CN111899198A - Defogging method and device for marine image - Google Patents
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Abstract
The invention provides a defogging method and device for a marine image, and belongs to the technical field of image processing. The method comprises the following steps: acquiring a foggy marine image, and dividing the foggy marine image into a sky area and other areas; obtaining the atmospheric light value of the whole sea image by utilizing the sky area; respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas; and according to the atmospheric light value and the transmissivity of the whole sea image, carrying out defogging treatment on the obtained foggy sea image to obtain a defogged sea image. By adopting the method and the device, the quality of the defogged marine image can be improved.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method and a device for defogging marine images.
Background
Video surveillance at sea is an important means of sea surveillance. The image quality has a significant influence on the judgment of the sea area situation. However, the marine image is susceptible to marine fog, which causes the image definition to decrease, and therefore, the acquired marine image needs to be subjected to defogging processing, and the existing defogging method, for example, the dark channel prior algorithm, is provided on the basis of a rule that "gray value of one channel is always low in three color channels of RGB of each pixel of each image", but the marine image has the characteristics of large sky area occupation ratio and slightly bright overall environment, and does not conform to the rule, so that the problem of sky area distortion occurs when the dark channel prior algorithm is applied to process the marine image.
Disclosure of Invention
The embodiment of the invention provides a method and a device for defogging a marine image, which can improve the quality of the defogged marine image. The technical scheme is as follows:
in one aspect, a method for defogging marine images is provided, and the method is applied to electronic equipment, and comprises the following steps:
acquiring a foggy marine image, and dividing the foggy marine image into a sky area and other areas;
obtaining the atmospheric light value of the whole sea image by utilizing the sky area;
respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas;
and according to the atmospheric light value and the transmissivity of the whole sea image, carrying out defogging treatment on the obtained foggy sea image to obtain a defogged sea image.
Further, the acquiring the foggy marine image, and the segmenting the foggy marine image into the sky region and other regions comprises:
acquiring a foggy marine image;
pre-dividing the obtained foggy marine image by utilizing superpixel division to obtain a plurality of image subregions, wherein each image subregion is a superpixel;
clustering the super pixels obtained by pre-segmentation into two classes;
and carrying out self-adaptive threshold segmentation on the clustered images to obtain a sky region and other regions.
Further, the clustering the pre-divided superpixels into two categories includes:
clustering the super-pixels obtained by pre-segmentation into two classes by utilizing a K-means clustering algorithm;
during clustering, the distance d between the super-pixel clustering center and the super-pixel is represented as follows:
d＝ω1drgb+ω2dxy
wherein d isrgbRepresenting the color space distance, dxyRepresents a distance in space, [ r ]i,gi,bi]R, G, B values for the ith superpixel cluster center pixel, [ x [ ]i,yi]Is the coordinate value of the central pixel of the ith super pixel cluster, [ r ]j,gj,bj]R, G, B value for the jth superpixel center pixel, [ x ]j,yj]Is the coordinate value of the jth super-pixel center pixel, omega1And ω2Are respectively the color space distance drgbAnd a distance space distance dxyThe weight of (c).
Further, the adaptively threshold-segmenting the clustered image to obtain the sky region and other regions includes:
taking the average value of the gray values of the two types of super-pixel cluster center pixels obtained by clustering as an adaptive threshold;
and dividing pixels which are larger than or equal to the adaptive threshold into sky regions, and dividing pixels which are smaller than the adaptive threshold into other regions.
Further, the obtaining the atmospheric light value of the whole sea image by using the sky area comprises:
the gray values of all pixel points of the sky area gray map are sorted from large to small, the average value of the gray values of all channels of the original fog marine image pixel points corresponding to the first k% of the pixel points is taken as the atmospheric light value of the corresponding channel of the obtained fog marine image, namely the atmospheric light value is a three-element vector, and each element corresponds to each color channel.
Further, the obtaining the transmittance of the sky region and the transmittance of the other regions respectively, and determining the transmittance of the whole marine image according to the obtained transmittances of the sky region and the other regions includes:
respectively calculating the transmissivity of the sky area and other areas, and performing guiding filtering on the calculated transmissivity;
splicing and fusing the transmissivity of the guided and filtered sky area and other areas;
and performing guide filtering on the spliced and fused transmissivity to obtain the transmissivity of the whole marine image.
