CN111866395B - Stability augmentation processing module, unmanned aerial vehicle camera system and image stability augmentation processing method - Google Patents
Stability augmentation processing module, unmanned aerial vehicle camera system and image stability augmentation processing method Download PDFInfo
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- CN111866395B CN111866395B CN202010788869.2A CN202010788869A CN111866395B CN 111866395 B CN111866395 B CN 111866395B CN 202010788869 A CN202010788869 A CN 202010788869A CN 111866395 B CN111866395 B CN 111866395B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/683—Vibration or motion blur correction performed by a processor, e.g. controlling the readout of an image memory
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The invention provides a stability augmentation processing module for an unmanned aerial vehicle camera system, which comprises: a motion sensing unit configured to sense a motion of the image pickup system; a motion estimation unit coupled to the motion sensing unit and configured to calculate a rotation angle of an image according to an output of the motion sensing unit; and the image processing unit is coupled with the motion estimation unit and is configured to perform reverse compensation on the image output by the camera system according to the rotation angle of the image.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a stability augmentation processing module for processing low-frequency high-amplitude jitter, an unmanned aerial vehicle camera system comprising the module and an image stability augmentation processing method.
Background
In the prior art, the camera system stability augmentation processing carried by the unmanned aerial vehicle usually depends on the holder, but the holder equipment not only occupies the space of the unmanned aerial vehicle but also increases the manufacturing cost. The inventor hopes to provide an image processing scheme for stability augmentation by means of software calculation and processing, and the scheme replaces a holder to achieve the same purpose, so that the space of an unmanned aerial vehicle is saved, and the manufacturing cost is saved.
The existing software stability augmentation technology in motion DV is usually only for small amplitude and high frequency motions, and for large amplitude and low frequency motions, for example: the skiing and riding movements with large turning have no stability increasing effect. Therefore, when the motion DV in the market at present shoots a large-amplitude low-frequency motion picture, the image can generate serious inclination and jitter, which causes poor user experience.
The statements in this background section merely represent techniques known to the public and are not, of course, representative of the prior art.
Disclosure of Invention
In view of at least one defect of the prior art, the present invention provides a stability augmentation processing module for an unmanned aerial vehicle camera system, comprising:
a motion sensing unit configured to sense a motion of the image pickup system;
a motion estimation unit coupled to the motion sensing unit and configured to calculate a rotation angle of an image according to an output of the motion sensing unit;
and the image processing unit is coupled with the motion estimation unit and is configured to perform reverse compensation on the image output by the camera system according to the rotation angle of the image.
According to an aspect of the present invention, wherein the motion sensing unit includes an inertial measurement unit mounted on a camera board of the image pickup system and perpendicular or parallel to an optical axis direction of a lens of the image pickup system, the inertial measurement unit may measure an angular velocity and an acceleration of the lens in real time.
According to an aspect of the invention, wherein the motion estimation unit is configured to calculate roll and pitch angles of the lens by a complementary filtering algorithm.
According to an aspect of the invention, wherein the motion estimation unit is configured to calculate a motion frequency of the lens by a complementary filtering algorithm, and when the motion frequency is lower than a preset value, an output image is processed by the image processing unit; and when the motion frequency is higher than the preset value, carrying out anti-shake processing on the camera lens.
According to an aspect of the invention, wherein the image processing unit is configured to crop the image to remove black edges after the image is inversely compensated.
The invention also provides an unmanned aerial vehicle camera system, which comprises:
a camera configured to capture a surrounding image;
the stability augmentation processing module is configured to receive and process the image shot by the camera;
and the display module is coupled with the stability augmentation processing module and is configured to display the image processed by the image processing unit.
According to an aspect of the invention, wherein the camera comprises a fisheye lens, the shooting resolution is 3840 × 2160.
The invention also provides a method for carrying out image stability augmentation processing by using the stability augmentation processing module, which comprises the following steps:
sensing the motion of the camera system in real time through a motion sensing unit;
calculating, by a motion estimation unit, a rotation angle of an image according to an output of the motion sensing unit;
and performing reverse compensation on the image output by the camera system according to the rotation angle of the image through an image processing unit.
