple identical described first images of shooting time.
10. device according to claim 9, which is characterized in that the synthesizing subunit includes：
Removal module obtains the first image after background removal for removing the background parts in described first image；
Synthesis module obtains described vertical for synthesizing the first image after multiple identical background removals of shooting time
Body image.
11. device according to claim 7, which is characterized in that
The first acquisition unit includes：
Subelement is generated, is arranged in the target electronic device in the more electronic equipments, for according to the target object
Situation of movement generate the first movement locus, wherein the target electronic device is moved according to first movement locus；
Computation subunit is arranged in the target electronic device, and the target is removed in the more electronic equipments for calculating
Relative position of remaining the every electronic equipment relative to the target electronic device other than electronic equipment；
Transmission sub-unit is arranged in the target electronic device, for the relative position to be sent to the more electronics
Remaining electronic equipment in equipment in addition to the target electronic device；
Subelement is controlled, every electronic equipment in addition to the target electronic device is set in the more electronic equipments
On, for according to every electricity in electronic equipment described in first movement locus and Duo Tai in addition to the target electronic device
Sub- equipment generates movement locus relative to the relative position of the target electronic device, and controls and removed in the more electronic equipments
Every electronic equipment other than the target electronic device is moved according to the movement locus of generation.
12. device according to claim 7, which is characterized in that described device further includes：
Third acquiring unit, for obtaining the target that electronic equipment detection target object obtains in the first acquisition unit
Before the situation of movement of object, the standard time is obtained；
Alignment unit, for according to the standard time calibrate in the more electronic equipments every electronic equipment when
Between.
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| CN201611178830.9A CN108616702B (en) | 2016-12-19 | 2016-12-19 | Image processing method and device |
| PCT/CN2017/117151 WO2018113657A1 (en) | 2016-12-19 | 2017-12-19 | Image processing method and device |
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