Further, after the acquired foggy marine image is defogged according to the atmospheric light value and the transmissivity of the whole obtained marine image, the method further comprises the following steps:
detecting whether the average brightness of the defogged marine image is greater than or equal to a preset brightness threshold value or not, if not, the defogged marine image is dark, and adjusting the average brightness of the defogged marine image to be the preset brightness threshold value.
In one aspect, an apparatus for defogging marine images is provided, the apparatus being applied to an electronic device, the apparatus including:
the segmentation module is used for acquiring a foggy maritime image and segmenting the foggy maritime image into a sky area and other areas;
the first determining module is used for solving the atmospheric light value of the whole sea image by utilizing the sky area;
the second determining module is used for respectively calculating the transmissivity of the sky area and other areas and determining the transmissivity of the whole sea image according to the obtained transmissivity of the sky area and other areas;
and the defogging module is used for defogging the acquired foggy marine image according to the atmospheric light value and the transmissivity of the whole marine image to obtain the defogged marine image.
In one aspect, an electronic device is provided, and the electronic device includes a processor and a memory, where at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the above-mentioned marine image defogging method.
In one aspect, a computer-readable storage medium is provided, having at least one instruction stored therein, the at least one instruction being loaded and executed by a processor to implement the above-mentioned marine image defogging method.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, a foggy marine image is acquired and is divided into a sky area and other areas; obtaining the atmospheric light value of the whole sea image by utilizing the sky area; respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas; according to the atmospheric light value and the transmissivity of the whole sea image, the acquired foggy sea image is subjected to defogging treatment to obtain the defogged sea image, so that the foggy sea image is divided into a sky region and other regions, the transmissivity of the whole sea image is determined after the transmissivity is respectively calculated, the problem of distortion of the sky region after defogging can be avoided, and the quality of the foggy sea image is improved.
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 creative efforts.
FIG. 1 is a schematic flow chart of a method for defogging an image at sea according to an embodiment of the present invention;
FIG. 2 is a detailed flow chart of a defogging method for an image at sea according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hazy marine image to be processed according to an embodiment of the present invention;
FIG. 4 is a graph of transmittance obtained after stitching and fusing according to an embodiment of the present invention;
FIG. 5 is a graph of the resulting transmission after guided filtering provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a defogged marine image provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a final defogged marine image obtained after brightness adjustment according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an image defogging device at sea according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention provides a method for defogging a marine image, where the method may be implemented by an electronic device, and the electronic device may be a terminal or a server, and the method includes:
s1, acquiring a foggy sea image, and dividing the foggy sea image into a sky area and other areas;
s2, obtaining the atmospheric light value of the whole sea image by using the sky area;
s3, respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole sea image according to the obtained transmissivity of the sky area and other areas;
and S4, according to the atmospheric light value and the transmissivity of the whole sea image, carrying out defogging treatment on the obtained foggy sea image to obtain a defogged sea image.
The marine image defogging method provided by the embodiment of the invention acquires a foggy marine image and divides the foggy marine image into a sky area and other areas; obtaining the atmospheric light value of the whole sea image by utilizing the sky area; respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas; according to the atmospheric light value and the transmissivity of the whole sea image, the acquired foggy sea image is subjected to defogging treatment to obtain the defogged sea image, so that the foggy sea image is divided into a sky region and other regions, the transmissivity of the whole sea image is determined after the transmissivity is respectively calculated, the problem of distortion of the sky region after defogging can be avoided, and the quality of the foggy sea image is improved.
In an embodiment of the foregoing marine image defogging method, as shown in fig. 2, the acquiring the foggy marine image and dividing the foggy marine image into the sky area and the other area includes:
a1, acquiring a foggy sea image;
a2, pre-dividing the acquired foggy marine image by utilizing superpixel division to obtain a plurality of image sub-regions, wherein each image sub-region is a superpixel;
a3, clustering the pre-divided superpixels into two types to obtain a preliminary sky region and other regions;
and A4, performing adaptive threshold segmentation on the clustered images to obtain sky regions and other regions.
