CN113177440A - Image synchronization method and device, electronic equipment and computer storage medium - Google Patents

Abstract

The embodiment of the disclosure provides an image synchronization method, an image synchronization device, an electronic device and a computer storage medium, wherein the method comprises the following steps: acquiring at least two images acquired by at least two image acquisition devices, wherein the image acquisition devices corresponding to the images in the at least two images are different; carrying out target identification on the at least two images, and determining the positions of the same moving target in the at least two images; determining the delay time between the at least two images according to the positions of the same moving target in the at least two images and the predetermined motion state information of the same moving target; and according to the delay time, performing time synchronization processing on the at least two image acquisition devices.

Description

Image synchronization method, apparatus, electronic device and computer storage medium

technical field

The present disclosure relates to computer vision processing technology, and in particular, to an image synchronization method, apparatus, electronic device, and computer storage medium.

Background technique

At present, for an image acquisition system integrating multiple image acquisition devices, the measurement of image delay between different image acquisition devices is a key issue of system integration. In order to determine the image delay time between different image acquisition devices, in related technologies, usually The video between different image acquisition devices can be recorded or screened, and then the image delay between different image acquisition devices can be determined through several frames of video images or human eye observation, which is time-consuming, labor-intensive, low-efficiency, and low-accuracy. And other issues.

SUMMARY OF THE INVENTION

The embodiments of the present disclosure are expected to provide a technical solution for image synchronization.

An embodiment of the present disclosure provides an image synchronization method, and the method includes:

Acquire at least two images captured by at least two image capturing devices, wherein the image capturing devices corresponding to each of the at least two images are different

performing target recognition on the at least two images, and determining the position of the same moving target in the at least two images;

determining the delay time between the at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object;

According to the delay time, time synchronization processing is performed on the at least two image capturing devices.

In some embodiments, the method further includes:

Obtain the motion state information of the same moving object moving at a uniform speed.

In some embodiments, the acquiring the motion state information of the same moving object moving at a uniform speed includes:

Acquire first velocity information of the same moving object in uniform circular motion, and use the first velocity information as the motion state information.

In some embodiments, determining the delay between the at least two images according to the position of the same moving object in the at least two images and predetermined motion state information of the same moving object time, including:

Determine the polar angle of the same moving object in each of the at least two images according to the position of the same moving object in the at least two images, and the same moving object in each of the images The polar angle in : represents the included angle between the line connecting the center point of the uniform circular motion of the same moving object in each image and the reference direction;

Determine the polar angle difference between the two polar angles according to the two polar angles of the same moving object in any two of the at least two images;

A delay time between any two of the at least two images is determined according to the polar angle difference and the first rate information.

In some embodiments, the acquiring motion state information of the uniform moving target in uniform motion includes:

Acquire second rate information of the same moving object moving in a uniform straight line, and use the second rate information as the motion state information.

In some embodiments, determining the delay between the at least two images according to the position of the same moving object in the at least two images and predetermined motion state information of the same moving object time, including:

According to the position of the same moving object in the at least two images, determine the relative distance of the same moving object in any two images in the at least two images;

A delay time between any two of the at least two images is determined according to the relative distance and the second rate information.

In some embodiments, the method further includes:

Obtain the movement speed change information of the same moving object, and use the movement speed change information as the movement state information.

In some embodiments, the at least two image acquisition devices include thermal imagers, and the moving target includes a hollowed-out portion.

Embodiments of the present disclosure also provide an image synchronization apparatus, the apparatus comprising:

an acquisition module, configured to acquire at least two images acquired by at least two image acquisition devices, wherein the image acquisition devices corresponding to each of the at least two images are different;

The first processing module is configured to perform target recognition on the at least two images, and determine the position of the same moving target in the at least two images; according to the position of the same moving target in the at least two images, and the predetermined motion state information of the same moving object, to determine the delay time between the at least two images;

The second processing module is configured to perform time synchronization processing on the at least two image acquisition devices according to the delay time.

Embodiments of the present disclosure also provide an electronic device, including a processor and a memory for storing a computer program that can be executed on the processor; wherein,

The processor is used for running the computer program to execute any one of the above-mentioned image synchronization methods.

Embodiments of the present disclosure also provide a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, implements any one of the above image synchronization methods.

