CN109584186A - A kind of unmanned aerial vehicle onboard image defogging method and device - Google Patents
A kind of unmanned aerial vehicle onboard image defogging method and device Download PDFInfo
- Publication number
- CN109584186A CN109584186A CN201811587803.6A CN201811587803A CN109584186A CN 109584186 A CN109584186 A CN 109584186A CN 201811587803 A CN201811587803 A CN 201811587803A CN 109584186 A CN109584186 A CN 109584186A
- Authority
- CN
- China
- Prior art keywords
- defogging
- image
- video
- module
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 93
- 239000003595 mist Substances 0.000 claims abstract description 56
- 238000004458 analytical method Methods 0.000 claims abstract description 30
- 238000013461 design Methods 0.000 claims abstract description 22
- 230000010365 information processing Effects 0.000 claims abstract description 5
- 238000013144 data compression Methods 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims description 29
- 230000006835 compression Effects 0.000 claims description 29
- 238000004422 calculation algorithm Methods 0.000 claims description 14
- 230000000750 progressive effect Effects 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 239000004576 sand Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 19
- 230000006870 function Effects 0.000 description 18
- 238000003672 processing method Methods 0.000 description 6
- 230000003044 adaptive effect Effects 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 241001269238 Data Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000000889 atomisation Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/73—Deblurring; Sharpening
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The present invention relates to a kind of unmanned aerial vehicle onboard image defogging method and devices.Firstly, Airborne Video System acquisition obtains module and completes image interlacing or handle line by line according to unmanned aerial vehicle onboard information processing needs；Then, defogging grade analysis is carried out to acquisition video image data in embedded systems, calculates defogging feedback adjustment parameters；Secondly, carrying out Parametric Analysis according to grade containing mist by feedback control module, defogging feedback adjustment parameters are obtained, adjust the defogging parameter of defogging processing module, complete the defogging processing work of image；Finally, the image data handled by defogging completes video data compression processing by video compressing module, and it is transferred to airborne information processing port.It is this to carry out the processing of image defogging using image defogging module, feedback control module and embedded system, it can effectively reduce system design complexity and power consumption, while improving the flexibility of system application.
Description
Technical field
The invention belongs to Airborne Video System technical field of image processing, and in particular to a kind of unmanned plane image defogging processing method
And device.
Background technique
In unmanned plane earth observation technology, need using onboard image obtain equipment to ground area-of-interest shooting compared with
For clearly image data.Due to being influenced by aerial cloud and mist, onboard image, which obtains the picture quality that equipment obtains, to degrade,
Need to study a kind of unmanned aerial vehicle onboard image defogging method and device that simple and easy and defog effect is good.Currently, well known nothing
Man-machine onboard image defogging treating method and apparatus mostly uses greatly digital signal processor (DSP) and field programmable gate array
(FPGA) it is handled.Document 1 " Li Zhiyong, Dai Dehui, Wei Zhe, the video defogging method for parallel processing based on DSP, electronics device
Part, 2018,41 (30): 776-780 " use general DSP as the exploitation of central processing unit progress peripheral module.Document 2
" image high speed defogging real-time system design realization TV tech of Zhou Xiaobo, He Kuihua, the Zhou Cong based on FPGA, 2018,42
(4): 67-72 a kind of FPGA system based on dark primary defogging model is proposed in ".Both graphics hardware devices utilize DSP
Complicated defogging algorithm is realized with FPGA hardware platform, and image enhancement etc. is carried out to image using hardware realization image processing algorithm
Processing will cause image portion information loss, make image fault, and whole system also needs to design complicated timing, logic function
And peripheral interface module.For this purpose, the present invention realizes a kind of unmanned aerial vehicle onboard image defogging method and device, according to unmanned plane load
It is needed with task processing, foggy image Parametric Analysis, judgement and feedback is carried out to Airborne Video System image, control electricity using defogging
Road feedback information self adaptive control demister reaches the requirement of unmanned aerial vehicle onboard mist elimination image.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of unmanned plane image defogging processing method and dress
It sets.
