CN109151256B - Camera flicker elimination method and device based on sensor detection - Google Patents
Camera flicker elimination method and device based on sensor detection Download PDFInfo
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Abstract
The invention provides a camera flicker elimination method and a camera flicker elimination device based on sensor detection, wherein the method comprises the following steps: s1, sampling the ambient light signal; s2, outputting original image data; s3, extracting an ambient light sampling signal; s4, determining the flicker frequency of the ambient light; s5, updating the camera frame rate; and S6, updating the exposure frequency of the ambient light signal sampling line according to the camera frame rate, and returning to the ambient light signal sampling step. The invention realizes the interference suppression of the light interference of various flicker frequencies and the light superposed by various flicker frequencies, keeps the video image stable and improves the image quality.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a camera flicker elimination method and device based on sensor detection.
Background
Cameras are increasingly used in automobiles, such as a back-up rearview device, a 360-degree panoramic looking device, a streaming media inside rearview mirror, a streaming media outside rearview mirror, a driving recorder and the like. The development of the automobile automatic driving technology has higher and higher requirements on the anti-interference of the camera. The crossroad of urban road is covered with red street lamp, traffic monitoring lamp, and when the car stops or slowly goes through at the crossroad, the scintillation of its light can cause the interference to the camera formation of image, leads to the video ripple form to disturb, and then leads to the camera performance reduction.
The current interference suppression scheme of the camera is only effective on 50Hz alternating current lamplight, but the urban street lamp generally uses LED lamps and xenon lamps, the working frequency is different between 100 Hz and 200Hz, and therefore the camera is difficult to filter out the interference.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a camera flicker elimination method and device based on sensor detection, and aims to overcome the defects in the prior art, realize interference suppression on lamplight interference of various flicker frequencies and lamplight superposed by various flicker frequencies, keep video images stable, and improve image quality.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a camera flicker elimination method based on sensor detection, which comprises the following steps:
s1, sampling the ambient light signal;
s2, outputting original image data;
s3, extracting an ambient light sampling signal;
s4, determining the flicker frequency of the ambient light;
s5, updating the camera frame rate;
and S6, updating the exposure frequency of the ambient light signal sampling line according to the camera frame rate, and returning to the ambient light signal sampling step.
Specifically, the step of sampling the ambient light signal specifically includes: and selecting one of unused pixel rows of the camera sensor as an ambient light signal sampling row, and synchronously exposing with the effective pixel row of the camera sensor.
Specifically, the step of outputting the original image data specifically includes: the camera sensor outputs original image data line by line, and effective pixels and ineffective pixels are alternately transmitted at intervals.
Specifically, the step of extracting the ambient light sampling signal specifically includes: and extracting an invalid pixel row, reserving the brightness value of the invalid pixel row, storing the brightness value into a brightness array, and calculating the average value of the brightness values of the invalid pixel row to obtain a brightness average value.
Specifically, the step of determining the ambient light flicker frequency specifically includes:
s401, comparing each brightness value in the brightness array with the brightness mean value, if the brightness value is larger than the brightness mean value, the corresponding mark value is 1, otherwise, the corresponding mark value is 0, and storing the mark values to the mark value array in sequence;
s402, recording the number of continuous same mark values as peak-valley counting, and sequentially storing the peak-valley counting in a counting array;
and S403, calculating the flicker frequency of the ambient light according to the exposure frequency of the ambient light signal sampling line and the peak-valley count.
Specifically, the calculating the ambient light flicker frequency according to the exposure frequency of the ambient light signal sampling line and the peak-to-valley count includes:
s4031, determining the number of peak-valley counts;
s4032, calculating each initial flicker frequency of the ambient light;
s4033, an arithmetic mean value is obtained according to the initial flicker frequency of the ambient light to obtain the flicker frequency of the ambient light.
Specifically, each initial flicker frequency Mi of the ambient light is G/(J (2i) + J (2i +1)), where G denotes an exposure frequency of an ambient light signal sampling line, i is 1,2, … n (n [ (k-2)/2]), k denotes the number of peak-to-valley counts, [ ] denotes an integer, J (2i) denotes a 2 i-th peak-to-valley count, and J (2i +1) denotes a 2i + 1-th peak-to-valley count.
