CN109584137B - Pulse sequence format conversion method and system - Google Patents
Pulse sequence format conversion method and system Download PDFInfo
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- CN109584137B CN109584137B CN201811243185.3A CN201811243185A CN109584137B CN 109584137 B CN109584137 B CN 109584137B CN 201811243185 A CN201811243185 A CN 201811243185A CN 109584137 B CN109584137 B CN 109584137B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
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- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
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- H04N19/85—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
Abstract
The invention discloses a method and a system for converting a pulse sequence format, which comprises the following steps: dividing the pulse sequence into blocks; scanning each block using a predetermined scanning order to obtain a binary code representation of each block; the binary code is converted into a gray scale image using a lossless method. The method provided by the invention can convert the pulse sequence into the gray image sequence in a lossless manner according to the actual requirement, thereby being convenient to compress and process by the existing video coding standard, having lower complexity and being effectively applied to compression, transmission and storage systems related to the pulse sequence.
Description
Technical Field
The invention belongs to the field of digital signal processing, and particularly relates to a method and a system for converting a pulse sequence recorded by a Dynamic Vision Sensor (DVS).
Background
The dynamic vision sensor senses and encodes the world by imitating the retina and acquires visual information as a neural signal, so the dynamic vision sensor is a promising neuromorphic vision sensor that can be used for autonomous motion control of a mobile robot. Although researchers have used various sensors to perceive the environment, such as frame-based cameras, structured light sensors, stereo cameras, and the like, there are still many limitations and drawbacks. As a promising solution, dynamic vision sensors generate impulses by simulating the retina and responding to pixel-level brightness variations in the scene. DVS has great advantages over conventional frame-based cameras, particularly with respect to moving fields, in terms of data rate, speed and dynamic range. In addition, the pulses generated by the DVS may be directly transmitted to a Spiking Neural Network (SNN) for visual processing and motion control.
With the development of video technology, there is a demand for higher dynamic range and temporal resolution of video in many scenes, and the advantages of dynamic visual perceptron are reflected in these scenes. The frame rate of a conventional camera is generally dozens, and higher frame rates tend to greatly increase the technical and production costs. The dynamic vision sensor records pulse signals reflecting motion information, the frame rate can reach ten thousand frames, and the dynamic vision sensor has wide application prospect under high-speed motion photography such as automatic driving and the like.
The dynamic vision sensor is a novel retina-like vision sensor. In the dynamic vision sensor, each pixel point independently responds to and encodes brightness change by generating asynchronous events, and the generated event stream eliminates the time domain redundancy in continuous images output by a traditional camera to a certain extent; moreover, the method has extremely high time resolution, and can capture ultra-fast motion; in addition, it has a very high dynamic range, i.e. works well both day and night. Thus, dynamic vision sensors may also be employed in monitoring systems.
The pulse signals generated by the DVS are generally stored in the form of Address Event Representation (AER), and each data is composed of an Address of an Event (position of a corresponding pixel), and a property of the Event (light or dark), and the like. Because the frame rate of the DVS pulse sequence is extremely high, the data volume is very large in a short time, a very large transmission bandwidth needs to be occupied, and the requirements on software and hardware are objectively too high. In addition, the conventional DVS pulse sequence processing method cannot be integrated into the latest video encoding and decoding standard, and cannot perform subsequent operations such as compression.
Disclosure of Invention
The technical problem to be solved by the invention is how to convert a pulse sequence into a video sequence that is compatible with existing coding standards. Through the block division of the pulse sequence and the specific scanning sequence, the pulse signals are synthesized into a gray image sequence, so that the gray image sequence can be compatible with the existing video coding standard and can be directly compressed by the existing compression technology.
Specifically, according to an aspect of the present invention, there is provided a pulse train format conversion method, including:
dividing the pulse sequence into blocks;
scanning each block using a predetermined scanning order to obtain a binary code representation of each block;
the binary code is converted into a gray scale image using a lossless method.
Preferably, the pulse sequence is a pulse sequence recorded by a dynamic vision sensor.
Preferably, the block division process is as follows:
dividing the pulse sequence into a plurality of blocks with the same size of mxnxl, and recording the number of pixel points in each block as NSThe minimum values of m, n and l are all 1, wherein,
NS＝m×n×l。
preferably, the predetermined scanning order is a progressive horizontal scanning or a progressive vertical scanning, and after scanning, each block is represented by NSA combination of 0 and 1.