According to an aspect of the present invention, wherein the motion sensing unit includes an inertial measurement unit mounted on a camera board of the image pickup system and perpendicular or parallel to an optical axis direction of a lens of the image pickup system, the method further includes:
and measuring the angular speed and the acceleration of the lens in real time through the inertial measurement unit.
According to one aspect of the invention, the method further comprises:
and the motion estimation unit calculates the roll angle and the pitch angle of the lens through a complementary filtering algorithm.
According to one aspect of the invention, the method further comprises:
the motion estimation unit calculates the motion frequency of the lens through a complementary filtering algorithm, and when the motion frequency is lower than a preset value, the image processing unit processes an output image; and when the motion frequency is higher than the preset value, carrying out anti-shake processing on the camera lens.
The invention provides a stability augmentation processing module for an unmanned aerial vehicle camera system, the unmanned aerial vehicle camera system comprising the stability augmentation processing module, and a method for anti-shake processing of images. The stability augmentation processing module senses the motion of the camera system through the motion sensing unit, calculates the rotation angle of the image through the motion estimation unit, and performs reverse compensation on the image output by the camera system through the image processing unit. The stability augmentation processing module can improve the quality of a moving picture shot by the unmanned aerial vehicle camera system, not only adjusts the small-amplitude high-frequency jitter, but also avoids the influence of the large-amplitude low-frequency jitter on an output picture; install on unmanned aerial vehicle camera system, small, light in weight has replaced cloud platform equipment, has not only saved the space on the unmanned aerial vehicle greatly, has reduced unmanned aerial vehicle's manufacturing cost moreover.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 schematically illustrates a stability augmentation processing module according to a preferred embodiment of the present invention;
FIG. 2 schematically illustrates a stabilization-enhancement processing module according to a preferred embodiment of the present invention to inversely compensate an output image;
FIG. 3 schematically illustrates a stabilization enhancement processing module according to a preferred embodiment of the present invention to inversely compensate an output image;
fig. 4 schematically illustrates a drone camera system according to a preferred embodiment of the invention;
FIG. 5A schematically illustrates an output image of a camera system lens according to a preferred embodiment of the present invention;
FIG. 5B schematically illustrates the inverse compensation of the output image by the stabilization processing module according to a preferred embodiment of the present invention;
FIG. 5C schematically illustrates cropping of an output image by the stabilization processing module according to a preferred embodiment of the present invention;
fig. 6 schematically illustrates a drone camera system according to a preferred embodiment of the invention;
fig. 7 shows a method of image stabilization according to a preferred embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
The embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that the embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not intended to limit the present invention.
The software stability augmentation technology in the original motion DV is usually only applied to small amplitude and high frequency motions, and applied to large amplitude and low frequency motions, such as: the invention provides an image processing module with a horizontal stability increasing function, and the effect of stability increase is not generated in the large-turning motion of skiing and riding.
According to a preferred embodiment of the present invention, as shown in fig. 1, the present invention provides a stability augmentation processing module 10 for an unmanned aerial vehicle camera system, including: a motion sensing unit 11, a motion estimation unit 12 and an image processing unit 13. The motion sensing unit 11 is configured to sense the motion of the camera system, for example, when the unmanned aerial vehicle carrying the camera system rotates at high altitude, dives, climbs, jumps, or bumps in the weather, the camera system may accelerate in different directions or swing around an axis, thereby causing the shooting picture to shake. The motion estimation unit 12 is coupled to the motion sensing unit 11, and configured to calculate a rotation angle of an image according to an output of the motion sensing unit 11, where the rotation angle of the image is a real-time rotation angle of a picture taken by a camera system mounted on the unmanned aerial vehicle, and the real-time taken picture is a display image under the condition that the camera system has no angular velocity and/or angular acceleration. The image processing unit 13 is coupled to the motion estimation unit 12 and configured to perform an inverse compensation of the image output by the camera system according to the rotation angle of the image, in the following manner according to a preferred embodiment of the present invention.