Specifically, the ambient light flicker frequency M ═ M1+ M2+ … + Mn)/n, where n ═ [ (k-2)/2], k represents the number of peak-to-valley counts, [ ] represents taking an integer.
Specifically, the step of updating the camera frame rate specifically includes:
s501, determining an undetermined frame rate of the camera according to the ambient light flicker frequency and the initial frame rate of the camera;
s502, determining the camera frame rate according to the undetermined frame rate of the camera.
Specifically, the determining the undetermined frame rate of the camera according to the ambient light flicker frequency and the initial frame rate of the camera includes:
if the ambient light flicker frequency is larger than or equal to the initial frame rate of the camera, determining an undetermined frame rate p '═ M/Q of the camera, wherein M represents the ambient light flicker frequency, [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps;
and if the ambient light flicker frequency is less than or equal to the initial frame rate of the camera, determining an undetermined frame rate p '═ M (Q) of the camera, wherein M represents the ambient light flicker frequency, [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps.
Specifically, the determining the camera frame rate according to the camera frame rate to be determined includes: and determining the minimum absolute value of the difference value between the undetermined frame rate of the camera and the initial frame rate of the camera as the frame rate of the camera.
Further, after the step S3 and before the step S4, the method further includes:
s31, the step of determining the ambient light flicker threshold includes:
the step of ambient light flicker threshold determination comprises: and judging whether the difference value of the maximum value, the minimum value and the brightness mean value of the brightness values in the brightness array exceeds a preset fluctuation threshold value, if so, determining the flicker frequency of the ambient light, and otherwise, returning to the step of sampling the ambient light signal.
In another aspect, the present invention provides a camera flicker elimination apparatus based on sensor detection, including:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors;
the one or more applications are configured to perform the steps of the above-described sensor detection-based camera flicker elimination method.
The invention has the beneficial effects that: according to the invention, one of the pixel lines is not used as the ambient light signal sampling line through the camera sensor, and the brightness value of the ambient light is collected and stored, so that the ambient light flicker frequency is determined, the interference suppression on the light interference of various flicker frequencies and the light superposed with various flicker frequencies is realized, the video image is kept stable, and the image quality is improved.
Drawings
FIG. 1 is a schematic flow chart of a sensor detection-based camera flicker elimination method of the present invention;
FIG. 2 is a schematic diagram of an arrangement of pixel points of a camera sensor according to the present invention;
FIG. 3 is a timing diagram of a prior art raw image data transmission;
FIG. 4 is a timing diagram for raw image data transmission according to the present invention;
FIG. 5 is a schematic structural diagram of a sensor detection-based camera flicker elimination apparatus according to the present invention;
FIG. 6 is a graphical illustration of a computing ambient light flicker frequency of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
As shown in fig. 1, an aspect of the embodiments of the present invention provides a method for eliminating camera flicker based on sensor detection, including:
At present, a camera sensor adopts a line-by-line exposure mode, and if an initial frame rate of the camera is p0 (e.g., 30fps) and an effective pixel output by the camera is a b (e.g., 1280 b 720), a frame of image needs to be exposed b times to complete image acquisition. In fact, there are more physical pixels of the camera sensor than there are valid pixels of the camera sensor output, because some of the camera sensor does not use rows or columns of pixels. Fig. 2 is an arrangement diagram of pixel points of the camera sensor, where rows H1 and H2 are unused pixel rows of the camera sensor, columns V1 and V2 are unused pixel columns of the camera sensor, and row H3V3 is the 1 st effective pixel point of the camera sensor.
The step of sampling the ambient light signal specifically includes: and selecting one of unused pixel rows of the camera sensor as an ambient light signal sampling row, and synchronously exposing with the effective pixel row of the camera sensor.
Within the acquisition time (1/p second) of one frame of image, the ambient light signal sampling line and the camera sensor effective pixel line are synchronously exposed for b times, so that b ambient light signal values are acquired, and therefore, the exposure frequency G of the ambient light signal sampling line is b × p0(Hz), that is, the ambient light signal sampling frequency SG is G.