In this embodiment, the clustered image is subjected to adaptive threshold segmentation to obtain a final sky region and other regions of the obtained foggy marine image.
In an embodiment of the foregoing method for defogging an offshore image, the clustering the pre-segmented superpixels into two categories further includes:
clustering the pre-divided superpixels into two classes by using a K-means (K-means) clustering algorithm;
wherein, when clustering, it is expressed as:
d＝ω1drgb+ω2dxy
wherein d isrgbRepresenting the color space distance, dxyRepresents a distance in space, [ r ]i,gi,bi]R, G, B values for the ith superpixel cluster center pixel, [ x [ ]i,yi]Is the coordinate value of the central pixel of the ith super pixel cluster, [ r ]j,gj,bj]R, G, B value for the jth superpixel center pixel, [ x ]j,yj]Is the coordinate value of the jth super-pixel center pixel, omega1And ω2Are respectively the color space distance drgbAnd a distance space distance dxyWeight of (a), ω1And ω2Has a value range of 0 to 1, and 0<(ω1+ω2)<1。
In this embodiment, the distance d between the super-pixel clustering center and the super-pixels is calculated in a five-dimensional space (specifically, a five-dimensional feature vector F ═ r, g, b, x, y), and clustering is performed according to the calculated distance d, so that the accuracy of classification can be improved.
In an embodiment of the foregoing method for defogging marine images, further performing adaptive threshold segmentation on the clustered images to obtain a sky region and other regions includes:
taking the average value of the gray values of the two types of super-pixel cluster center pixels obtained by clustering as an adaptive threshold;
and dividing pixels which are larger than or equal to the adaptive threshold into sky regions, and dividing pixels which are smaller than the adaptive threshold into other regions.
In the existing defogging method, the average value of pixel values at pixel points of the original fog marine image corresponding to pixel points with the brightness of first 0.1% in the gray scale image of the whole image is used as an atmospheric light value, but since white objects such as ships exist in the marine image, the atmospheric light value obtained according to the existing defogging method may be too large, in this embodiment, part of pixels in the sky area are selected to calculate the atmospheric light value, specifically: the gray values of all pixel points of the gray map of the sky region are sorted from large to small, the average value of the gray values of all channels of the pixel points of the original fog marine image corresponding to the first k% (for example, 1%) of pixel points is taken as the atmospheric light value of the channel corresponding to the obtained fog marine image, namely the atmospheric light value is a three-element vector, and each element corresponds to each color channel; therefore, when the marine image defogging is carried out, the influence of other bright objects such as white objects on the calculation of the atmospheric light value is avoided.
In an embodiment of the above method for defogging marine images, the obtaining the transmittances of the sky region and the other regions respectively, and determining the transmittance of the whole marine image according to the obtained transmittances of the sky region and the other regions includes:
respectively calculating the transmissivity of the sky area and other areas, and performing guiding filtering on the calculated transmissivity;
splicing and fusing the transmissivity of the guided and filtered sky area and other areas;
and performing guide filtering on the spliced and fused transmissivity to obtain the transmissivity of the whole marine image.
In this embodiment, when calculating the image transmittance, a calculation method in the dark channel prior-inspection algorithm may be applied, specifically: assuming that the value of the transfer function t (x) is constant within a rectangular window Ω (x) of a certain size in the image
The estimated transfer function has the constant value:
wherein t (x) represents the transmittance of the pixel x; i (x) represents the pixel value of pixel point x; c denotes R, G, B a certain one of the three channels; a represents an atmospheric light value; omega is a parameter introduced to prevent the recovered scene from being unnatural due to too thorough defogging.
In the embodiment, different parameters omega are selected from the sky area and other areas to calculate the transmittance, the transmittance is subjected to guide filtering after being obtained, the transmittance graph is refined, then the two parts of the transmittance after the guide filtering are fused together to be subjected to guide filtering, and the transmittance of the whole marine image is obtained.