Preferably, the process of converting the binary code into the gray-scale map without loss is as follows:
according to the arrangement sequence of each block, regarding the block as a length NSBinary number of (d), converted to decimal:
wherein, aiDenotes the number of i-th bit after scanning, aiThe value is 0 or 1, b is the final representation of the block, and the value range is
The gray scale image finally synthesized by the method is NSA bit depth;
performing the above lossless conversion on all blocks until all blocks are respectively represented as NsThe number of bits;
obtaining N of the pulse sequence according to the relative position between the blockssA sequence of lossless grayscale images of bit depth.
According to another aspect of the present invention, there is also provided a pulse train format conversion system, comprising:
the block division module is used for carrying out block division on the pulse sequence;
a scanning module for scanning each block using a predetermined scanning order to obtain a binary code representation of each block;
a conversion module for converting the binary code into a gray-scale image using a lossless method.
Preferably, the pulse sequence is a pulse sequence recorded by a dynamic vision sensor.
Preferably, the block dividing module divides the pulse sequence into a plurality of blocks with the same size of m × N × l, and the number of pixels in each block is recorded as NSThe minimum values of m, n and l are all 1, wherein,
NS＝m×n×l。
preferably, the predetermined scanning order is a progressive horizontal scanning or a progressive vertical scanning, and after scanning, each block is represented by NSA combination of 0 and 1.
Preferably, the conversion module converts each block into a decimal number by considering the block as a binary number with a length Ns according to the arrangement order of the blocks:
wherein, aiDenotes the number of i-th bit after scanning, aiThe value is 0 or 1, b is the final representation of the block, and the value range is
Performing the lossless conversion on all the blocks until all the blocks are losslessly represented as NsThe number of bits;
obtaining N of the pulse sequence according to the relative position between the blockssA sequence of grey-scale maps of bit depth.
The invention has the advantages that: the method can simply and effectively reduce the transmission bandwidth and the storage cost, has low complexity, and can be effectively applied to a compression, transmission and storage system related to the pulse sequence.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flow chart of a pulse train format conversion method according to an embodiment of the invention.
Fig. 2 is a schematic diagram of block division of a pulse sequence according to the present invention.
FIG. 3 is a schematic diagram of a scanning method according to the present invention.
Fig. 4 shows a flow chart of a pulse train format conversion method according to an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The invention mainly provides a method for converting a pulse sequence into a gray scale image sequence. The method divides an original pulse sequence into blocks with the same size, expresses each block by a fixed bit number through a specific scanning mode, and then generates a gray-scale image sequence by keeping the positions between the blocks unchanged. The method provided by the invention can convert the pulse sequence into the gray-scale image sequence without loss, thereby being convenient to compress and process by the existing video coding standard, having lower complexity and being effectively applied to compression, transmission and storage systems related to the pulse sequence.
The concept of Bit Depth (Bit Depth) is widely used in the field of digital video and audio, and is mainly used to express the number of bits used by a single Color component of a pixel in a digital image, also commonly referred to as Color Depth (Color Depth) or quantization Depth, and to express the number of bits used by sound samples in digital sound.
In the field of digital images, the bit depth determines the number of colors that can be represented by the digital image and thus the degree of accuracy of the color representation. For example, 1 bit may express 2 colors (called monochrome, usually black and white), 2 bits may express 4 colors, 4 bits may express 16 colors, 8 bits may express 256 colors, and so on. When describing the color depth of an image in detail, it is often expressed using "bits per pixel" (bpp), for example, a digital cinema uses 36bpp, i.e. 36 bits/pixel.
With a certain bit depth, different grays (brightness) can be expressed. However, when the number of bits used to express each color is less than 8, the color of the image appears to be conspicuous stripes or patches, which is called hue separation (Posterization). The human eye can only distinguish about 1000 thousands of different colors, so if just for viewing, 24bpp video is generally sufficient, and storing video at bit depths higher than 24bpp is redundant. However, images above 24bpp are still useful, and can maintain higher quality in digital post-processing.
According to the requirement of the DCI Digital Cinema System Specification (DCSS), the bit depth of each color component in a Digital Cinema image is 12 bits, and each pixel is composed of three color components, so that the bit depth of each pixel is 36 bits, i.e., 36 bpp. The digital cinema sound samples are at a frequency of 48 kHz/channel or 96 kHz/channel, and each sample is quantized to a depth of 24 bits.