And 2, outputting original image data.
The step of outputting the original image data specifically comprises: the camera sensor outputs original image data line by line, and effective pixels and ineffective pixels are alternately transmitted at intervals.
In one practical example, odd rows carry active pixels and even rows carry inactive pixels.
Thus, the pixels of the rows of a frame of image are doubled, and the actually transmitted image pixels are changed from a × b to a × 2 b. Fig. 3 shows a conventional original image data transmission timing chart, and fig. 4 shows an original image data transmission timing chart according to the present invention.
And 3, extracting the ambient light sampling signal.
The step of extracting the ambient light sampling signal specifically includes: and extracting an invalid pixel row, reserving the brightness value of the invalid pixel row, storing the brightness value into a brightness array, and calculating the average value of the brightness values of the invalid pixel row to obtain a brightness average value.
Fig. 5 is a schematic structural diagram of a camera flicker elimination apparatus based on sensor detection according to the present invention, in which a camera sensor outputs original Image data to an ISP (Image Signal Processor) of a camera, the ISP receives the original Image data and processes the original Image data to convert the original Image data into a Signal (e.g., YUV) recognizable at a back end, and then transmits the recognizable Signal to a back-end processing unit (e.g., MPU, Micro Processor Uint, microprocessor unit), the back-end processing unit receives the recognizable Signal, extracts an invalid pixel row (e.g., an even row) therein, retains a luminance value (e.g., Y in the Signal) of the invalid pixel row, stores the luminance values of b (e.g., 720) YUV pixel points into a luminance array, and calculates an average value of the luminance values of the b pixel points to obtain a luminance average value.
The recognizable signals are recombined into a new image for video output or storage after the invalid pixel rows (e.g., even rows) are deleted.
And 4, determining the flicker frequency of the ambient light.
The flicker-free ambient light is stable for a sufficiently short time, and the brightness value of the ambient light with the flicker phenomenon fluctuates. By comparing with the brightness mean value, it is judged that the peak of flicker is higher than the brightness mean value and the valley of flicker is lower than the brightness mean value.
The step of determining the ambient light flicker frequency specifically comprises:
step 401, comparing each brightness value in the brightness array with the brightness mean value, if the brightness value is greater than the brightness mean value, the corresponding flag value is 1, otherwise, the corresponding flag value is 0, and storing the flag values in the flag value array in sequence.
And step 402, recording the number of the continuous same mark values as peak-valley counts, and sequentially storing the peak-valley counts into a count array.
For example, if the 1 st peak-to-valley count indicates 60 consecutive flag values of 1, the peak-to-valley count J (1) is 60; the 2 nd peak-to-valley count indicates 80 consecutive flag values of 0, and the peak-to-valley count J (2) is 80; if the 3 rd count indicates 130 consecutive flag values 1, the peak-to-valley count J (3) is 130; and so on.
And 403, calculating the flicker frequency of the ambient light according to the exposure frequency of the ambient light signal sampling line and the peak-valley count.
Since the first peak-to-valley count and the last peak-to-valley count may not be values obtained over a complete cycle, to reduce error, the peak-to-valley count in calculating the ambient light flicker frequency is selected to begin with the second peak-to-valley count of the count array and end with the penultimate peak-to-valley count.
The specific calculation steps include:
step 4031, determine the number k of peak-valley counts.
Step 4032, calculating each initial flicker frequency of the ambient light.
Each initial flicker frequency Mi of the ambient light is G/(J (2i) + J (2i +1)), where G denotes an exposure frequency of an ambient light signal sampling line, i is 1,2, … n (n [ (k-2)/2]), k denotes the number of peak-to-valley counts, [ ] denotes an integer, J (2i) denotes a 2 i-th peak-to-valley count, and J (2i +1) denotes a 2i + 1-th peak-to-valley count.
Step 4033, an arithmetic mean is calculated according to the initial flicker frequency of the ambient light to obtain the flicker frequency of the ambient light.