Technical solution
A kind of unmanned aerial vehicle onboard image defogging method, it is characterised in that steps are as follows:
Step 1: interlacing being carried out to unmanned aerial vehicle onboard video image data or is acquired line by line；
Step 2: carrying out defogging ranking score using video image data of image HSV grade analysis containing the mist algorithm to acquisition
Analysis, specific as follows:
Calculate the average value of video image tone H, saturation degree S and each component of lightness V, calculation are as follows:
In formula, Sum (H), Sum (S) and Sum (V) are respectively all pixels point chrominance component H, saturation degree component in image
S, the summation of lightness component V, N1、N2、N3Respectively chrominance component H, saturation degree component S, lightness component V intermediate value are not 0 pixel
Point quantity, AveH, AveSAnd AveVAll pixels point chrominance component H respectively in image, saturation degree component S, lightness component V
Average value；According to analysis of experimental data, respectively according to the following setting of class parameter containing mist:
Set image gradation containing mist 1 are as follows:
(AveH100) && (Ave of <S0.07) && (Ave of <V< 0.5) (4)
Set image gradation containing mist 2 are as follows:
(AveH125) && (Ave of <S0.2) && (Ave of <V< 0.48) (5)
Step 3: according to onboard image grade containing mist, by defogging feedback control, handling mould in Airborne Video System image defogging
In block, the defogging parameter of defogging processing module is adjusted, completes the defogging processing work of image；
Step 4: video data compression processing will be carried out by the image data of defogging processing, and be transferred at airborne information
Manage port.
A kind of device of unmanned aerial vehicle onboard image defogging method, it is characterised in that including 8 BT.656 interlacing of Airborne Video System
Or progressive video signal acquisition module, image defogging processing module, embedded airborne defogging grade analysis processing module, defogging are anti-
Feedback control module, video image compression processing module, remote control/telemetry command receives/send processing module；
8 BT.656 interlacing of the Airborne Video System or progressive video signal acquisition module, using TW9912 chip carry out every
Row or line by line video image acquisition containing mist handle needs according to on-board data, and it is for interlacing or square line by line to configure TW9912 by I2C
Formula completes interlacing or the line by line mode of 8 BT.656 video signal collections processing；
Described image defogging processing module obtains the acquisition according to i.MX6 using dedicated ASIC defogging chip TS1601
The image containing mist taken is analyzed using the class parameterization containing mist of adopting in embedded i.MX6, obtains defogging parametrization script text
Part is configured by the I2C feedback control parameters of i.MX6, TS1601 defogging register configuration is written, and is carried out at parametrization defogging
Reason；
The embedded airborne defogging class parameter analysis module, using embedded chip i.MX6 to collected view
Frequency signal is analyzed according to Airborne Video System image class parameterization containing mist, obtains onboard image grade containing mist, and in embedded system
The script file of image parameter containing mist of middle generation carries out feedback control defogging ginseng to defogging TS1601 by I2C module
Number configuration；
The defogging feedback control module realizes defogging feedback control function using the I2C interface of embedded chip i.MX6
Energy；
The video image compression processing module carries out H.264 image Compression using embedded i.MX6, to image
The digital picture of defogging processing module TS1601 output carries out Video compression according to Bandwidth-Constrained condition；
The telecommand receives and telemetry command sending module, using the RS232 serial port level conversion of SP3232 chip
Module, for airborne remote control and telemetry command requirement, design meets the serial ports receiving module of embedded i.MX6, completes remote control and refers to
Reception and telemetry command emission function are enabled, realizes the processing function of airborne control instruction.
Beneficial effect
A kind of unmanned plane image defogging treating method and apparatus proposed by the present invention, beneficial effect is: due to using line by line
Or interlaced video acquisition module, port can be handled according to onboard image and need flexible choice, join using based on image grade containing mist
Numberization analysis method carries out analysis assessment to foggy image and obtains the feedback of the grade containing mist, then carries out to defogging module anti-
Feedback control, completes H.264 video image compression using DMA processing mode and handles, and completes airborne defogging using telecommand is received
The control of device defogging and transmitting telemetry command carry out the return of defog effect.
The present invention overcomes the problems such as existing DSP and FPGA timing and logical design are complicated, system occupancy resource is big, can basis
On-board data processing need, by telecommand complete corresponding video interlacing, line by line with defogging capabilities setting.This modularization is pressed
The method that need to be handled and control, device is universal relatively strong, can meet the requirement of different unmanned aerial vehicle onboard image defogging systems.This hair
Bright method mentality of designing is simple, can carry out adaptive defogging processing according to grade containing mist, avoid fixed defogging parameter bring
The defect of defog effect can obtain image clearly, real colour, undistorted and details defog effect abundant in real time.
