CN111824164B - Surrounding information acquisition and display method - Google Patents
Surrounding information acquisition and display method Download PDFInfo
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- CN111824164B CN111824164B CN201910289275.4A CN201910289275A CN111824164B CN 111824164 B CN111824164 B CN 111824164B CN 201910289275 A CN201910289275 A CN 201910289275A CN 111824164 B CN111824164 B CN 111824164B
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- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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Abstract
The invention relates to a surrounding information acquisition and display method, which comprises the steps of operating a surrounding information acquisition and display system, downloading corresponding vehicle repairing times from a remote vehicle management center based on vehicle information, determining a danger index which is in direct proportion to the vehicle repairing times based on the corresponding vehicle repairing times, and displaying the danger index on a customized processing image in an overlapping manner, thereby being capable of helping a driver to effectively judge the danger degree of surrounding vehicles.
Description
Technical Field
The invention relates to the field of traffic management, in particular to a surrounding information acquisition and display method.
Background
Generally, traffic management has several main aspects:
(1) and (5) legal management. Making and issuing rules, implementing daily traffic law enforcement, establishing a management system of drivers and vehicles, establishing various rules for violation and accident treatment, and supervising implementation. Supervision and management related to traffic police service. Analysis and identification of various legal responsibilities in traffic accidents.
(2) And (5) administration management. Temporary or local traffic management measures are taken. The unidirectional driving is organized to limit the left turning or the access of the vehicle to a certain area. Forbidding or limiting a certain vehicle or a certain running mode, carrying out staggered on-off work time or reversible driving of the organization, and taking special care of a certain person (such as the old, children, disabled persons and pregnant women). Planning and organizing the one-way traffic special lane and establishing a reasonable management system. Regulation is performed for the vehicle ownership or a certain vehicle.
(3) And (5) managing the technology. Setting, managing and maintaining traffic signs and road markings. And installing signal facilities and monitoring traffic development dynamics. And installing and managing the road lighting facilities. Traffic information is collected and disseminated. Various technical regulation regulations are implemented and supervised. And selecting an intersection management mode.
(4) And (5) education and training. The training and assessment of drivers and traffic policemen, especially the regular safety education of the drivers, and the safety education and the propaganda of traffic laws, traffic consciousness and traffic safety of the public, especially teenagers. Daily propaganda of road traffic regulations, policies, safety regulations. Prevention, education and treatment of various violations.
(5) And (5) traffic control. Controlling traffic at intersections and entrances and exits; road network traffic control; road segment and highway traffic control.
Disclosure of Invention
The invention has at least the following three important points:
(1) identifying the imaging characteristics of each close automobile target in the customized processing image to obtain corresponding automobile information, downloading corresponding automobile repairing times from a remote automobile management center based on the automobile information, determining a danger index which is in direct proportion to the automobile repairing times based on the corresponding automobile repairing times, and overlapping and displaying the danger index on the customized processing image so as to help a driver to effectively judge the danger degree of surrounding automobiles;
(2) on the basis of homomorphic filtering processing only on the U component value in the image, self-adaptive recursive filtering processing is performed on the basis of the noise amplitude of the processed image, so that the pertinence of image processing is improved;
(3) and introducing a signal trigger device with a customized structure comprising a mutation point identification sub-device, a quantity counting sub-device and a signal distribution sub-device, and determining the complexity of the image based on the quantity of pixel points with mutation pixel values in the image.
According to an aspect of the present invention, there is provided a surrounding information collecting and displaying method, the method including operating a surrounding information collecting and displaying system, downloading a corresponding number of times of vehicle repair from a remote vehicle management center based on vehicle information, determining a risk index proportional to the number of times of vehicle repair based on the corresponding number of times of vehicle repair, and displaying the risk index in a superimposed manner on a customized processed image, thereby enabling a driver to effectively judge a degree of risk of a surrounding vehicle, the surrounding information collecting and displaying system including: the vehicle speed measuring instrument is positioned below a vehicle cover in front of the vehicle and used for measuring the current vehicle speed of the vehicle so as to obtain and output the real-time vehicle speed.