The ambient light flicker frequency M ═ (M1+ M2+ … + Mn)/n, where n ═ k-2/2, k represents the number of peak-to-valley counts, and [ ] represents taking an integer.
For example, as shown in FIG. 6, a diagram of the present invention's calculation of ambient light flicker frequency is shown.
In this example, the exposure frequency G of the ambient light signal sampling line is 21600 Hz.
Array A represents the luminance array, array B represents the flag value array, and array C represents the count array.
The peak-valley count J (i) is, in order, J (1) 60, J (2) 80, J (3) 130, J (4) 75, J (5) 132, J (6) 70, J (7) 135, J (8) 38, the number of peak-valley counts k 8, and n [ (k-2)/2] 3.
Thus, each initial flicker frequency m (i) of the ambient light is:
M1＝G/(J(2)+J(3))＝21600Hz/(80+130)＝102.85Hz；
M2＝G/(J(4)+J(5))＝21600Hz/(132+75)＝104.35Hz；
M3＝G/(J(6)+J(7))＝21600Hz/(70+135)＝105.36Hz。
therefore, the ambient light flicker frequency M ═ M1+ M2+ M3)/3 ═ M
(102.85+104.35+105.36)/3＝104.18Hz。
And 5, updating the frame rate of the camera.
The step of updating the camera frame rate specifically includes:
step 501, determining an undetermined frame rate of the camera according to the ambient light flicker frequency and the initial frame rate of the camera.
The method specifically comprises the following steps:
if the ambient light flicker frequency M is larger than or equal to the initial camera frame rate p0, determining the undetermined camera frame rate p '═ M/Q, wherein [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps;
and if the ambient light flicker frequency M is less than or equal to the initial camera frame rate p0, determining an undetermined camera frame rate p '═ M ] Q, wherein [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps.
For example, if the ambient light flicker frequency M is 104.18Hz, and 104Hz after rounding, the initial camera frame rate p0 is 30 fps:
since M > p0, the camera pending frame rate p' ═ M ]/Q ═ {104, 52, 26 }.
And 502, determining a camera frame rate according to the undetermined frame rate of the camera.
The method specifically comprises the following steps: and determining the minimum absolute value of the difference value between the undetermined frame rate of the camera and the initial frame rate of the camera as the frame rate of the camera.
For example, in the camera pending frame rate p' ═ {104, 52, 26}, the absolute value of the difference between 26 and the camera initial frame rate p0(30fps) is the smallest, and therefore, the camera frame rate p is finally determined to be 26 fps.
And 6, updating the exposure frequency of the ambient light signal sampling line according to the frame rate of the camera, and returning to the ambient light signal sampling step.
For example, when the camera frame rate p is updated to 26fps, the exposure frequency G-b-p-720-26-18720 (Hz) of the ambient light signal sampling line is obtained.
In another embodiment of the present invention, in order to further improve the accuracy of the determination, after the step 3 and before the step 4, the method further includes:
and step 31, determining an ambient light flicker threshold value.
The step of ambient light flicker threshold determination comprises: and judging whether the difference value of the maximum value, the minimum value and the brightness mean value of the brightness values in the brightness array exceeds a preset fluctuation threshold value, if so, determining the flicker frequency of the ambient light, and otherwise, returning to the step of sampling the ambient light signal.
The preset fluctuation threshold may be calibrated according to the actual effect, for example, set to 20%.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.
Claims (12)
1. A camera flicker elimination method based on sensor detection is characterized by comprising the following steps:
s1, the step of sampling the ambient light signal includes: selecting one of unused pixel rows of the camera sensor as an ambient light signal sampling row, and synchronously exposing with an effective pixel row of the camera sensor;
s2, outputting original image data;
s3, extracting an ambient light sampling signal;
s4, determining the flicker frequency of the ambient light;
s5, updating the camera frame rate;
and S6, updating the exposure frequency of the ambient light signal sampling line according to the camera frame rate, and returning to the ambient light signal sampling step.
2. The method for eliminating camera flicker based on sensor detection according to claim 1, wherein the step of outputting the raw image data specifically comprises: the camera sensor outputs original image data line by line, and effective pixels and ineffective pixels are alternately transmitted at intervals.