Detailed description of the invention
Fig. 1 schematic diagram of the present invention
Fig. 2 process flow of the present invention
Before Fig. 3 defogging and defogging post-processes effect contrast figure 1:(a) original image image, (b) image after defogging；
Before Fig. 4 defogging and defogging post-processes effect contrast figure 2:(a) original image image, (b) image after defogging；
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
Needed for unmanned aerial vehicle onboard image procossing port, the present invention propose a kind of unmanned aerial vehicle onboard image defogging method and
Device.Firstly, Airborne Video System acquisition obtains module and completes image interlacing or locate line by line according to unmanned aerial vehicle onboard information processing needs
Reason；Then, defogging grade analysis is carried out to acquisition video image data in embedded systems, calculates defogging feedback adjustment ginseng
Number；Secondly, carrying out Parametric Analysis according to grade containing mist by feedback control module, defogging feedback adjustment parameters are obtained, are adjusted
The defogging parameter of defogging processing module completes the defogging processing work of image；Finally, passing through by the image data that defogging is handled
Video compressing module completes video data compression processing, and is transferred to airborne information processing port.Relatively well-known DSP and FPGA
Defogging processing method, which exists, realizes the deficiencies of complicated, power consumption is big, and the present invention can handle needs according to onboard image, to Airborne Video System
Image carries out grade analysis containing mist, adjusts the defogging parameter of defogging processing module by feedback control module, meets onboard image
Processing needs.It is therefore, this to carry out the processing of image defogging using image defogging module, feedback control module and embedded system,
It can effectively reduce system design complexity and power consumption, while improving the flexibility of system application.
A kind of onboard image demister, described device include: 8 BT.656 interlacing of Airborne Video System or progressive video signal
Acquisition module, image defogging processing module, embedded airborne defogging grade analysis processing module, defogging feedback control module,
H.264 video compressing module, remote control/telemetry command receives/send processing module.
The interlacing or line by line 8 BT.656 video signal collection modules, using the TW9912 chip of Techwell company,
Needs, design 8 BT.656 format interlaced/progressive digital video signals of output are handled according to onboard image.
Described image defogging processing module, using the dedicated defogging chip of the TS1601 of TSSI company, which can be according to machine
The feedback adjustment parameters that embedded system calculates are carried, register in defogging module is configured to complete to scheme using script file
As dehazing function, it can handle 8 BT.656 digital visual interface data.
The embedded airborne defogging grade analysis processing module, using the embedded system of Freescale company i.MX6
Multiple threads mode, to input video data containing mist carry out be based on image HSV component defogging grade analysis judge algorithm, it is complete
At onboard image defogging Parametric Analysis and assessment, defogging feedback adjustment parameters are obtained.
The defogging feedback control module, using the embedded system I2C control interface mould of Freescale company i.MX6
Block, in such a way that I2C is to TW9912 and TS1601 communication high-speed traffic, complete to the interlacing of related chip in bus with line by line,
BT.656 interface module, the configuration of TS1601 defogging.
The video image compression processing module utilizes embedded multiple threads energy using the embedded chip of i.MX6
Power and DMA data handle hardware design, carry out H.264 Video compression to the digital video data after defogging.
The telecommand receives and telemetry command sending module, using the SP3232 chip of Sipex company, design
The serial interface of the embedded chip of i.MX6 realizes that telecommand receives and telemetry command emits.
A kind of onboard image defogging processing method the following steps are included:
Step 1: airborne interlacing or 8 BT656 video data acquirings line by line obtain
Firstly, to interlacing and line by line, data handling requirements, design video acquisition obtain module, lead to according to on-board data processing
The setting to software parameter is crossed, video interlacing is completed or data acquires line by line.Currently, the D1 of conventional analog video acquisition is differentiated
The video image of rate 720 × 576 is that parity field is 720 × 288 interlaced datas, and in on-board data processing terminal equipment, is needed
Receive processing interlacing and line by line two kinds of data of data.Since in the collection process of video image, different port size is different
The byte order in stage, video data is very important.In interlacing or line by line in processing in method, conventional method processing mode
It is as follows: staggeredly to generate a frame progressive image using upper and lower two, or replace a frame figure with interlaced video data one therein
Picture.But this interpolation algorithm can damage the clarity of still image.In order to eliminate difference operation sharpness problems, need to add
Enter image motion compensation algorithm, algorithm resource occupation and processing time are larger, and real-time is poor.For this purpose, in video acquisition module
In, the present invention utilizes video acquisition hardware resource, internal anti-interleaver engine and corresponding data exchange space is designed, by view
The design of frequency acquisition module related register, 8 BT656 video datas to airborne interlacing or line by line are carried out hard using data buffer storage
Part interlacing is handled line by line.This image processing method that BT.656 progressive video data and motion compensation are realized by hardware design
Method, video acquisition real-time is good, and conversion effect is also guaranteed line by line, can reduce system design complexity and difficulty, meets system
The whole processing in real time of system needs.
Step 2: Airborne Video System image class parameterization containing mist analysis
Collected video data containing mist, conventional method are handled using defogging algorithm, and image defogging algorithm is realized multiple
Miscellaneous, defogging degree cannot be guaranteed.For this purpose, the present invention joins the grade containing mist of Airborne Video System image using embedded system
Numberization analysis calculates defogging parameter according to degree containing mist and adaptive analysis judges, feeds back to the defogging feedback control of step 3
Related defogging class parameterization setting is completed in module, the Airborne Video System image defogging processing of rate-determining steps four.