More specifically, in the surrounding information collecting and displaying system, the method further includes: the panoramic camera is arranged at the top of the automobile and connected with the top of the automobile through a supporting structure, and is used for performing camera shooting operation on the periphery of the automobile to obtain and output corresponding images around the automobile.
More specifically, in the surrounding information collection display system: the panoramic camera is further connected with the vehicle speed measuring instrument and used for entering a working mode from a sleep mode when the received real-time vehicle speed exceeds a preset speed threshold value.
More specifically, in the surrounding information collection display system: the panoramic camera is further used for entering a sleep mode from a working mode when the received real-time vehicle speed does not exceed a preset speed threshold.
More specifically, in the surrounding information collecting and displaying system, the method further includes: the depth-of-field identification device is connected with the distortion correction device and is used for identifying each depth of field of each automobile target in the distortion correction image and taking one or more automobile targets with the depth of field smaller than or equal to a preset depth-of-field threshold value as reference automobile targets; the recording and extracting device is connected with the depth-of-field identifying device and used for identifying the imaging characteristics of each reference automobile target in the distortion correction image so as to obtain corresponding vehicle information, and downloading corresponding vehicle repairing times from a remote vehicle management center based on the vehicle information; an index conversion device connected with the record extraction device and used for executing the following actions on each reference automobile target: determining a danger index which is in direct proportion to the number of car repair times based on the number of car repair times corresponding to the danger index; and the display driving device is respectively connected with the distortion correction device, the index conversion device and the vehicle-mounted display screen, and is used for displaying the relevant information of each reference automobile target in the distortion correction image to obtain a reference information image and pushing the reference information image to the vehicle main display screen.
The surrounding information acquisition and display system has effective data, and is safe and reliable. The corresponding vehicle repairing times are downloaded from the vehicle management center at the far end based on the vehicle information, the danger index in direct proportion to the vehicle repairing times is determined based on the corresponding vehicle repairing times, and the danger index is superposed and displayed on the customized processing image, so that the driver can be helped to effectively judge the danger degree of the surrounding automobiles.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a panoramic camera of a surrounding information collecting and displaying system according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Vehicles are an indispensable part of modern life. With the change of times and the progress of science and technology, more and more vehicles around people bring great convenience to the life of each person. The distance of people to meet is greatly shortened by using the land automobile, the ship in the sea and the airplane in the sky; the invention of rocket and spacecraft makes the human ideal for exploring another planet. In perhaps the near future, people may travel to space to visit, and each person may go to another planet to investigate learning.
Vehicles in the narrow sense refer to all man-made devices for human mobility or transportation. Such as: bicycles, automobiles, motorcycles, trains, ships, aircraft, and the like. The vehicle also comprises a moving device driven by animals such as a carriage, a cattle vehicle and the like, and the rickshaw, the sedan and the wheelchair can be regarded as a vehicle. With the development of technology, vehicles are also changing.
In the prior art, a reproficient automobile driver still can possibly lift 245428while driving on the road, and because the driving level of surrounding automobile drivers and the specific automobile conditions of surrounding automobiles cannot be known, especially in the case of high-speed driving, the situation that fishes in ponds are affected cannot be avoided by the driving level of the driver once the surrounding automobiles go out.
In order to overcome the defects, the invention builds a surrounding information acquisition and display method, which comprises the steps of operating a surrounding information acquisition and display system, downloading corresponding vehicle repairing times from a remote vehicle management center based on vehicle information, determining a danger index in direct proportion to the vehicle repairing times based on the corresponding vehicle repairing times, and displaying the danger index on a customized processing image in an overlapping manner, so that a driver can be helped to effectively judge the danger degree of surrounding automobiles, and the surrounding information acquisition and display system can effectively solve corresponding technical problems.
The surrounding information acquisition display system shown according to the embodiment of the present invention includes:
the vehicle speed measuring instrument is positioned below a vehicle cover in front of the vehicle and used for measuring the current vehicle speed of the vehicle so as to obtain and output the real-time vehicle speed.
Next, a detailed configuration of the surrounding information collection display system of the present invention will be further described.