As shown in fig. 2, the output image is reversely adjusted in the vertical direction according to the change of the pitch angle of the camera system lens output in real time by the motion sensing unit 11. Preferably, the image captured by the imaging system is a spherical image perpendicular to the optical axis of the lens of the imaging system, and the adjustment in the vertical direction is performed in the vertical direction on the spherical image.
As shown in fig. 3, the output image is compensated in reverse according to the change of the roll angle of the camera system lens output in real time by the motion sensing unit 11, so that the angle formed by the display image after the reverse compensation and the previous frame of display image in the horizontal direction does not change.
Preferably, this unmanned aerial vehicle camera system adopts the fisheye lens, can shoot big wide angle sphere picture, is convenient for follow-up angle change according to this camera system carries out the picture adjustment. The field angle remaining after calibration with the stabilization process turned on will then be sufficiently large.
According to a preferred embodiment of the present invention, the motion sensing Unit 11 includes an Inertial Measurement Unit 110, which is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. A typical inertial measurement unit includes three uniaxial accelerometers and three uniaxial gyroscopes, the three uniaxial accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, and the three uniaxial gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, measure angular velocity and acceleration of the object in three-dimensional space, and solve the attitude of the object based on the angular velocity and acceleration signals. As shown in fig. 4, the inertia measurement unit 110 is mounted on a camera board of the camera system and is perpendicular to or parallel to an optical axis direction (shown as an x-axis in fig. 2) of a lens of the camera system, and the inertia measurement unit 110 can measure an angular velocity and an acceleration of the lens of the camera system in real time.
According to a preferred embodiment of the invention, the motion estimation unit 12 is configured to calculate the roll angle, the pitch angle of the lens of the camera system by means of a complementary filtering algorithm. The complementary filtering algorithm is that the angle measured by the gyroscope is used as the optimum in a short time, and the angle sampled by the accelerometer is regularly averaged to correct the measured angle of the gyroscope. The angle measured by the accelerometer is excellent for a long time, and the measurement and calculation proportion of the accelerometer is increased. And then, inhibiting the high-frequency signal of the accelerometer through low-pass filtering, inhibiting the low-frequency signal of the gyroscope through high-pass filtering, and adding to obtain the signal of the whole frequency band.
According to a preferred embodiment of the present invention, the motion estimation unit 12 is configured to calculate the motion frequency of the lens of the camera system by means of a complementary filtering algorithm, and when the motion frequency is lower than a preset value, the output image is processed by means of the image processing unit 13; and when the motion frequency is higher than a preset value, carrying out anti-shake processing on the camera lens. That is, when the movement frequency of the lens is lower than the preset value, it indicates that the unmanned aerial vehicle camera system is in low-frequency movement, and the output image is processed by the stability augmentation processing module 10 provided by the invention; when the movement frequency of the lens is higher than the preset value, the unmanned aerial vehicle camera system is in high-frequency movement, and the output picture can be adjusted through an anti-shake processing device arranged in the camera system.
According to a preferred embodiment of the present invention, as shown in fig. 5A, 5B, 5C, the image processing unit 13 is configured to crop the image to remove the black border after performing the inverse compensation on the output image. Here, fig. 5A shows an image 51 captured by the camera system lens in real time, and the image 51 deviates from a normal horizontal orientation due to the shake of the captured picture caused by the vibration of the drone. In fig. 5B, the image processing unit generates an image 52 by performing inverse compensation on the output image 51, and keeps the image 52 in a horizontal orientation for the user to view. As shown in fig. 5C, the image processing unit cuts out the black border to obtain an image 53, and the resolution of the image 53 is smaller than that of the image 52. After the image processing unit carries out reverse compensation on the output image, the image can generate a black edge, so that the image needs to be cut first and then displayed, and the displayed image is more attractive. Of course, this reduces the resolution and loses some of the field of view. The resolution of the image shot by the lens of the camera system reaches 3840 × 2160p, and after the stability augmentation processing is started, the calibrated image resolution can be reduced to 1080p, so that a good effect can be still achieved.