3. The method for eliminating camera flicker based on sensor detection according to claim 2, wherein the step of extracting the ambient light sampling signal specifically comprises: and extracting an invalid pixel row, reserving the brightness value of the invalid pixel row, storing the brightness value into a brightness array, and calculating the average value of the brightness values of the invalid pixel row to obtain a brightness average value.
4. The method for eliminating camera flicker based on sensor detection according to claim 3, wherein the step of determining the ambient light flicker frequency specifically comprises:
s401, comparing each brightness value in the brightness array with the brightness mean value, if the brightness value is larger than the brightness mean value, the corresponding mark value is 1, otherwise, the corresponding mark value is 0, and storing the mark values to the mark value array in sequence;
s402, recording the number of continuous same mark values as peak-valley counting, and sequentially storing the peak-valley counting in a counting array;
and S403, calculating the flicker frequency of the ambient light according to the exposure frequency of the ambient light signal sampling line and the peak-valley count.
5. The sensor detection-based camera flicker elimination method of claim 4, wherein the calculating an ambient light flicker frequency from the exposure frequency of the ambient light signal sample line and the peak-to-valley count comprises:
s4031, determining the number of peak-valley counts;
s4032, calculating each initial flicker frequency of the ambient light;
s4033, an arithmetic mean value is obtained according to the initial flicker frequency of the ambient light to obtain the flicker frequency of the ambient light.
6. The method of claim 5, wherein each initial flicker frequency Mi of the ambient light is G/(J (2i) + J (2i +1)), where G is an exposure frequency of an ambient light signal sampling line, i is 1,2, … n, n is [ (k-2)/2], k is a number of peak-to-valley counts, [ ] is an integer, J (2i) is a 2 i-th peak-to-valley count, and J (2i +1) is a 2i + 1-th peak-to-valley count.
7. The sensor detection-based camera flicker elimination method according to claim 6, wherein the ambient light flicker frequency M ═ M1+ M2+ … + Mn)/n, where n ═ [ (k-2)/2], k represents the number of peak-to-valley counts, [ ] represents an integer.
8. The method according to claim 5, wherein the step of updating the camera frame rate specifically comprises:
s501, determining an undetermined frame rate of the camera according to the ambient light flicker frequency and the initial frame rate of the camera;
s502, determining the camera frame rate according to the undetermined frame rate of the camera.
9. The method for eliminating camera flicker based on sensor detection according to claim 8, wherein the determining a camera undetermined frame rate according to the ambient light flicker frequency and the initial camera frame rate comprises:
if the ambient light flicker frequency is larger than or equal to the initial frame rate of the camera, determining an undetermined frame rate p '═ M/Q of the camera, wherein M represents the ambient light flicker frequency, [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps;
and if the ambient light flicker frequency is less than or equal to the initial frame rate of the camera, determining an undetermined frame rate p '═ M (Q) of the camera, wherein M represents the ambient light flicker frequency, [ M ] represents an integer value of M, Q is an integer of 1-10, and p' is an integer value within 15-120 fps.
10. The sensor detection-based camera flicker elimination method of claim 9, wherein said determining a camera frame rate from the camera pending frame rate comprises: and determining the minimum absolute value of the difference value between the undetermined frame rate of the camera and the initial frame rate of the camera as the frame rate of the camera.
11. The sensor detection-based camera flicker elimination method of claim 3, further comprising, after the step S3 and before the step S4:
s31, the step of determining the ambient light flicker threshold includes:
the step of ambient light flicker threshold determination comprises: and judging whether the difference value of the maximum value, the minimum value and the brightness mean value of the brightness values in the brightness array exceeds a preset fluctuation threshold value, if so, determining the flicker frequency of the ambient light, and otherwise, returning to the step of sampling the ambient light signal.
12. A camera flicker elimination apparatus based on sensor detection, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory
In memory and configured to be executed by the one or more processors;
the one or more applications are configured to perform any of claims 1-11
The method for eliminating the flicker of the camera based on the sensor detection comprises the following steps.
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