CN111684789A - Image acquisition method, image acquisition device and unmanned aerial vehicle - Google Patents
Image acquisition method, image acquisition device and unmanned aerial vehicle Download PDFInfo
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Abstract
An image acquisition method comprising: sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2 (S1); merging the collected images; wherein the period T of capturing images by each image capturing device is equal, and the starting time of the exposure time period for capturing images by the i +1 th image capturing device is T/n away from the starting time of the exposure time period for capturing images by the i-th image capturing device (S2). The method can prolong the exposure time of the image acquisition equipment for acquiring the image in each period to be equal to the period of the image acquisition equipment for acquiring the image without being limited to the reciprocal of the frame rate, and can greatly prolong the exposure time in each period relative to the condition that the image acquisition equipment acquires the image independently so as to effectively improve the brightness of the image.
Description
Technical Field
The invention relates to the technical field of images, in particular to an image acquisition method, an image acquisition device and an unmanned aerial vehicle.
Background
When a plurality of images are continuously collected, in order to ensure the continuity of the images, a higher frame rate is adopted, that is, the interval from the starting moment of shooting one frame of image to the starting moment of shooting the next frame of image is short. In this case, the exposure time for taking the image is too short, which causes a problem of underexposure, and the brightness of the image is low.
In order to ensure that a captured image has sufficient brightness, a method of increasing sensitivity (abbreviated as ISO) is adopted in the related art. However, in the case of increasing the sensitivity, image noise is greatly introduced, resulting in deterioration of the image quality of the image.
Disclosure of Invention
The invention provides an image acquisition method, an image acquisition device and an unmanned aerial vehicle, which aim to overcome the technical problems in the related art.
According to a first aspect of the embodiments of the present disclosure, an image capturing method is provided, the method including:
sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2;
merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the i +1 th image acquisition device and the starting time of the exposure time of the image acquisition of the i +1 th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, i +1 is more than or equal to 1 and less than or equal to n, and ti is more than 0 and less than or equal to T.
According to a second aspect of the embodiments of the present disclosure, there is provided an image capturing apparatus, including n image capturing devices, and further including one or more processors operating alone or in cooperation, the processors being configured to:
sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2;
merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the i +1 th image acquisition device and the starting time of the exposure time of the image acquisition of the i +1 th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, i +1 is more than or equal to 1 and less than or equal to n, and ti is more than 0 and less than or equal to T.
According to a third aspect of the embodiments of the present disclosure, an electronic device is provided, including:
n image acquisition devices;
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the image acquisition method of any of the above embodiments.
According to the embodiment of the disclosure, images can be sequentially acquired by n image acquisition devices, the period T of each image acquisition device for acquiring the image is equal, and the starting time of the exposure time of the i +1 th image acquisition device for acquiring the image is T/n away from the starting time of the exposure time of the i th image acquisition device for acquiring the image.
Accordingly, the interval at which the n image acquisition devices sequentially acquire images is T/n, and the frame rate at which the n image acquisition devices sequentially acquire images is n/T, in which case, although the reciprocal of the frame rate is T/n, when the n image acquisition devices sequentially acquire images, the period at which each image acquisition device acquires images is T, and in the case where n is greater than 1, T is greater than T/n, then the exposure time period during which the image acquisition device acquires images in each period may be extended to T, without being limited to the reciprocal of the frame rate being T/n.
Therefore, compared with the case that the exposure time length in each period can be maximally extended to only the reciprocal of the frame rate when the image acquisition device acquires the image alone, according to the embodiment of the disclosure, the exposure time length in each period when the image acquisition device acquires the image can be extended to be equal to the period when the image acquisition device acquires the image without being limited to the reciprocal of the frame rate, and the period when each image acquisition device acquires the image is T which is greater than the reciprocal T/n of the frame rate, so the exposure time length in each period when the image acquisition device acquires the image can be extended to be T which is greater than the reciprocal of the frame rate, and therefore, the exposure time length in each period can be greatly extended compared with the case that the image acquisition device acquires the image alone, so as to effectively improve the brightness of the image.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flow chart diagram illustrating an image acquisition method in accordance with an embodiment of the present disclosure.