The motion sensing unit 11, the motion estimation unit 12 and the image processing unit 13 are all shown in fig. 1 to be disposed on the drone, and it is also conceivable to separately dispose the motion sensing unit 11, the motion estimation unit 12 and the image processing unit 13 on the drone body and on the controller of the drone. According to one embodiment, the motion sensing unit 11, the motion estimation unit 12 may be provided on the drone, and the image processing unit 13 on a remote control of the drone, for example integrated in an APP for controlling the drone. The unmanned aerial vehicle body transmits the image of gathering in real time and the image rotation angle that is calculated by motion estimation unit 12 to unmanned aerial vehicle's remote controller, image processing unit is according to image and image rotation angle carry out corresponding processing to the image according to above-mentioned method to image display after will handling is on the remote controller. Or alternatively the motion estimation unit 12 may be arranged on a remote control of the drone.
According to a preferred embodiment of the present invention, as shown in fig. 6, the present invention further provides a drone camera system 20, including: a camera 21, a stability augmentation processing module 10 as described above and a display module 22. The camera 21 is configured to capture an ambient image. The stability augmentation processing module 10 as described above is configured to receive and process images captured by the camera 21. The display module 22 is coupled to the stability-enhancing processing module 10 and configured to display the image processed by the image processing unit 13.
According to a preferred embodiment of the present invention, the camera 21 of the drone camera system 20 comprises a fisheye lens with a shooting resolution of 3840 × 2160.
According to a preferred embodiment of the present invention, as shown in fig. 7, the present invention further provides a method 30 for image stabilization processing using the stabilization processing module 10 as described above, including:
in step S301, the motion of the imaging system is sensed in real time by the motion sensing unit 11. For example, an unmanned aerial vehicle equipped with a camera system rotates, dives, climbs, jumps, or bumps in the weather, which may cause the camera system to accelerate at different angles, thereby causing the captured image to shake.
In step S302, the rotation angle of the image is calculated from the output of the motion sensing unit 11 by the motion estimation unit 12. The rotation angle of the image is a real-time rotation angle of a picture shot by a camera system carried by the unmanned aerial vehicle, the picture shot in real time is a display image under the condition that the camera system has no angular velocity and/or angular acceleration, and when the picture shakes, the shot picture needs to be subjected to stability enhancement processing firstly and then the processed image is displayed.
In step S303, the image output from the imaging system is inversely compensated by the image processing unit 13 according to the rotation angle of the image.
According to a preferred embodiment of the present invention, the motion sensing unit 11 includes an inertial measurement unit 110, the inertial measurement unit 110 is mounted on a camera board of the camera system and is perpendicular to or parallel to an optical axis direction of a lens of the camera system (as shown in fig. 4), and the method 30 of image stabilization processing further includes:
the angular velocity and acceleration of the camera system lens are measured in real time by the inertial measurement unit 110.
According to a preferred embodiment of the present invention, the method 30 of image stabilization further comprises:
the motion estimation unit 12 calculates the roll angle and the pitch angle of the lens of the camera system through a complementary filtering algorithm.
According to a preferred embodiment of the present invention, the method 30 of image stabilization further comprises:
the motion estimation unit 12 calculates the motion frequency of the lens of the camera system through a complementary filtering algorithm, and when the motion frequency is lower than a preset value, the output image is processed through the image processing unit 13; and when the motion frequency is higher than a preset value, carrying out anti-shake processing on the camera lens. That is, when the movement frequency of the lens is lower than the preset value, it indicates that the unmanned aerial vehicle camera system is in low-frequency movement, and the output image is processed by the stability augmentation processing module 10 provided by the invention; when the movement frequency of the lens is higher than the preset value, the unmanned aerial vehicle camera system is in high-frequency movement, and the output picture can be adjusted through an anti-shake processing device arranged in the camera system.