In the image synchronization method, device, electronic device, and computer storage medium proposed in the embodiments of the present disclosure, at least two images collected by at least two image collection devices are acquired, wherein the image collection equipment corresponding to each of the at least two images perform target recognition on the at least two images to determine the position of the same moving object in the at least two images; according to the position of the same moving object in the at least two images and the predetermined The motion state information of the same moving object is used to determine the delay time between the at least two images; according to the delay time, time synchronization processing is performed on the at least two image acquisition devices.

It can be seen that, in the embodiment of the present disclosure, the delay time of at least two images can be determined according to the position difference of the same moving object in the at least two images and the predetermined motion state information of the same moving object, so as to realize at least two images The time synchronization of the acquisition devices, because it is not necessary to determine the image delay between different image acquisition devices through the number of frames of video images or the human eye observation method, the delay time of at least two images can be quickly and accurately determined, and the difference between different image acquisition devices can be improved. Compared with the related art scheme of determining the image delay between different image acquisition devices through several frames of video images or human eye observation, it has the characteristics of high accuracy and easy implementation.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the technical solutions of the present disclosure.

FIG. 1 is a flowchart of an image synchronization method according to an embodiment of the present disclosure;

2A is a turntable image collected by an image collection device in an embodiment of the present disclosure;

FIG. 2B is a turntable image collected by another infrared camera in an embodiment of the present disclosure;

3A is a turntable image collected by an RGB camera in an embodiment of the disclosure;

3B is a turntable image collected by an infrared camera in an embodiment of the present disclosure;

3C is an image of a turntable collected by an infrared thermal imager in an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an image synchronization apparatus according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.

Detailed ways

The present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments provided herein are only used to explain the present disclosure, but not to limit the present disclosure. In addition, the embodiments provided below are only some of the embodiments for implementing the present disclosure, rather than all the embodiments for implementing the present disclosure. In the case of no conflict, the technical solutions described in the embodiments of the present disclosure can be combined in any way. implement.

It should be noted that, in the embodiments of the present disclosure, the terms "comprising", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a method or device including a series of elements not only includes the explicitly stated elements, but also other elements not expressly listed or inherent to the implementation of the method or apparatus. Without further limitation, an element defined by the phrase "comprises a..." does not preclude the presence of additional related elements (eg, steps in a method or a device) in which the element is included. A unit in an apparatus, for example, a unit may be part of a circuit, part of a processor, part of a program or software, etc.).

For example, the image synchronization method provided by the embodiment of the present disclosure includes a series of steps, but the image synchronization method provided by the embodiment of the present disclosure is not limited to the described steps. Similarly, the image synchronization device provided by the embodiment of the present disclosure includes a A series of modules, but the apparatus provided by the embodiments of the present disclosure is not limited to including the explicitly described modules, and may also include modules that need to be set for acquiring relevant information or performing processing based on the information.

The term "and/or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or C, it can mean that A exists alone, A and C exist at the same time, and it exists alone C these three cases. In addition, the term "at least one" herein refers to any combination of any one of the plurality or at least two of the plurality, for example, including at least one of A, C, D, can mean including from A, C, D. Any one or more elements selected from the set of C and D.

Embodiments of the present disclosure may be applied to computer systems consisting of terminals and/or servers, and may operate with numerous other general-purpose or special-purpose computing system environments or configurations. Here, the terminals may be thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, minicomputer systems, etc., and the server may be a server computer Systems Small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above, etc.

Electronic devices such as terminals, servers, etc., may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, object programs, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. Computer systems/servers may be implemented in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located on local or remote computing system storage media including storage devices.

In some embodiments of the present disclosure, an image synchronization method is proposed, which can be applied to an electronic device integrated with a multi-camera system. The embodiments of the present disclosure can be applied to security monitoring, non-contact human body temperature measurement, unmanned Camera shooting, quick temperature measurement, access control and other scenes.

FIG. 1 is a flowchart of an image synchronization method according to an embodiment of the present disclosure. As shown in FIG. 1 , the flowchart may include:

Step 101: Acquire at least two images captured by at least two image capturing devices, wherein the image capturing devices corresponding to each of the at least two images are different.

In this embodiment of the present disclosure, the at least two image capturing devices may be devices in a multi-camera camera, and the at least two image capturing devices may include at least two of the following devices: capturing red-green-blue (Red-Green-Blue) , RGB) image equipment, infrared cameras, thermal imagers.