Fig. 2 is a schematic diagram illustrating exposure time periods when an image is acquired by the image acquisition apparatus alone according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram illustrating exposure durations during which two image capturing devices cooperatively capture images according to an embodiment of the present disclosure.
Fig. 4 is a schematic flow chart diagram illustrating another image acquisition method in accordance with an embodiment of the present disclosure.
Fig. 5 is a schematic flow chart diagram illustrating yet another image acquisition method in accordance with an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the features in the embodiments and the examples described below may be combined with each other without conflict.
Fig. 1 is a schematic flow chart diagram illustrating an image acquisition method in accordance with an embodiment of the present disclosure. The image acquisition method shown in the embodiment of the disclosure can be applied to an image acquisition system, the image acquisition system comprises a plurality of image acquisition devices, and the image acquisition system can exist independently and can be assembled on other devices for use, for example, the image acquisition system can be assembled on an unmanned aerial vehicle and is used for acquiring information in the surrounding environment of the unmanned aerial vehicle.
As shown in fig. 1, the image acquisition method may include the steps of:
step S1, sequentially collecting images through the n image collecting devices, wherein the field angles of the n image collecting devices are at least partially overlapped, and n is larger than or equal to 2;
in one embodiment, when assembling the n image capturing devices, the field angles of the n image capturing devices may be set to at least partially coincide in advance; or when assembling the n image acquisition devices, the field angles of the n image acquisition devices are not set to be at least partially overlapped in advance, but in the subsequent operation process, parameters such as the orientation, the size and the like of the field angles of the image acquisition devices are adjusted according to needs, so that the field angles of the n image acquisition devices are at least partially overlapped.
Specifically, the field angles of the n image capturing devices are at least partially overlapped, which is not limited in this embodiment and can be selected as needed.
Step S2, merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device and the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, and i +1 is more than or equal to n.
In one embodiment, the value of n may be set as required, wherein the exposure duration of the image capturing device is positively correlated with n, and n is not set too large for extending the exposure duration without overexposing the image, for example, n may be set to an integer greater than 1 and less than 5. The following examples illustrate the technical solutions of the present disclosure mainly in the case where n ═ 2.
Fig. 2 is a schematic diagram illustrating exposure time periods when an image is acquired by the image acquisition apparatus alone according to an embodiment of the present disclosure. Fig. 3 is a schematic diagram illustrating exposure durations during which two image capturing devices cooperatively capture images according to an embodiment of the present disclosure.
As shown in fig. 2, when the 1 st image capturing device and the 2 nd image capturing device respectively capture images individually, if the frame rates of the two image capturing devices capture images are both 1/T ', the image capturing devices capture images every T ', and for the image capturing devices to capture images individually, the interval of each image capturing is the reciprocal T ' of the frame rate, that is, the period of the image capturing devices to capture images individually, so for the image capturing devices to capture images individually, in the case of the frame rate being 1/T ', the period T ' of the image capturing devices to capture images is determined.
While the image capturing device captures images, each period includes an exposure time length and an exposure interval, for example, as shown in fig. 2, when the 1 st image capturing device separately captures images, the exposure time length is T1 ', the exposure interval is d 1', and T ═ T1 '+ d 1'; the exposure time length when the 2 nd image capturing apparatus captures an image alone is T2 ', and the exposure interval is d2 ', T ' ═ T2 ' + d2 '.
Because the exposure duration in each period cannot exceed the period T ', that is, when the image acquisition device acquires an image independently at a frame rate of 1/T ', the exposure duration in each period can only be extended to the reciprocal T ' of the frame rate at the longest, which results in that when the image acquisition device acquires an image independently, if the exposure duration is extended to increase the brightness of the image, the brightness that can be increased is very limited, and it is difficult to effectively increase the brightness.
As shown in fig. 3, according to the embodiment of the present disclosure, the field angles of the 1 st image capturing device and the 2 nd image capturing device may be at least partially overlapped, and in a specific operation, the field angles of the n image capturing devices may be adjusted as needed, so that the field angles of the n image capturing devices are completely overlapped as much as possible, so as to ensure that the two image capturing devices are images captured for the same area, so as to subsequently merge the captured images.