Since the depth of field of unmanned aerial vehicle onboard image is larger, image containing mist seriously affects the effect of unmanned plane reconnaissance image.
Serious conditions are got over for the image atomization of airborne acquisition acquisition, main reflection shows as contrast in the picture and reduces, therefore
It carries out in defogging processing, tries to improve picture contrast.For example, haze concentration is excessive in the case of very low observable, to this kind of figure
As that the picture noise after defogging can be made bigger than normal when defogging processing, need to carry out incomplete defogging；When visibility is one larger
Apart from when, haze concentration is very low, do not need to image carry out defogging processing.
The present invention utilizes image HSV grade analysis containing mist algorithm, analyzes as Airborne Video System image class parameterization containing mist.
Firstly, calculating the average value of video image tone H, saturation degree S and each component of lightness V, calculation are as follows:
In formula, Sum (H), Sum (S) and Sum (V) are respectively all pixels point chrominance component H, saturation degree component in image
S, the summation of lightness component V, N1、N2、N3Respectively chrominance component H, saturation degree component S, lightness component V intermediate value are not 0 pixel
Point quantity, AveH, AveSAnd AveVAll pixels point chrominance component H respectively in image, saturation degree component S, lightness component V
Average value.According to analysis of experimental data, system is respectively according to the following setting of class parameter containing mist.
Set image gradation containing mist 1 are as follows:
(AveH100) && (Ave of <S0.07) && (Ave of <V< 0.5) (4)
Set image gradation containing mist 2 are as follows:
(AveH125) && (Ave of <S0.2) && (Ave of <V< 0.48) (5)
Class parameter containing mist is analyzed and assessed using embedded platform, according to onboard image grade containing mist, is passed through
Defogging parameter is arranged in Airborne Video System image defogging processing module in defogging feedback control, completes defogging processing.
Step 3: defogging feedback control
Defogging feedback control is entire demister feedback control, and the main video capture mode for completing defogging equipment is set
It sets, the feedback control of defogging instruction and defogging degree.Device needs in realizing by handling core to video acquisition module and defogging
The configuration and control of piece.Defogging feedback control is mainly made of I2C interface in embedded system, controls defogging by I2C interface
Processing module.
Step 4: Airborne Video System image defogging processing
It is instructed according to defogging feedback control, Airborne Video System image defogging processing module receives defogging parameter, completes corresponding etc.
Grade defogging processing.This feedback control module by embedded system sends feedback defogging degree instruction, and it is adaptive to complete system
Defogging is answered to handle, effect is better than tradition DSP and FPGA method.
Step 5: Airborne Video System image Compression
Due to on-board data Transmission system Bandwidth-Constrained, need to carry out video image compression processing.Video compression mould
Block uses embedded system platform, to the video image of airborne defogging according to H.264 compression of images.Wherein, Airborne Video System image
In compression processing, in order to reduce the pressure condition that data processing excessively occupies cpu resource, the present invention uses direct memory access
(DMA) method designs proprietary DMA hardware channel and realizes direct high speed storing between video data and memory.It is this to utilize DMA
Mode realizes image processing method, and transmission process executes instruction intervention without CPU, not only the execution efficiency of boosting algorithm,
Pretreatment time is saved, and the operand of embedded system can be effectively reduced, reduces system resource and occupies, allow to have more
More clock cycle is for handling increasingly complex logical operation.
Step 6: airborne remote control reception and telemetering are sent
One~step 5 of above step, requiring to receive airborne telecommand could execute, and needing will be at defogging
Result is managed to send by Airborne Telemetry.Therefore, processing needs are sent according to airborne remote control reception and telemetering, using Embedded string
Mouth interrupt mode receives and handles telecommand.The instruction arrived by remote control reception carries out instruction parsing respectively, executes correlation
Whole device function.Meanwhile telemetry command is sent by serial ports, return the information such as airborne defogging processing and compression of images.
The basic signal of the method for the present invention and process flow are as depicted in figs. 1 and 2, practical defogging processing result such as Fig. 3, figure
4 and table 1 shown in, be embodied it is as follows:
The present invention solves scheme used by its technical problem: acquiring mould including TW9912 interlacing or progressive video signal
Block, the dedicated ASIC image defogging module of TS1601, i.MX6 embedded system class parameter containing mist analysis module, i.MX6 are embedding
The airborne remote control and telemetry command of the I2C feedback control module of embedded system, the H.264 video compressing module of i.MX6, i.MX6
Processing module.