In the surrounding information collecting and displaying system, the method further comprises:
as shown in fig. 1, the panoramic camera is disposed on the top of the automobile, and is connected to the top of the automobile through a supporting structure, so as to perform a camera operation on the periphery of the automobile, so as to obtain and output a corresponding image of the periphery of the automobile.
In the surrounding information collection display system:
the panoramic camera is further connected with the vehicle speed measuring instrument and used for entering a working mode from a sleep mode when the received real-time vehicle speed exceeds a preset speed threshold value.
In the surrounding information collection display system:
the panoramic camera is further used for entering a sleep mode from a working mode when the received real-time vehicle speed does not exceed a preset speed threshold.
In the surrounding information collecting and displaying system, the method further comprises:
the depth-of-field identification device is connected with the distortion correction device and is used for identifying each depth of field of each automobile target in the distortion correction image and taking one or more automobile targets with the depth of field smaller than or equal to a preset depth-of-field threshold value as reference automobile targets;
the recording and extracting device is connected with the depth-of-field identifying device and used for identifying the imaging characteristics of each reference automobile target in the distortion correction image so as to obtain corresponding vehicle information, and downloading corresponding vehicle repairing times from a remote vehicle management center based on the vehicle information;
an index conversion device connected with the record extraction device and used for executing the following actions on each reference automobile target: determining a danger index which is in direct proportion to the number of car repair times based on the number of car repair times corresponding to the danger index;
the display driving device is respectively connected with the distortion correction device, the index conversion device and the vehicle-mounted display screen and is used for displaying the relevant information of each reference automobile target in the distortion correction image to obtain a reference information image and pushing the reference information image to the vehicle main display screen;
in the display drive device, displaying the information on each of the reference automobile targets in the distortion corrected image includes: displaying a hazard index corresponding to each reference automobile target in the distortion corrected image in a highlighted red mode above an area occupied by the reference automobile target;
the signal triggering equipment is connected with the panoramic camera and used for receiving the images around the automobile, determining the complexity of the images around the automobile based on the number of pixel points with sudden change of pixel values in the images around the automobile, and sending a first triggering signal when the complexity is over limit, and sending a second triggering signal when the complexity is not over limit;
the homomorphic filtering device is connected with the signal triggering device, and is used for starting to receive the image around the automobile when the first triggering signal is received, stopping receiving the image around the automobile when the second triggering signal is received, and executing homomorphic filtering processing on U component values of pixel points of the image around the automobile in a YUV space after receiving the image around the automobile so as to obtain homomorphic filtering component values;
the channel combination equipment is connected with the homomorphic filtering equipment and is used for regarding each pixel point in the image around the automobile, taking the homomorphic filtering component value, the V component value and the Y component value as each updated component value of the pixel point in the YUV space so as to obtain a corresponding component change image;
the recursive filtering device is connected with the channel combination device and used for receiving the component modification image and performing recursive filtering processing on the component modification image to obtain a filtering processing image;
the equalization processing equipment is connected with the recursive filtering equipment and is used for executing histogram equalization processing on the filtering processing image to obtain a corresponding histogram processing image;
a distortion correction device connected to the equalization processing device for performing distortion correction processing on the histogram processed image to obtain a corresponding distortion corrected image;
wherein, in the recursive filtering apparatus, performing a recursive filtering process on the component modification image to obtain a filter-processed image includes: the smaller the noise amplitude of the component modification image is, the fewer recursive filtering times are performed;
wherein the homomorphic filtering device, the channel combining device, and the recursive filtering device all have 16-bit parallel data communication interfaces;
the signal triggering device comprises a mutation point identification sub-device, a quantity counting sub-device and a signal distribution sub-device, wherein the mutation point identification sub-device is connected with the quantity counting sub-device, and the quantity counting sub-device is connected with the signal distribution sub-device.
In the surrounding information collection display system:
the mutation point identification sub-device is used for executing the following processing aiming at each pixel point in the image around the automobile: when the pixel value of the pixel point deviates from the arithmetic mean value of the pixel values of all the pixel points in the neighborhood of the pixel point and reaches a preset value, determining the pixel point as a pixel point with a sudden change of the pixel values in the image around the automobile;
the mutation point identification sub-device is used for executing the following processing for each pixel point in the image around the automobile: and when the pixel value of the pixel point deviates from the arithmetic mean value of the pixel values of all the pixel points in the neighborhood of the pixel point, determining that the pixel point does not belong to the pixel point with the suddenly changed pixel value in the image around the automobile.