In this embodiment, according to the atmospheric light value and the transmittance of the whole obtained marine image, a defogging model is used to perform defogging processing on the obtained foggy marine image, so as to obtain a defogged marine image, where the defogging model is expressed as:
where J represents the pixel value of the defogged marine image, and when t (x) is small, J (x) is increased to cause the transition of the whole image to the white field, so a threshold t is generally set0When t is<t0When t is equal to t0，t0Typically 0.1 is taken, so the optimized defogging model can be expressed as:
in an embodiment of the foregoing marine image defogging method, further, after the acquiring the foggy marine image is defogged according to the atmospheric light value and the transmittance of the whole obtained marine image, the method further includes:
detecting whether the average brightness of the defogged marine image is greater than or equal to a preset brightness threshold value or not, if not, the defogged marine image is dark, and adjusting the average brightness of the defogged marine image to be the preset brightness threshold value.
In the embodiment, after the defogged image is obtained, the brightness of the image is detected, the brightness of the dark marine image after the defogging is adjusted, and the dark marine image is brightened to obtain the final defogged marine image, so that the marine image is more suitable for the habit of human eye observation.
The method for defogging the marine image is a method for defogging the image in the marine environment, can not only remove the fog on the image in the marine environment, but also remove the haze on the image in the marine environment, and can avoid the problems of distortion of a sky region after defogging and darkening of the marine image after defogging, thereby improving the quality of the image in the marine environment after defogging.
The effectiveness of the offshore image defogging method provided by the embodiment of the invention is verified by combining a specific image to be processed, fig. 3 is a foggy offshore image to be processed, the foggy offshore image to be processed is divided into two regions, namely a sky region and other regions, when the offshore image is defogged, the sky region is applied to obtain an atmospheric light value, when the transmittance is calculated, different parameters ω of the sky region and other regions are selected to obtain the transmittance, in the embodiment, the parameter of the sky region is 0.65, the parameter of the other regions is 0.75, and the transmittance graph obtained by splicing and fusing the two transmittance parts is shown in fig. 4. The final transmittance map is obtained by directional filtering of fig. 4, as shown in fig. 5. And defogging the foggy marine image by using the atmospheric light value and the transmittance obtained above to obtain a defogged marine image, and adjusting the brightness of the defogged marine image to obtain a final foggy marine image as shown in fig. 6 and 7.
The present invention further provides a specific embodiment of an offshore image defogging device, which corresponds to the specific embodiment of the offshore image defogging method, and the offshore image defogging device can implement the object of the present invention by executing the flow steps in the specific embodiment of the method, so the explanation in the specific embodiment of the offshore image defogging method is also applicable to the specific embodiment of the offshore image defogging device provided by the present invention, and the details in the following specific embodiment of the present invention will not be repeated.
As shown in fig. 8, an embodiment of the present invention further provides a marine image defogging device, including:
the segmentation module 11 is configured to acquire a foggy marine image and segment the foggy marine image into a sky region and other regions;
the first determining module 12 is configured to use the sky region to obtain an atmospheric light value of the whole marine image;
a second determining module 13, configured to respectively obtain transmittances of the sky region and other regions, and determine the transmittance of the whole marine image according to the obtained transmittances of the sky region and other regions;
and the defogging module 14 is used for performing defogging treatment on the acquired foggy marine image according to the atmospheric light value and the transmissivity of the obtained whole marine image to obtain a defogged marine image.
The marine image defogging device of the embodiment of the invention acquires a foggy marine image and divides the foggy marine image into a sky area and other areas; obtaining the atmospheric light value of the whole sea image by utilizing the sky area; respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas; according to the atmospheric light value and the transmissivity of the whole sea image, the acquired foggy sea image is subjected to defogging treatment to obtain the defogged sea image, so that the foggy sea image is divided into a sky region and other regions, the transmissivity of the whole sea image is determined after the transmissivity is respectively calculated, the problem of distortion of the sky region after defogging can be avoided, and the quality of the foggy sea image is improved.
Fig. 9 is a schematic structural diagram of an electronic device 600 according to an embodiment of the present invention, where the electronic device 600 may generate relatively large differences due to different configurations or performances, and may include one or more processors (CPUs) 601 and one or more memories 602, where the memory 602 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 601 to implement the above-mentioned marine image defogging method.