1. the interlacing or line by line 8 BT.656 video signal collection modules, using TW9912 chip carry out interlacing or by
Row video image acquisition containing mist, according to on-board data handle needs, by I2C configure TW9912 be interlacing or row-by-row system, it is complete
At the interlacing or line by line mode of 8 BT.656 video signal collections processing；
2. the embedded airborne defogging class parameter analysis module, using embedded chip i.MX6 to collected
Vision signal is analyzed according to Airborne Video System image class parameterization containing mist, obtains onboard image grade containing mist, and in embedded system
The script file of image parameter containing mist generated in system carries out feedback control defogging to defogging TS1601 by I2C module
Parameter configuration；
3. the defogging feedback control module realizes defogging feedback control using the I2C interface of embedded chip i.MX6
Function；
4. described image defogging processing module, using dedicated ASIC defogging chip TS1601, according to i.MX6 to the acquisition
The image containing mist obtained is analyzed using the class parameterization containing mist of adopting in embedded i.MX6, obtains defogging parametrization script text
Part is configured by the I2C feedback control parameters of i.MX6, TS1601 defogging register configuration is written, and is carried out at parametrization defogging
Reason；
5. the video image compression processing module carries out H.264 image Compression using embedded i.MX6, to figure
As the digital picture that defogging processing module TS1601 is exported, Video compression is carried out according to Bandwidth-Constrained condition；
6. the telecommand receives and telemetry command sending module, using the RS232 serial port power flat turn of SP3232 chip
Change the mold block.For airborne remote control and telemetry command requirement, design meets the serial ports receiving module of embedded i.MX6, completes remote control
Command reception and telemetry command emission function, realize the processing function of airborne control instruction.
The interlacing or progressive video signal acquisition module are TW9912, by the I2C control interface mould for designing TW9912
Block, complete i.MX6 embedded system communicated with TW9912, interlacing with configure line by line.It simulates camera and connects YIN0~YIN2, it is defeated
Enter vision signal and be acquired processing, TW9912 register 0X05,0X0A and 0X32 are configured by the I2C interface of embedded system
It is set as interlacing or line by line.
The dedicated ASIC defogging module uses the dedicated defogging chip of TS1601, the defogging which can be arranged according to system
Script file is parameterized, is configured by the I2C of i.MX6, TS1601 defogging register configuration is written, complete image dehazing function.
It here, include: 8 BT.656 number interlaced/progressive video data formats of related TW9912 by the control function that I2C is completed
Configuration control, the defogging processing feedback control parameters configuration control of TS1601.
H.264 the Video compression module, using the embedded system i.MX6 chip with H.264 compression processing.
Digital video after defogging is sent into embedded system i.MX6 by BT.656 output end, by believing 8 BT.656 digital videos
Number compression processing, meets that airborne channel is limited to be required.In carrying out the processing that H.264 compression algorithm completes digital video signal,
Including processing such as the distance between quantization parameter QP adjustment, two I frames image group GOP, constant bit rate and data framings, complete
Airborne Video System image H.264 compression processing.
The airborne remote control/telemetry command reception/sending module, using the RS232 serial port level conversion of SP3232 chip
Module parses the telecommand received, according to the remote control command of parsing, generates parametrization script file, passes through I2C
Interface completes TW9912 and TS1601 configuration, and executes the operation of corresponding video defogging.Meanwhile telemetering is completed by serial ports and is referred to
Enable emission function.
The present invention is further described for son with reference to the accompanying drawings and examples.
Device embodiment: referring to Fig.1, the inventive system comprises line by line, interlacing and the conversion of 8 BT.656 vision signals
Module, TS1601 defogging module, the i.MX6 embedded system module of grade analysis containing mist, i.MX6 embedded system H.264 video
Compression module, airborne remote control signal receiving module.
Airborne remote control signal receiving module receives interlacing, line by line or defogging control instruction, passes through the RS232 of embedded system
Serial ports receives and parsing telecommand, controls I2C module according to telecommand and configures TW9912 and TS1601 related register.