Specifically, as shown in fig. 1, according to an aspect of the present invention, the present invention provides a pulse sequence format conversion method, including the following steps:
s1: as shown in FIG. 2, the pulse sequence is divided into a plurality of blocks with the same size of m × n × l, and the number of pixels in each block is countedIs NS. When the block size is set, the bit depth of the finally synthesized gray scale image by lossless conversion is NSAnd the minimum values of m, n and l are all 1.
NS＝m×n×l
With NSTaking 8 as an example, 10 block division size schemes of 8 × 1 × 1, 1 × 08 × 11, 1 × 21 × 38, 1 × 42 × 54, 1 × 64 × 72, 2 × 84 × 91, 2 × 1 × 4, 4 × 1 × 2, 4 × 2 × 1, and 2 × 2 × 2 may be selected.
In the invention, the method for obtaining the pulse sequence by the DVS comprises the following steps: the light intensity signals of each local space position in the monitoring area are collected, and for each single pixel point, when the received light intensity changes, the sensor can generate logarithmic response to the brightness change, and a pulse signal is generated at the position. Arranging the pulse signals corresponding to the local spatial position into a sequence according to time sequence to obtain a pulse sequence expressing the local spatial position signals and the change process of the local spatial position signals; arranging the pulse sequences of all local space positions into a pulse sequence array according to the mutual relation of the space positions, and using the pulse sequence array as the expression of the dynamic space-time signal of the monitoring area.
Finally, each pulse signal is recorded in the form of address plus time, and all the pulse signals in a certain time period form a pulse sequence.
Gray Scale Image or Grey Scale Image, also known as a grayscale map. The relationship between white and black is logarithmically divided into several levels, called gray scale. The gray scale is divided into 256 steps. An image represented in grayscale is referred to as a grayscale map.
S2: each block is scanned using a predetermined scanning order resulting in a binary code representation of each block. The scanning mode can have a plurality of selectable modes according to different scanning directions. Assuming that the block size is m × n × l, as shown in fig. 3, two scanning methods are explained in detail here:
1. and (4) transverse scanning. Line-by-line transverse scanning:
(1，1，1)→(1，2，1)→…→(1，m，1)→(2，1，1)→(2，2，1)→…→(2，m，1)→…→(n，1，1)→(n，2，1)→…→(n，m，1)→
(1，1，2)→(1，2，2)→…→(1，m，2)→(2，1，2)→(2，2，2)→…→(2，m，2)→…→(n，1，2)→(n，2，2)→…→(n，m，2)→
→…→
(1，1，l)→(1，2，l)→…→(1，m，l)→(2，1，l)→(2，2，l)→…→(2，m，l)→…→(n，1，l)→(n，2，l)→…→(n，m，l)
2. and (4) longitudinally scanning. Line-by-line longitudinal scanning:
(1，1，1)→(2，1，1)→…→(n，1，1)→(1，2，1)→(2，2，1)→…→(n，2，1)→…→(1，m，1)→(2，m，1)→…→(n，m，1)→
(1，1，2)→(2，1，2)→…→(n，1，2)→(1，2，2)→(2，2，2)→…→(n，2，2)→…→(1，m，2)→(2，m，2)→…→(n，m，2)→
→…→
(1，1，l)→(2，1，l)→…→(n，1，l)→(1，2，l)→(2，2，l)→…→(n，2，l)→…→(1，m，l)→(2，m，l)→…→(n，m，l)
although the present invention has been described with reference to the above two common scanning methods, the present invention is not limited to the above two scanning methods, and any scanning method may be used as long as the scanning method can traverse the entire pulse sequence.
S3: the binary code is converted into a gray scale map.
In the lossless conversion method, after scanning, each block is NSThe combination of 0 and 1 represents, and then according to its rank order, it can be considered as a length of NSBinary number of (d), converted to decimal:
wherein, aiDenotes the number of i-th bit after scanning, aiThe value is 0 or 1, b is the final representation of the block, and the value range is
To this end, all blocks areOne NsThe number of bits indicates that the original pulse sequence is finally N according to the relative position between the blockssA sequence of grey scale maps of bit depth is represented. If the original impulse video has resolution of w × h and duration of tsThe resolution of the resulting gray-scale image sequence is
Number of frames being
The final gray-scale image sequence converted by the lossless method can be directly processed by the existing video coding technology, so that the processing such as compression and the like can be simply carried out.
As can be seen from the above embodiments, the method provided by the present invention can convert the pulse sequence into a gray scale representation, and the complexity of the algorithm is low. The method can be effectively applied to a compression, transmission and storage system related to the impulse video.