In the embodiment of the present disclosure, the above-mentioned at least two images represent images acquired by different image acquisition devices; exemplarily, in the case where the at least two images are two images, the image acquisition devices corresponding to the two images are Any two devices in a device for RGB images, an infrared camera, and a thermal imager; exemplarily, in the case where at least two images are three images, the image acquisition devices corresponding to the three images are devices for acquiring RGB images respectively , infrared cameras and thermal imagers.

In the embodiment of the present disclosure, the at least two image acquisition devices are used to collect images of the same scene, the images collected by the at least two image acquisition devices may include the same object, and the same object may be an object in a moving state, or may is a stationary object.

In some embodiments, in an electronic device integrated with a multi-camera system, shooting instructions may be issued to the at least two image acquisition devices at the same time, and the at least two image acquisition devices collect images according to the received shooting instructions It can be understood that due to factors such as jitter in the communication links of the various components in the above-mentioned electronic equipment, it may cause a time delay in the at least two images obtained. The delay time is set, so that the synchronization processing is performed on the at least two image capturing devices, so that the images acquired from the at least two image capturing devices subsequently are kept in time synchronization.

In some embodiments, after acquiring the at least two images, the at least two images may be stored in the memory of the electronic device for subsequent recall.

Step 102: Perform object recognition on at least two images, and determine the position of the same moving object in the at least two images.

In the embodiments of the present disclosure, the same moving target belongs to the same object described above; in some embodiments, the same moving target may be a pre-specified target. For example, the moving object may be a pointer, a remote control car, or other objects that can move according to a preset rule.

In some embodiments, object recognition may be performed on each of the at least two images, thereby identifying the position of the same moving object in each image.

In some embodiments, features can be extracted from each image based on machine vision technology, so as to identify the same moving object according to the features extracted from each image, and then determine the position of the same moving object in each image.

Exemplarily, each image can be input into a pre-trained neural network, and based on the processing of each image by the neural network, a corresponding moving object can be identified, thereby determining the position of the moving object in each image.

Step 103: Determine the delay time between the at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object.

In the embodiments of the present disclosure, the motion state information of the same moving object may be motion speed information, motion rate information, motion position information, etc.; Speed, velocity, or position at a moment in time.

In one example, the target can be specified to move at a uniform speed at a preset rate. Here, uniform motion means a motion with a constant rate. In a uniform motion, the direction of motion can remain the same or change; for example, a uniform motion can be a uniform motion. Circular motion, uniform linear motion, or other uniform motion that follows a regular route.

In another example, the target may be designated to move according to a preset rate change rule.

Exemplarily, the target can be driven to move by a device such as a motor, so that the motor can drive the target to move according to a specified movement mode by issuing a corresponding driving instruction to the motor.

In some embodiments, when the number of the at least two images is 2, the delay time between the two images can be determined; when the number of the at least two images is greater than 2, the at least two images The delay time between two images is the delay time between at least two images.

Step 104: Perform time synchronization processing on at least two image acquisition devices according to the delay time.

In this embodiment of the present disclosure, time synchronization processing may be performed between the at least two image acquisition devices according to the above delay time, so that the images acquired by the at least two image acquisition devices subsequently can maintain time consistency, that is, the subsequent Images acquired from at least two image acquisition devices can be kept synchronized in time.

Exemplarily, if the image captured by the image capture device E lags behind the image captured by the image capture device F, and the delay time of the image captured by the image capture device E relative to the image captured by the image capture device F is 30 μs, then the image capture device can be The images acquired subsequently by F are processed with a delay of 30 μs, so as to realize the time synchronization of the image acquisition device E and the image acquisition device F.

Exemplarily, if the image captured by the image capture device P is ahead of the image captured by the image capture device Q, and the delay time of the image captured by the image capture device Q relative to the image captured by the image capture device P is 40 μs, then the image capture device can be The images acquired by P subsequently are processed with a delay of 40 μs, so as to realize the time synchronization of the image acquisition device P and the image acquisition device Q.

In practical applications, steps 101 to 104 may be implemented by a processor in an electronic device, and the above-mentioned processor may be an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), Central Processing Unit (CPU), control at least one of a device, a microcontroller, and a microprocessor.