TW9912 convert with interlaced video line by line according to analog video signal of the configuration register to input, and configuration Pin25~
Pin34 is 8 BT.656 interfaces, and the data and clock that configuration Pin16 and Pin17 is I2C complete interlacing or video counts line by line
According to output, it is 8 BT.656 Data Input Interfaces, TS1601 configuration that defogging special chip TS1601, which configures Pin92~Pin99,
Pin7 and Pin23 is the data and clock of I2C, and serial port protocol conversion chip SP2323 pin Pin11 and Pin12 are configured to serial ports
Transmitting and received input terminal are completed UART protocol conversion with the pin PinW5 and PinV6 of i.MX6 embedded system, are finally led to
Cross SP3232 pin Pin14 and Pin13 output serial ports RS232 level.The pin PinU5 and PinU7 of i.MX6 embedded system match
The I2C pin set completes the processing of defogging parametric control defogging.When defogging data are output to i.MX6 embedded system
BT.656 interface completes associated video compression processing by H.264 Video compression algorithm.In the present invention, embedded system
I.MX6 needs to complete the calculating of image HSV component defogging class parameterization, I2C interface module design, and RS232 serial port module designs,
H.264 Video compression is completed to refer to the configuration of TW9912 and TS1601 chip functions and airborne remote control by I2C module
The responsive operation of order.In invention design, general-purpose built-in type system I2C bus needs the Pin6 and Pin7 to the TW9912
And TS1601 Pin7 and Pin23 configuration and it is external connect 2.2K pull-up resistor, to improve the drive of embedded system I2C module
Kinetic force and holding I2C signal have stable level；Design the Interface design of the digital signal BT656 of TS1601, protocol chip
SP3232 completes serial port protocol level conversion.
It is described further below with reference to 1 pair of Fig. 3, Fig. 4, table effect of the invention.
Fig. 2 and Fig. 3 is before defogging and defogging post-processes effect contrast figure.
1. experiment condition
Experimental situation is CPU Intel Core i5-5200U 2.20GHz, 4GB is inside saved as, using MATLAB R2014a
Programming.The present invention, which is used, to be tested and tests with objective to effect picture progress is subjective before defogging and after defogging, and test front and back is right
For example Fig. 2 and Fig. 3, test result are as shown in table 1.
2. experiment content
It acquires respectively by defogging system and handles both ends video containing mist, respectively image before interception defogging and after defogging.It surveys
Examination experiment uses actual hardware platform, under software control, completes before related defogging and parametric control, image machine after defogging
Carry the comparison of image defog effect as shown in Figure 3 and Figure 4, as can be seen from the figure before defogging, influence of the image due to haze, image
More fuzzy, stereovision is not strong, and details does not see Chu substantially, and by the processing of TS1601, image is penetrating, picture level and thin
Section is all fine, illustrates that the present invention is preferably handled image containing mist, meets Airborne Video System defogging system requirements.
For the more objective defog effect more of the invention for airborne real-time image acquisition, select variance function,
Three kinds of squared gradient function, TenenGrad function sharpness evaluation functions evaluate defog effect, and to being calculated
Functional value does normalized, and calculated result is as shown in table 1.Observation it is found that system treated mist elimination image compared to original image,
Three kinds of sharpness evaluation function values have all obtained the raising of several times, i.e., the clarity of image is preferably improved after defogging, because
This defog effect of the present invention is very significant.
In short, being determined according to the image containing mist of acquisition HSV component defogging class parameter each in image containing mist using the present invention
The defogging weight of a pixel, and adaptively obtain defogging and parameterize effect, to realize the parametrization tune to image defog effect
Perfect square formula.It, can be into for handling airborne telecommand secondly, design airborne remote-control romote-sensing command reception emitter
One step completes the defogging based on telecommand and handles needs, this parametrization and instruction according to the defogging needs of ground control station
Two kinds of defogging modes are controlled with larger flexibility, defog effect is also able to satisfy airborne defogging processing system needs, to solve
Past realizes that complicated, image defogging controls bad problem.
1 defogging clarity evaluation result of table
Claims (2)
1. a kind of unmanned aerial vehicle onboard image defogging method, it is characterised in that steps are as follows:
Step 1: interlacing being carried out to unmanned aerial vehicle onboard video image data or is acquired line by line；
Step 2: carrying out defogging grade analysis, tool using video image data of image HSV grade analysis containing the mist algorithm to acquisition
Body is as follows:
Calculate the average value of video image tone H, saturation degree S and each component of lightness V, calculation are as follows:
In formula, Sum (H), Sum (S) and Sum (V) be respectively all pixels point chrominance component H in image, saturation degree component S, bright
Spend the summation of component V, N1、N2、N3Respectively chrominance component H, saturation degree component S, lightness component V intermediate value are not 0 pixel number
Amount, AveH, AveSAnd AveVAll pixels point chrominance component H respectively in image, saturation degree component S, lightness component V are averaged
Value；According to analysis of experimental data, respectively according to the following setting of class parameter containing mist:
Set image gradation containing mist 1 are as follows:
(AveH100) && (Ave of <S0.07) && (Ave of <V< 0.5) (4)
Set image gradation containing mist 2 are as follows:
(AveH125) && (Ave of <S0.2) && (Ave of <V< 0.48) (5)
Step 3: according to onboard image grade containing mist, by defogging feedback control, in Airborne Video System image defogging processing module,
The defogging parameter for adjusting defogging processing module completes the defogging processing work of image；
Step 4: video data compression processing will be carried out by the image data of defogging processing, and be transferred to airborne information processing end
Mouthful.