In the surrounding information collection display system:
the number counting sub-device is used for counting the number of pixel points with sudden change of pixel values in the image around the automobile, the signal distribution sub-device is used for determining the complexity of the image around the automobile based on the number of the pixel points with sudden change of pixel values in the image around the automobile, and sending out a first trigger signal when the complexity is out of limit and sending out a second trigger signal when the complexity is not out of limit.
In the surrounding information collecting and displaying system, the method further comprises:
a geometric deviation correction device connected with the distortion correction device and used for receiving the distortion correction image and executing geometric deviation correction processing on the distortion correction image to obtain and output a corresponding geometric deviation correction image;
and the subimage extraction device is connected with the geometric deviation correction device and used for receiving the distortion correction image and the geometric deviation correction image, executing subimage segmentation processing on the distortion correction image based on a preset segmentation size to obtain a plurality of first subimages, and executing subimage segmentation processing on the geometric deviation correction image based on the preset segmentation size to obtain a plurality of second subimages.
In the surrounding information collecting and displaying system, the method further comprises:
the representative processing device is connected with the subimage extracting device and used for averaging a plurality of geometric errors of a plurality of first subimages at preset positions in the distortion correction image to obtain pre-processing geometric errors and averaging a plurality of geometric errors of a plurality of second subimages at preset positions in the geometric deviation correction image to obtain post-processing geometric errors;
the feedback execution device is respectively connected with the depth-of-field identification device and the representative processing device, and is used for executing circulating geometric deviation correction processing on the geometric deviation corrected image when the received processed geometric error is larger than a preset geometric error threshold value until the geometric error of the obtained processed image is smaller than or equal to the preset geometric error threshold value, and outputting the obtained processed image serving as a feedback execution image to replace the distortion corrected image to the depth-of-field identification device;
and the feedback execution device is further configured to, when the received processed geometric error is less than or equal to the preset geometric error threshold, take the geometric deviation correction image as a feedback execution image, and output the feedback execution image to the depth-of-field discrimination device in place of the distortion correction image.
In the surrounding information collection display system:
the feedback execution equipment further comprises an error receiving sub-equipment, a cyclic processing sub-equipment and an image output sub-equipment, wherein the cyclic processing sub-equipment is respectively connected with the error receiving sub-equipment and the image output sub-equipment;
the cyclic processing sub-device is used for executing cyclic geometric deviation correction processing on the geometric deviation corrected image when the received processed geometric error is larger than a preset geometric error threshold value until the geometric error of the obtained processed image is smaller than or equal to the preset geometric error threshold value;
wherein, in the representative processing apparatus, the preset position is a central position of a processed image, that is, for the geometric deviation-corrected image or the distortion-corrected image.
In addition, the image filtering performed by the recursive filtering device suppresses the noise of the target image under the condition of keeping the detail features of the image as much as possible, which is an indispensable operation in image preprocessing, and the effectiveness and reliability of subsequent image processing and analysis are directly affected by the quality of the processing effect.
Due to the imperfections of the imaging system, the transmission medium, and the recording device, the digital images are often contaminated by various noises during the formation, transmission, and recording processes thereof. In addition, noise may also be introduced into the resulting image at some point in the image processing when the input image object is not as expected. These noises often appear as an isolated pixel or block of pixels on the image that causes a strong visual effect. In general, the noise signal is not correlated with the object to be studied-it appears in the form of useless information, disturbing the observable information of the image. For digital image signals, the noise table is more or less extreme values, and the extreme values act on the real gray values of image pixels through addition and subtraction to cause bright and dark point interference on the image, so that the image quality is greatly reduced, and the follow-up work of image restoration, segmentation, feature extraction, image identification and the like is influenced. Two basic issues must be considered to construct an effective noise suppression filter: the noise in the target and the background can be effectively removed; meanwhile, the shape, the size and the specific geometric and topological structure characteristics of the image target can be well protected.