In an exemplary embodiment, a computer-readable storage medium, such as a memory, is also provided that includes instructions executable by a processor in a terminal to perform the above-described marine image defogging method. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A method for defogging an image at sea, comprising:
acquiring a foggy marine image, and dividing the foggy marine image into a sky area and other areas;
obtaining the atmospheric light value of the whole sea image by utilizing the sky area;
respectively obtaining the transmissivity of the sky area and other areas, and determining the transmissivity of the whole marine image according to the obtained transmissivity of the sky area and other areas;
and according to the atmospheric light value and the transmissivity of the whole sea image, carrying out defogging treatment on the obtained foggy sea image to obtain a defogged sea image.
2. The marine image defogging method according to claim 1, wherein said acquiring a foggy marine image, segmenting it into a sky region and other regions comprises:
acquiring a foggy marine image;
pre-dividing the obtained foggy marine image by utilizing superpixel division to obtain a plurality of image subregions, wherein each image subregion is a superpixel;
clustering the super pixels obtained by pre-segmentation into two classes;
and carrying out self-adaptive threshold segmentation on the clustered images to obtain a sky region and other regions.
3. A marine image defogging method according to claim 2 wherein said clustering of said pre-segmented superpixels into two categories comprises:
clustering the super-pixels obtained by pre-segmentation into two classes by utilizing a K-means clustering algorithm;
during clustering, the distance d between the super-pixel clustering center and the super-pixel is represented as follows:
d＝ω1drgb+ω2dxy
wherein d isrgbRepresenting the color space distance, dxyRepresents a distance in space, [ r ]i，gi，bi]R, G, B values for the ith superpixel cluster center pixel, [ x [ ]i，yi]Is the coordinate value of the central pixel of the ith super pixel cluster, [ r ]j，gj，bj]R, G, B value for the jth superpixel center pixel, [ x ]j，yj]Is the coordinate value of the jth super-pixel center pixel, omega1And ω2Are respectively the color space distance drgbAnd a distance space distance dxyThe weight of (c).
4. The marine image defogging method according to claim 2, wherein said adaptively thresholding said clustered image to obtain a sky region and other regions comprises:
taking the average value of the gray values of the two types of super-pixel cluster center pixels obtained by clustering as an adaptive threshold;
and dividing pixels which are larger than or equal to the adaptive threshold into sky regions, and dividing pixels which are smaller than the adaptive threshold into other regions.
5. The marine image defogging method according to claim 1, wherein said utilizing the sky region to obtain the atmospheric light value of the whole marine image comprises:
the gray values of all pixel points of the sky area gray map are sorted from large to small, the average value of the gray values of all channels of the original fog marine image pixel points corresponding to the first k% of the pixel points is taken as the atmospheric light value of the corresponding channel of the obtained fog marine image, namely the atmospheric light value is a three-element vector, and each element corresponds to each color channel.
6. The method of claim 1, wherein the determining the transmittance of the sky region and the transmittance of the other regions respectively comprises:
respectively calculating the transmissivity of the sky area and other areas, and performing guiding filtering on the calculated transmissivity;
splicing and fusing the transmissivity of the guided and filtered sky area and other areas;
and performing guide filtering on the spliced and fused transmissivity to obtain the transmissivity of the whole marine image.
7. The marine image defogging method according to claim 1, wherein after the acquired foggy marine image is defogged according to the atmospheric light value and the transmittance of the obtained whole marine image, the method further comprises:
detecting whether the average brightness of the defogged marine image is greater than or equal to a preset brightness threshold value or not, if not, the defogged marine image is dark, and adjusting the average brightness of the defogged marine image to be the preset brightness threshold value.
8. An apparatus for defogging marine images, comprising:
the segmentation module is used for acquiring a foggy maritime image and segmenting the foggy maritime image into a sky area and other areas;
the first determining module is used for solving the atmospheric light value of the whole sea image by utilizing the sky area;
the second determining module is used for respectively calculating the transmissivity of the sky area and other areas and determining the transmissivity of the whole sea image according to the obtained transmissivity of the sky area and other areas;
and the defogging module is used for defogging the acquired foggy marine image according to the atmospheric light value and the transmissivity of the whole marine image to obtain the defogged marine image.
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