2. a kind of device for realizing unmanned aerial vehicle onboard image defogging method described in claim 1, it is characterised in that including airborne
8 BT.656 interlacing of video or progressive video signal acquisition module, image defogging processing module, embedded airborne defogging ranking score
Analyse processing module, defogging feedback control module, video image compression processing module, remote control/telemetry command reception/transmission processing mould
Block；
8 BT.656 interlacing of the Airborne Video System or progressive video signal acquisition module, using TW9912 chip carry out interlacing or
Video image acquisition containing mist line by line, according to on-board data handle needs, by I2C configure TW9912 be interlacing or row-by-row system,
Complete interlacing or the line by line mode of 8 BT.656 video signal collections processing；
Described image defogging processing module obtains the acquisition according to i.MX6 using dedicated ASIC defogging chip TS1601
Image containing mist is analyzed using the class parameterization containing mist of adopting in embedded i.MX6, obtains defogging and parameterize script file, lead to
The I2C feedback control parameters configuration for crossing i.MX6, is written TS1601 defogging register configuration, carries out parametrization defogging processing；
The embedded airborne defogging class parameter analysis module, believes collected video using embedded chip i.MX6
Number, it is analyzed according to Airborne Video System image class parameterization containing mist, obtains onboard image grade containing mist, and give birth in embedded systems
The script file of the image parameter containing mist described in carries out feedback control defogging parameter to defogging TS1601 by I2C module and matches
It sets；
The defogging feedback control module realizes defogging feedback control function using the I2C interface of embedded chip i.MX6；
The video image compression processing module carries out H.264 image Compression using embedded i.MX6, to image defogging
The digital picture of processing module TS1601 output carries out Video compression according to Bandwidth-Constrained condition；
The telecommand receives and telemetry command sending module, using the RS232 serial port level conversion module of SP3232 chip,
For airborne remote control and telemetry command requirement, design meets the serial ports receiving module of embedded i.MX6, completes telecommand and receives
With telemetry command emission function, the processing function of airborne control instruction is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587803.6A CN109584186A (en) | 2018-12-25 | 2018-12-25 | A kind of unmanned aerial vehicle onboard image defogging method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587803.6A CN109584186A (en) | 2018-12-25 | 2018-12-25 | A kind of unmanned aerial vehicle onboard image defogging method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109584186A true CN109584186A (en) | 2019-04-05 |
Family
ID=65931636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811587803.6A Pending CN109584186A (en) | 2018-12-25 | 2018-12-25 | A kind of unmanned aerial vehicle onboard image defogging method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109584186A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110827218A (en) * | 2019-10-31 | 2020-02-21 | 西北工业大学 | Airborne image defogging method based on image HSV transmissivity weighted correction |
| CN110837825A (en) * | 2019-10-17 | 2020-02-25 | 天津大学 | Meter identification and reading system based on embedded type |
| CN111314710A (en) * | 2020-03-24 | 2020-06-19 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
| CN111447409A (en) * | 2020-03-24 | 2020-07-24 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN112270220A (en) * | 2020-10-14 | 2021-01-26 | 西安工程大学 | Sewing gesture recognition method based on deep learning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503306A (en) * | 2014-11-26 | 2015-04-08 | 北京航空航天大学 | Multi-camera synchronous triggering device and control method |
| CN204836396U (en) * | 2015-07-13 | 2015-12-02 | 昆明理工大学 | Gather processing system based on TW9912 embedded video |
| CN106296612A (en) * | 2016-08-09 | 2017-01-04 | 南京工业大学 | The stagewise monitor video sharpening system and method that a kind of image quality evaluation and weather conditions guide |
| CN107424133A (en) * | 2017-07-27 | 2017-12-01 | 广东欧珀移动通信有限公司 | Image defogging method, device, computer can storage medium and mobile terminals |
| CN108093175A (en) * | 2017-12-25 | 2018-05-29 | 北京航空航天大学 | A kind of adaptive defogging method of real-time high-definition video and device |
| WO2018190199A1 (en) * | 2017-04-14 | 2018-10-18 | 株式会社メガチップス | Image processing device, image processing system, information processing system, and image processing method |
| CN108765325A (en) * | 2018-05-17 | 2018-11-06 | 中国人民解放军陆军工程大学 | A kind of small drone Restoration method of blurred image |