One of the commonly used modes of image filtering is a non-linear filter, generally speaking, when the signal spectrum is mixed with the noise spectrum or when the signal contains non-superimposed noise, such as noise caused by system nonlinearity or non-gaussian noise, etc., the conventional linear filtering techniques, such as fourier transform, always blur the image details in some way while filtering the noise, thereby causing the positioning accuracy of the image linear features and the extractability of the features to be reduced. The nonlinear filter is based on a nonlinear mapping relation of an input signal, a specific noise can be mapped to be zero approximately, the main characteristic of the signal is reserved, and therefore the nonlinear filter can overcome the defects of the linear filter to a certain extent.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (6)
1. A surrounding information acquisition and display method comprises the steps of operating a surrounding information acquisition and display system, downloading corresponding vehicle repairing times from a remote vehicle management center based on vehicle information, determining a danger index in proportion to the vehicle repairing times based on the corresponding vehicle repairing times, and displaying the danger index on a customized processing image in an overlapping mode, so that a driver can be helped to effectively judge the danger degree of surrounding automobiles, wherein the surrounding information acquisition and display system comprises:
the vehicle speed measuring instrument is positioned below a vehicle cover in front of the vehicle and used for measuring the current vehicle speed of the vehicle so as to obtain and output the real-time vehicle speed;
the panoramic camera is arranged at the top of the automobile, is connected with the top of the automobile through a supporting structure and is used for carrying out camera shooting operation on the periphery of the automobile so as to obtain and output a corresponding image around the automobile;
the panoramic camera is also connected with the vehicle speed measuring instrument and is used for entering a working mode from a sleep mode when the received real-time vehicle speed exceeds a preset speed threshold;
the panoramic camera is also used for entering a sleep mode from a working mode when the received real-time vehicle speed does not exceed a preset speed threshold;
the depth-of-field identification device is connected with the distortion correction device and is used for identifying each depth of field of each automobile target in the distortion correction image and taking one or more automobile targets with the depth of field smaller than or equal to a preset depth-of-field threshold value as reference automobile targets;
the recording and extracting device is connected with the depth-of-field identifying device and used for identifying the imaging characteristics of each reference automobile target in the distortion correction image so as to obtain corresponding vehicle information, and downloading corresponding vehicle repairing times from a remote vehicle management center based on the vehicle information;
an index conversion device connected with the record extraction device and used for executing the following actions on each reference automobile target: determining a danger index which is in direct proportion to the number of car repair times based on the number of car repair times corresponding to the danger index;
the display driving device is respectively connected with the distortion correction device, the index conversion device and the vehicle-mounted display screen and is used for displaying the relevant information of each reference automobile target in the distortion correction image to obtain a reference information image and pushing the reference information image to the vehicle main display screen;
in the display drive device, displaying the information on each of the reference automobile targets in the distortion corrected image includes: displaying a hazard index corresponding to each reference automobile target in the distortion corrected image in a highlighted red mode above an area occupied by the reference automobile target;
the signal triggering equipment is connected with the panoramic camera and used for receiving the images around the automobile, determining the complexity of the images around the automobile based on the number of pixel points with sudden change of pixel values in the images around the automobile, and sending a first triggering signal when the complexity is over limit, and sending a second triggering signal when the complexity is not over limit;
the homomorphic filtering device is connected with the signal triggering device, and is used for starting to receive the image around the automobile when the first triggering signal is received, stopping receiving the image around the automobile when the second triggering signal is received, and executing homomorphic filtering processing on U component values of pixel points of the image around the automobile in a YUV space after receiving the image around the automobile so as to obtain homomorphic filtering component values;
the channel combination equipment is connected with the homomorphic filtering equipment and is used for regarding each pixel point in the image around the automobile, taking the homomorphic filtering component value, the V component value and the Y component value as each updated component value of the pixel point in the YUV space so as to obtain a corresponding component change image;
the recursive filtering device is connected with the channel combination device and used for receiving the component modification image and performing recursive filtering processing on the component modification image to obtain a filtering processing image;
the equalization processing equipment is connected with the recursive filtering equipment and is used for executing histogram equalization processing on the filtering processing image to obtain a corresponding histogram processing image;
a distortion correction device connected to the equalization processing device for performing distortion correction processing on the histogram processed image to obtain a corresponding distortion corrected image;
wherein, in the recursive filtering apparatus, performing a recursive filtering process on the component modification image to obtain a filter-processed image includes: the smaller the noise amplitude of the component modification image is, the fewer recursive filtering times are performed;
wherein the homomorphic filtering device, the channel combining device, and the recursive filtering device all have 16-bit parallel data communication interfaces;
the signal triggering device comprises a mutation point identification sub-device, a quantity counting sub-device and a signal distribution sub-device, wherein the mutation point identification sub-device is connected with the quantity counting sub-device, and the quantity counting sub-device is connected with the signal distribution sub-device.