When the image is collected, the image can be collected by n image collecting devices in sequence, the period T of the image collected by each image collecting device is equal, and the distance between the starting time of the exposure time of the i +1 th image collecting device for collecting the image and the starting time of the exposure time of the image collected by the i-th image collecting device is T/n.
Accordingly, the interval at which the n image acquisition devices sequentially acquire images is T/n, and the frame rate at which the n image acquisition devices sequentially acquire images is n/T, in which case, although the reciprocal of the frame rate is T/n, when the n image acquisition devices sequentially acquire images, the period at which each image acquisition device acquires images is T, and in the case where n is greater than 1, T is greater than T/n, then the exposure time period during which the image acquisition device acquires images in each period may be extended to T, without being limited to the reciprocal of the frame rate being T/n.
Therefore, compared with the case that the exposure time length in each period can be maximally extended to only the reciprocal of the frame rate when the image acquisition device acquires the image alone, according to the embodiment of the disclosure, the exposure time length in each period when the image acquisition device acquires the image can be extended to be equal to the period when the image acquisition device acquires the image without being limited to the reciprocal of the frame rate, and the period when each image acquisition device acquires the image is T which is greater than the reciprocal T/n of the frame rate, so the exposure time length in each period when the image acquisition device acquires the image can be extended to be T which is greater than the reciprocal of the frame rate, and therefore, the exposure time length in each period can be greatly extended compared with the case that the image acquisition device acquires the image alone, so as to effectively improve the brightness of the image.
For example, when the frame rate n/T of the n image capturing devices sequentially capturing images is equal to the frame rate 1/T' of the 1 st image capturing device and the 2 nd image capturing device separately capturing images, the n image capturing devices may be made to capture images by imitating the frame rate of one image capturing device separately capturing images.
In this case, n/T is 1/T ', that is, T is nT', and according to the above analysis, the present embodiment can maximally extend the exposure time period in each period when the image capturing device captures an image to T, and in the case where n is greater than 1, T is greater than T ', which is greater than the time period T' that the image capturing device can extend the exposure time period in each period when capturing an image alone, and the larger n is, the larger the magnitude of the extension of the exposure time period in each period is.
For example, in the case where n is 2, as shown in fig. 3, the start time of the exposure time period for the 2 nd image capturing device to capture an image is T/2 away from the start time of the exposure time period for the 1 st image capturing device to capture an image, and the frame rate for sequentially capturing images by the 2 nd image capturing devices is 2/T.
When the frame rate 2/T of the 2 image acquisition devices sequentially acquiring the images is equal to the frame rate 1/T 'of the 1 st image acquisition device and the 2 nd image acquisition device for separately acquiring the images, T is 2T', so that the exposure time in each period when the image acquisition devices acquire the images can be prolonged to 2T 'at the longest, and 2T' is greater than T.
Wherein, the exposure time duration t1 of the 1 st image acquisition device can be set to be 2 times of the exposure time duration t 1' when the 1 st image acquisition device acquires images alone; the exposure time period t2 of the 2 nd image capturing device is 2 times the exposure time period t 2' for the 2 nd image capturing device to capture an image alone; in this case, T1 is 2T1 ', for example, T1 is 2T'/3, then T1 is 4T '/3, that is, T1 is greater than T', it can be seen that according to an embodiment, the exposure time of the image capturing apparatus may be extended such that the extended time is greater than the reciprocal of the frame rate at which the image capturing apparatus captures the images alone.
Fig. 4 is a schematic flow chart diagram illustrating another image acquisition method in accordance with an embodiment of the present disclosure. As shown in fig. 4, before the images are respectively acquired by each of the n image acquisition devices, the method further includes:
step S3, determining the brightness difference of the collected images caused by hardware difference between each image collection device;
and step S4, setting an exposure time length of each image capturing device according to the brightness difference, so that the brightness of the images captured by each image capturing device at the same time and at the same field angle is the same.