-
2018
- 2018-12-25 CN CN201811587803.6A patent/CN109584186A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503306A (en) * | 2014-11-26 | 2015-04-08 | 北京航空航天大学 | Multi-camera synchronous triggering device and control method |
| CN204836396U (en) * | 2015-07-13 | 2015-12-02 | 昆明理工大学 | Gather processing system based on TW9912 embedded video |
| CN106296612A (en) * | 2016-08-09 | 2017-01-04 | 南京工业大学 | The stagewise monitor video sharpening system and method that a kind of image quality evaluation and weather conditions guide |
| WO2018190199A1 (en) * | 2017-04-14 | 2018-10-18 | 株式会社メガチップス | Image processing device, image processing system, information processing system, and image processing method |
| CN107424133A (en) * | 2017-07-27 | 2017-12-01 | 广东欧珀移动通信有限公司 | Image defogging method, device, computer can storage medium and mobile terminals |
| CN108093175A (en) * | 2017-12-25 | 2018-05-29 | 北京航空航天大学 | A kind of adaptive defogging method of real-time high-definition video and device |
| CN108765325A (en) * | 2018-05-17 | 2018-11-06 | 中国人民解放军陆军工程大学 | A kind of small drone Restoration method of blurred image |
Non-Patent Citations (3)
| Title |
|---|
| 王健,姜伟: "无人机4路视频采集系统设计", 国外电子测量技术 * |
| 王健,辛向龙,张修飞: "基于i.MX6无人机视频码率受控的压缩系统设计", 火力与指挥控制 * |
| 黄宇晴,丁文锐,李红光: "基于图像增强的无人机侦察图像去雾方法", 北京航空航天大学学报 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110837825A (en) * | 2019-10-17 | 2020-02-25 | 天津大学 | Meter identification and reading system based on embedded type |
| CN110827218A (en) * | 2019-10-31 | 2020-02-21 | 西北工业大学 | Airborne image defogging method based on image HSV transmissivity weighted correction |
| CN110827218B (en) * | 2019-10-31 | 2023-08-29 | 西北工业大学 | Airborne image defogging method based on weighted correction of HSV (hue, saturation, value) transmissivity of image |
| CN111314710A (en) * | 2020-03-24 | 2020-06-19 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
| CN111447409A (en) * | 2020-03-24 | 2020-07-24 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN111447409B (en) * | 2020-03-24 | 2021-06-11 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN111314710B (en) * | 2020-03-24 | 2021-08-13 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
| CN112270220A (en) * | 2020-10-14 | 2021-01-26 | 西安工程大学 | Sewing gesture recognition method based on deep learning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109584186A (en) | A kind of unmanned aerial vehicle onboard image defogging method and device | |
| CN107817216B (en) | Automatic optical detection system based on CPU + GPU + FPGA architecture | |
| TWI691197B (en) | Preprocessor for full parallax light field compression | |
| US20110188780A1 (en) | 2D to 3D Image Conversion Based on Image Content | |
| CN103325116B (en) | A kind of printing image detecting system and method | |
| CN107369635B (en) | Intelligent semiconductor equipment system based on deep learning | |
| CN105049838B (en) | Objective evaluation method for compressing stereoscopic video quality | |
| CN104469349B (en) | A kind of method detecting the MIPI vision signal that video source produces | |
| CN109297978B (en) | Binocular imaging-based power line unmanned aerial vehicle inspection and defect intelligent diagnosis system | |
| CN107018352A (en) | A kind of method of video image processing, apparatus and system | |
| CN107135386B (en) | A kind of binocular camera system | |
| CN102426646A (en) | Multi-angle human face detection device and method | |
| CN109801209A (en) | Parameter prediction method, artificial intelligence chip, equipment and system | |
| CN110211052A (en) | A kind of single image to the fog method based on feature learning | |
| CN116524195A (en) | Semantic segmentation method, semantic segmentation device, electronic equipment and storage medium | |
| CN106658107A (en) | Multi-path multi-mode image display method | |
| CN106210727B (en) | Video hierarchical code stream coding method and system based on neural network processor array | |
| CN106303527B (en) | Video hierarchical code stream coding method and system of time division multiplexing neural network processor | |
| WO2023155032A1 (en) | Image processing method and image processing apparatus | |
| CN109685088A (en) | Narrow band communication intelligent image analysis system based on cloud separation convolutional neural networks | |
| CN116915971A (en) | Quality evaluation method, device, equipment and medium for hardware-in-loop video data | |
| CN102682282A (en) | Online model identification instrument based on DaVinci framework and embedded type image detection technology | |
| CN109740467A (en) | A kind of electronic certificate recognition methods, apparatus and system | |
| CN101127888A (en) | Onboard image collection device | |
| CN110276712B (en) | Satellite-borne image processing device and satellite-borne image processing and decision platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190405 |