According to another aspect of the present invention, as shown in fig. 4, there is also provided a pulse train format conversion system 100, including:
a block division module 110, configured to perform block division on the pulse sequence;
a scanning module 120 for scanning each block using a predetermined scanning order to obtain a binary code representation of each block;
a conversion module 130 for converting the binary code into a gray map using a lossless method.
Preferably, the pulse sequence is a pulse sequence recorded by a dynamic vision sensor.
Preferably, the block dividing module divides the pulse sequence into a plurality of blocks with the same size of m × N × l, and the number of pixels in each block is recorded as NSRepresenting the bit depth of the final synthesized gray scale image, the minimum values of m, n, l are all 1, wherein,
NS＝m×n×l。
preferably, the predetermined scanning order is one by oneLine-wise scanned or line-wise scanned vertically, each block being represented by N after scanningSA combination of 0 and 1.
Preferably, the conversion module regards each block as N in length according to the arrangement order of the blocksSBinary number of (d), converted to decimal:
wherein, aiDenotes the number of i-th bit after scanning, aiThe value is 0 or 1, b is the final representation of the block, and the value range is
The above conversion is performed on all blocks until all blocks are respectively represented as an NsThe number of bits;
obtaining N of the pulse sequence according to the relative position between the blockssA sequence of grey-scale maps of bit depth. If the resolution of the original video sequence of pulses is w × h and the duration is tsThe resolution of the resulting gray-scale image sequence is
Number of frames being
The final grayscale map sequence can be directly processed by the existing video coding technology, so that the final grayscale map sequence can be simply compressed and the like.
The invention has the advantages that: the method can simply and effectively reduce the transmission bandwidth and the storage cost, has low complexity, and can be effectively applied to a compression, transmission and storage system related to the pulse sequence.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A method for pulse train format conversion, comprising:
dividing the pulse sequence into blocks; the block division process is as follows:
dividing the pulse sequence into a plurality of blocks with the same size of m multiplied by n multiplied by l, recording the number of pixel points in each block as Ns, and recording the minimum values of m, n and l as 1, wherein,
Ns＝m×n×l；
scanning each block using a predetermined scanning order to obtain a binary code representation of each block; the predetermined scanning sequence is a line-by-line transverse scanning or a line-by-line longitudinal scanning, and after scanning, each block represents Ns combinations of 0 and 1;
the binary code is converted into a gray scale image using a lossless method.
2. The pulse sequence format conversion method according to claim 1,
the pulse sequence is a pulse sequence recorded by a dynamic vision sensor.
3. The pulse sequence format conversion method according to claim 1,
the process of converting the binary code into the gray map using the lossless method is as follows:
and according to the arrangement sequence of each block, regarding each block as a binary number with the length of Ns, converting the binary number into a decimal number:
wherein, aiDenotes the number of i-th bit after scanning, aiValues of 0 or 1, b for this blockFinally characterizing that the value range of b is more than or equal to 0 and less than 2Ns；
Performing the above conversion on all blocks until all blocks are respectively expressed as a number of Ns bit depth;
a lossless grayscale map sequence representation of the Ns bit depth of the pulse sequence is obtained with the relative position between blocks remaining unchanged.
4. A pulse train format conversion system, comprising:
the block division module is used for carrying out block division on the pulse sequence; the block dividing module divides the pulse sequence into a plurality of blocks with the same size of m multiplied by n multiplied by l, the number of pixel points in each block is recorded as Ns, the minimum value of m, n and l is 1, wherein,
Ns＝m×n×l；
a scanning module for scanning each block using a predetermined scanning order to obtain a binary code representation of each block; the predetermined scanning sequence is a line-by-line transverse scanning or a line-by-line longitudinal scanning, and after scanning, each block represents Ns combinations of 0 and 1;
a conversion module for converting the binary code into a gray-scale image using a lossless method.
5. The pulse sequence format conversion system according to claim 4,
the pulse sequence is a pulse sequence recorded by a dynamic vision sensor.
6. The pulse sequence format conversion system according to claim 4,
the conversion module regards each block as a binary number with the length of Ns according to the arrangement sequence of each block, and converts the binary number into a decimal number:
wherein, aiTo representNumber i after scanning, aiThe value is 0 or 1, b is the final representation of the block and the value range is more than or equal to 0 and less than 2Ns；
Performing the above conversion on all blocks until all blocks are respectively expressed as a number of Ns bit depth;
a lossless grayscale map sequence representation of the Ns bit depth of the pulse sequence is obtained with the relative position between blocks remaining unchanged.
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