Since image capturing devices may be different from one another, there may be more or less difference in hardware, and such difference in hardware may cause a brightness difference in brightness of captured images, and the presence of the brightness difference may cause problems such as uneven brightness of each region in a synthesized image, or brightness of an image not matching brightness of an actual environment.
According to the embodiment of the present disclosure, the exposure time duration of each of the image capturing devices may be set according to the brightness difference, for example, t1 and t2 shown in fig. 3 may be adjusted according to the brightness difference of the captured image between the 1 st image capturing device and the 2 nd image capturing device due to the hardware difference.
For example, the brightness difference is positive, which indicates that the brightness of the image acquired by the 1 st image acquisition device is higher, and the brightness of the image acquired by the 2 nd image acquisition device is lower, the value of t1 can be set smaller, so as to lower the brightness of the image acquired by the 1 st image acquisition device, and/or the value of t2 can be set larger, so as to increase the brightness of the image acquired by the 2 nd image acquisition device, thereby ensuring that the brightness of the image acquired by the 1 st image acquisition device and the brightness of the image acquired by the 2 nd image acquisition device are close, so as to synthesize an image with uniform brightness in the following process.
Fig. 5 is a schematic flow chart diagram illustrating yet another image acquisition method in accordance with an embodiment of the present disclosure. As shown in fig. 5, before the images are respectively acquired by each of the n image acquisition devices, the method further includes:
step S5, determining the environment information of the environment where the image acquisition equipment is located;
step S6, determining the incidence relation between the exposure duration and the time for collecting the image according to the environment information;
step S7, according to the association relationship, adjusting an exposure duration of the image capturing device in the process of capturing an image, so that the brightness of the image captured by each image capturing device at the same time under the same field angle is the same.
In one embodiment, the environment information of the environment may be different based on different environments where the image capturing device is located, for example, the environment information may include a change rule of the ambient light brightness over time, and then the change rule of the ambient light brightness over time may be different in different environments. For an image acquisition device, a plurality of groups of relationships between ambient light brightness and time can be acquired by the image acquisition device for a period of time, and then fitting is performed based on the plurality of groups of relationships to obtain a fitting function for representing a change rule of the ambient light brightness in the environment of the image acquisition device along with time.
Under the condition that the ambient light brightness changes along with time, in order to adapt to different ambient light brightness, the exposure time of the image acquisition equipment needs to be correspondingly adjusted, so that the exposure time of the image acquisition equipment changes along with the time for acquiring the image.
The correlation between the exposure duration and the time can be expressed by a correlation function, the correlation function can be preset according to experience, different correlation functions can be preset according to different environment information, and then the correlation function between the exposure duration and the time for acquiring the image can be determined according to the environment information.
It should be noted that the environmental information includes, but is not limited to, a change rule of the ambient light brightness with time, and may also include information such as a position and a temperature of the image capturing device.
According to the association relationship, the exposure duration of the image acquisition device in the process of acquiring the image can be adjusted, for example, in the case that the association relationship is an association function, the exposure duration of the image acquisition device acquiring the image at different times can be adjusted according to the association function, and after the exposure duration is adjusted for each image acquisition device, the brightness of the image acquired by each image acquisition device at the same moment under the same field angle can be the same, so that the image with uniform brightness can be synthesized later.
Optionally, the merging the acquired n images includes:
and combining the acquired images into a video according to the time sequence.
In an embodiment, if each image capturing device captures multiple frames of images, the images captured by each image capturing device may be combined into a video according to a time sequence.
Taking the two image capturing devices shown in fig. 3 as an example, the starting time of the 1 st image capturing device for capturing the ith frame image is earlier than the starting time of the 2 nd image capturing device for capturing the ith frame image, and the starting time of the 1 st image capturing device for capturing the (i + 1) th frame image is later than the ending time of the 2 nd image capturing device for capturing the ith frame image.
The ith frame of image collected by the 1 st image collecting device can be used as an odd frame of the video, and the ith frame of image collected by the 2 nd image collecting device can be used as an even frame of the video, so that the images collected by the 1 st image collecting device and the 2 nd image collecting device can be combined into a section of video according to the time sequence.