The invention provides a stability augmentation processing module for an unmanned aerial vehicle camera system, the unmanned aerial vehicle camera system comprising the stability augmentation processing module, and a method for anti-shake processing of images. The stability augmentation processing module senses the motion of the camera system through the motion sensing unit, calculates the rotation angle of the image through the motion estimation unit, and performs reverse compensation on the image output by the camera system through the image processing unit. The stability augmentation processing module can improve the quality of a moving picture shot by the unmanned aerial vehicle camera system, not only adjusts the small-amplitude high-frequency jitter, but also avoids the influence of the large-amplitude low-frequency jitter on an output picture; install on unmanned aerial vehicle camera system, small, light in weight has replaced cloud platform equipment, has not only saved the space on the unmanned aerial vehicle greatly, has reduced unmanned aerial vehicle's manufacturing cost moreover.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. The utility model provides a can be used to unmanned aerial vehicle camera system's steady processing module that increases, includes:
a motion sensing unit configured to sense a motion of the image pickup system;
a motion estimation unit coupled to the motion sensing unit and configured to calculate a rotation angle of an image according to an output of the motion sensing unit;
the image processing unit is coupled with the motion estimation unit and is configured to perform reverse compensation on the image output by the camera system according to the rotation angle of the image;
the unmanned aerial vehicle camera system shoots a wide-angle spherical picture, and the image processing unit adjusts an output image on the spherical picture according to the rotation angle of the image;
the motion estimation unit is configured to calculate a motion frequency of the camera lens, and when the motion frequency is lower than a preset value, the output image is processed by the image processing unit; and when the motion frequency is higher than the preset value, carrying out anti-shake processing on the camera lens.
2. The module of claim 1, wherein the motion sensor unit comprises an inertial measurement unit, the inertial measurement unit is mounted on a camera board of the camera system and is perpendicular to or parallel to an optical axis direction of a lens of the camera system, and the inertial measurement unit can measure an angular velocity and an acceleration of the lens in real time.
3. The stability-augmentation processing module of claim 1 or 2, wherein the motion estimation unit is configured to calculate roll and pitch angles of the lens by a complementary filtering algorithm.
4. The stability-augmentation processing module of claim 1 or 2, wherein the motion estimation unit is configured to calculate a motion frequency of the lens by a complementary filtering algorithm.
5. The stability-enhancing processing module of claim 1 or 2, wherein the image processing unit is configured to crop the image to remove black edges after performing inverse compensation on the image.
6. An unmanned aerial vehicle camera system, comprising:
a camera configured to capture a surrounding image;
the stability augmentation processing module of any one of claims 1 to 5, configured to receive and process images taken by the camera;
and the display module is coupled with the stability augmentation processing module and is configured to display the image processed by the image processing unit.
7. The unmanned aerial vehicle camera system of claim 6, wherein the camera comprises a fisheye lens, and a capture resolution is 3840 x 2160.
8. A method for image stabilization using the stabilization processing module of any of claims 1-5, comprising:
sensing the motion of the camera system in real time through a motion sensing unit;
calculating, by a motion estimation unit, a rotation angle of an image according to an output of the motion sensing unit;
and performing reverse compensation on the image output by the camera system according to the rotation angle of the image through an image processing unit.
9. The method of claim 8, wherein the motion sensing unit comprises an inertial measurement unit mounted on a camera board of the camera system and perpendicular or parallel to an optical axis direction of a lens of the camera system, the method further comprising:
and measuring the angular speed and the acceleration of the lens in real time through the inertial measurement unit.
10. The method of claim 8 or 9, further comprising:
and the motion estimation unit calculates the roll angle and the pitch angle of the lens through a complementary filtering algorithm.
11. The method of claim 8 or 9, further comprising:
the motion estimation unit calculates the motion frequency of the lens through a complementary filtering algorithm, and when the motion frequency is lower than a preset value, the image processing unit processes an output image; and when the motion frequency is higher than the preset value, carrying out anti-shake processing on the camera lens.
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| PCT/CN2020/132014 WO2022027876A1 (en) | 2020-08-07 | 2020-11-27 | Stabilization processing module, unmanned aerial vehicle camera system and image stabilization processing method |
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2020
- 2020-08-07 CN CN202010788869.2A patent/CN111866395B/en active Active
- 2020-11-27 WO PCT/CN2020/132014 patent/WO2022027876A1/en active Application Filing
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| WO2022027876A1 (en) | 2022-02-10 |
| CN111866395A (en) | 2020-10-30 |
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