2. The method of claim 1, wherein:
the mutation point identification sub-device is used for executing the following processing aiming at each pixel point in the image around the automobile: when the pixel value of the pixel point deviates from the arithmetic mean value of the pixel values of all the pixel points in the neighborhood of the pixel point and reaches a preset value, determining the pixel point as a pixel point with a sudden change of the pixel values in the image around the automobile;
the mutation point identification sub-device is used for executing the following processing for each pixel point in the image around the automobile: and when the pixel value of the pixel point deviates from the arithmetic mean value of the pixel values of all the pixel points in the neighborhood of the pixel point, determining that the pixel point does not belong to the pixel point with the suddenly changed pixel value in the image around the automobile.
3. The method of claim 2, wherein:
the number counting sub-device is used for counting the number of pixel points with sudden change of pixel values in the image around the automobile, the signal distribution sub-device is used for determining the complexity of the image around the automobile based on the number of the pixel points with sudden change of pixel values in the image around the automobile, and sending out a first trigger signal when the complexity is out of limit and sending out a second trigger signal when the complexity is not out of limit.
4. The method of claim 3, wherein the system further comprises:
a geometric deviation correction device connected with the distortion correction device and used for receiving the distortion correction image and executing geometric deviation correction processing on the distortion correction image to obtain and output a corresponding geometric deviation correction image;
and the subimage extraction device is connected with the geometric deviation correction device and used for receiving the distortion correction image and the geometric deviation correction image, executing subimage segmentation processing on the distortion correction image based on a preset segmentation size to obtain a plurality of first subimages, and executing subimage segmentation processing on the geometric deviation correction image based on the preset segmentation size to obtain a plurality of second subimages.
5. The method of claim 4, wherein the system further comprises:
the representative processing device is connected with the subimage extracting device and used for averaging a plurality of geometric errors of a plurality of first subimages at preset positions in the distortion correction image to obtain pre-processing geometric errors and averaging a plurality of geometric errors of a plurality of second subimages at preset positions in the geometric deviation correction image to obtain post-processing geometric errors;
the feedback execution device is respectively connected with the depth-of-field identification device and the representative processing device, and is used for executing circulating geometric deviation correction processing on the geometric deviation corrected image when the received processed geometric error is larger than a preset geometric error threshold value until the geometric error of the obtained processed image is smaller than or equal to the preset geometric error threshold value, and outputting the obtained processed image serving as a feedback execution image to replace the distortion corrected image to the depth-of-field identification device;
and the feedback execution device is further configured to, when the received processed geometric error is less than or equal to the preset geometric error threshold, take the geometric deviation correction image as a feedback execution image, and output the feedback execution image to the depth-of-field discrimination device in place of the distortion correction image.
6. The method of claim 5, wherein:
the feedback execution equipment further comprises an error receiving sub-equipment, a cyclic processing sub-equipment and an image output sub-equipment, wherein the cyclic processing sub-equipment is respectively connected with the error receiving sub-equipment and the image output sub-equipment;
the cyclic processing sub-device is used for executing cyclic geometric deviation correction processing on the geometric deviation corrected image when the received processed geometric error is larger than a preset geometric error threshold value until the geometric error of the obtained processed image is smaller than or equal to the preset geometric error threshold value;
wherein, in the representative processing apparatus, the preset position is a central position of a processed image, that is, for the geometric deviation-corrected image or the distortion-corrected image.
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