Wherein, when the 1 st image acquisition device does not finish the acquisition of the ith frame image, the 2 nd image acquisition device starts to acquire the ith frame image, and when the 2 nd image acquisition device does not finish the acquisition of the ith frame image, the 1 st image acquisition device starts to acquire the (i + 1) th frame image.
Therefore, in the synthesized video, the odd frame and the even frame are displayed in an overlapping manner in a partial period, for example, the image of the i-th frame acquired by the 1 st image acquisition device is displayed in an overlapping manner with the image of the i-th frame acquired by the 2 nd image acquisition device in a partial period, and the image of the i-th frame acquired by the 2 nd image acquisition device is displayed in an overlapping manner with the image of the i +1 th frame acquired by the 1 st image acquisition device in a partial period.
Optionally, each of the n image capturing devices is the same image capturing device.
In an embodiment, n identical image capturing devices may be selected, and since the identical image capturing devices have the same manufacturing process, the hardware difference is small, which is beneficial to reducing the brightness difference of captured images caused by the hardware difference between the image capturing devices, and even the brightness difference between the image capturing devices is not generated by the hardware difference, so that the steps in the embodiment shown in fig. 4 may be omitted, the steps for executing actions may be reduced, and resources may be saved.
And for the same image acquisition equipment, the operation of adjusting the exposure time length and the period is also the same, so that the exposure time length of each image acquisition equipment and the period of acquiring the image are conveniently set, the period T of acquiring the image by each image acquisition equipment is equal, the exposure time length ti of acquiring the image by the ith image acquisition equipment is n times of the exposure time length ti' of acquiring the image by the ith image acquisition equipment, and the starting time of the exposure time length of acquiring the image by the (i + 1) th image acquisition equipment is T/n away from the starting time of acquiring the exposure time length of the image by the ith image acquisition equipment.
Correspondingly to the embodiment of the image acquisition method, the disclosure also provides an embodiment of the image acquisition device.
An embodiment of the present disclosure further provides an image capturing apparatus, including n image capturing devices, and further including one or more processors operating alone or in cooperation, where the processors are configured to:
sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2;
merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device and the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, and i +1 is more than or equal to n.
In one embodiment, before the images are respectively acquired by each of the n image acquisition devices, the processor is further configured to:
determining the brightness difference of the acquired images caused by hardware difference between each image acquisition device;
and setting the exposure time length of each image acquisition device according to the brightness difference so as to enable the brightness of the images acquired by each image acquisition device at the same moment under the same field angle to be the same.
In one embodiment, before the images are respectively acquired by each of the n image acquisition devices, the processor is further configured to:
determining environment information of an environment where the image acquisition equipment is located;
determining the incidence relation between the exposure duration and the time for acquiring the image according to the environment information;
and according to the association relationship, adjusting the exposure time of the image acquisition equipment in the process of acquiring the image so as to enable the image brightness of each image acquisition equipment acquired at the same moment under the same field angle to be the same.
In one embodiment, the processor is configured to:
and combining the acquired images into a video according to the time sequence.
In one embodiment, each of the n image capturing devices is the same image capturing device.
An embodiment of the present disclosure also provides an electronic device, including:
n image acquisition devices;
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the image acquisition method of any of the above embodiments.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application. As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. An image acquisition method, characterized in that the method comprises:
sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2;
merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device and the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, and i +1 is more than or equal to n.
2. The method of claim 1, wherein prior to the respectively capturing of the image by each of the n image capture devices, the method further comprises:
determining the brightness difference of the acquired images caused by hardware difference between each image acquisition device;
and setting the exposure time length of each image acquisition device according to the brightness difference so as to enable the brightness of the images acquired by each image acquisition device at the same moment under the same field angle to be the same.
3. The method of claim 1, wherein prior to the respectively capturing of the image by each of the n image capture devices, the method further comprises:
determining environment information of an environment where the image acquisition equipment is located;
determining the incidence relation between the exposure duration and the time for acquiring the image according to the environment information;
and according to the association relationship, adjusting the exposure time of the image acquisition equipment in the process of acquiring the image so as to enable the image brightness of each image acquisition equipment acquired at the same moment under the same field angle to be the same.
4. The method of any of claims 1 to 3, wherein said merging the acquired n images comprises:
and combining the acquired images into a video according to the time sequence.
5. A method according to any one of claims 1 to 3, wherein each of the n image acquisition devices is the same image acquisition device.
6. An image acquisition apparatus comprising n image acquisition devices and one or more processors operating individually or in concert, the processors being configured to:
sequentially acquiring images through the n image acquisition devices, wherein the field angles of the n image acquisition devices are at least partially overlapped, and n is more than or equal to 2;
merging the collected images;
the period T of the image acquisition of each image acquisition device is equal, the distance between the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device and the starting time of the exposure time of the image acquisition of the (i + 1) th image acquisition device is T/n, i is more than or equal to 1 and less than or equal to n, and i +1 is more than or equal to n.
7. The apparatus of claim 6, wherein prior to the respective image capture by each of the n image capture devices, the processor is further configured to:
determining the brightness difference of the acquired images caused by hardware difference between each image acquisition device;
and setting the exposure time length of each image acquisition device according to the brightness difference so as to enable the brightness of the images acquired by each image acquisition device at the same moment under the same field angle to be the same.
8. The apparatus of claim 6, wherein prior to the respective image capture by each of the n image capture devices, the processor is further configured to:
determining environment information of an environment where the image acquisition equipment is located;
determining the incidence relation between the exposure duration and the time for acquiring the image according to the environment information;
and according to the association relationship, adjusting the exposure time of the image acquisition equipment in the process of acquiring the image so as to enable the image brightness of each image acquisition equipment acquired at the same moment under the same field angle to be the same.
9. The apparatus of any of claims 6 to 8, wherein the processor is configured to:
and combining the acquired images into a video according to the time sequence.
10. The apparatus according to any one of claims 6 to 8, wherein each of the n image capturing devices is the same image capturing device.
11. An electronic device, comprising:
n image acquisition devices;
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the image acquisition method of any one of claims 1 to 5.
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| US20100295961A1 (en) * | 2009-05-20 | 2010-11-25 | Hoya Corporation | Imaging apparatus and image composition method |
| CN104363374A (en) * | 2014-11-28 | 2015-02-18 | 广东欧珀移动通信有限公司 | High-frame-rate video generation method and device and terminal |
| CN105072346A (en) * | 2015-08-26 | 2015-11-18 | 浙江大华技术股份有限公司 | Automatic shooting control method and device and automatic shooting camera |
| CN106210584A (en) * | 2016-08-02 | 2016-12-07 | 乐视控股（北京）有限公司 | A kind of video recording method and device |
| CN106534814A (en) * | 2016-10-12 | 2017-03-22 | 成都西纬科技有限公司 | Dual-camera image quality synchronization method and device |
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| CN103581625A (en) * | 2013-10-28 | 2014-02-12 | 华中科技大学 | Time-share parallel image collecting device and calibration method thereof |
| CN104780324B (en) * | 2015-04-22 | 2016-08-24 | 努比亚技术有限公司 | A kind of method and apparatus of shooting |
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| US20100295961A1 (en) * | 2009-05-20 | 2010-11-25 | Hoya Corporation | Imaging apparatus and image composition method |
| CN104363374A (en) * | 2014-11-28 | 2015-02-18 | 广东欧珀移动通信有限公司 | High-frame-rate video generation method and device and terminal |
| CN105072346A (en) * | 2015-08-26 | 2015-11-18 | 浙江大华技术股份有限公司 | Automatic shooting control method and device and automatic shooting camera |
| CN106210584A (en) * | 2016-08-02 | 2016-12-07 | 乐视控股（北京）有限公司 | A kind of video recording method and device |
| CN106534814A (en) * | 2016-10-12 | 2017-03-22 | 成都西纬科技有限公司 | Dual-camera image quality synchronization method and device |
| CN107948542A (en) * | 2018-01-15 | 2018-04-20 | 上海兴芯微电子科技有限公司 | Multi-cam exposure control method and device |
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