It can be seen that, in the embodiment of the present disclosure, the delay time of at least two images can be determined according to the position difference of the same moving object in the at least two images and the predetermined motion state information of the same moving object, so as to realize at least two images The time synchronization of the acquisition devices, because it is not necessary to determine the image delay between different image acquisition devices through the number of frames of video images or the human eye observation method, the delay time of at least two images can be quickly and accurately determined, and the difference between different image acquisition devices can be improved. Compared with the related art scheme of determining the image delay between different image acquisition devices through several frames of video images or human eye observation, it has the characteristics of high accuracy and easy implementation.

In some embodiments, the motion state information of the same moving object that may be moving at a constant speed.

Understandably, since the motion law of the uniform motion is simple, it is easy to determine the delay time between at least two images according to the motion state information of the uniform motion target.

In some embodiments, acquiring motion state information of the same moving object in uniform motion may include: acquiring first rate information of the same moving object in uniform circular motion, and using the first rate information as the motion state information.

Exemplarily, the first rate information is preset rate information. It can be seen that, in the embodiment of the present disclosure, by controlling the moving object to perform a uniform circular motion at the first rate, it is convenient to perform time synchronization on at least two image acquisition devices before time synchronization. Determine the motion state information of the moving target.

In some embodiments, determining the delay time between at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object may include:

Determine the polar angle of the same moving object in each of the at least two images according to the position of the same moving object in the at least two images, and the polar angle of the same moving object in each image means: in each image the same The angle between the line connecting the moving center point of the uniform circular motion from the moving target and the reference direction;

Determine the polar angle difference between the two polar angles according to the two polar angles of any two images of the same moving object in the at least two images;

A delay time between at least two images is determined according to the polar angle difference and the first rate information.

In the embodiment of the present disclosure, the reference direction may represent the direction of a preset line passing through the motion center point of the uniform circular motion, and in the polar coordinate system, the reference direction may represent the direction of the polar axis.

Exemplarily, referring to FIG. 2A , the connection line between the first moving object 201 and the motion center point of the uniform circular motion in the image collected by the image acquisition device A1 is the first connection line 203 , and the connection between the first connection line 203 and the polar axis 202 2B, the connection line between the first moving target 201 and the motion center point of the uniform circular motion in the image collected by the image acquisition device A2 is the second connection line 204, the second connection line 204 and the polar axis The included angle between 202 is 74 degrees, then the polar angles of the first moving object 201 in the two images are 36 degrees and 74 degrees respectively, thus, the polar angle difference of the first moving object 201 in the two images can be determined is 38 degrees.

In some embodiments, the delay time between any two images can be calculated according to the following formula:

Among them, Δt represents the delay time between any two images, θ represents the polar angle difference between the position of the moving target in any two images relative to the motion center point of the uniform circular motion, and r represents the rotational speed, in revolutions per second.

It is understandable that if the time for the moving object to rotate once is less than the time delay of any two images, the above polar angle difference cannot accurately reflect the time delay of the two images.

In order to accurately and reliably calculate the polar angle difference, the time for a moving target to rotate once needs to be greater than or equal to the time delay of any two images. Exemplarily, the value range of the time delay of any two images can be estimated according to historical data, so that The rotation speed of the uniform circular motion is set according to this value range, so that the time for the moving object to rotate once is greater than or equal to the time delay of any two images.

It can be seen that in the embodiment of the present disclosure, the delay time between at least two images can be determined according to the polar angle difference and the first rate information, which is different from the determination of the delay time between different image acquisition devices by the method of video image number frames or human eye observation in the related art. Compared with the scheme of the image delay between the two, it has the characteristics of accuracy and efficiency.

In some embodiments, the above-mentioned at least two image acquisition devices include an RGB camera, an infrared camera and an infrared thermal imager. Before performing image synchronization, a background heat source can be turned on, and a turntable capable of uniform circular motion can be placed in front of the background heat source, The RGB camera, infrared camera and infrared thermal imager can directly photograph the turntable; in the embodiment of the present disclosure, referring to FIGS. 3A to 3C , the turntable 301 is provided with a pointer 302 representing the rotation angle of the turntable, and the turntable 301 may also have a scale, It is convenient to read the rotation angle of the pointer 302 , and the pointer 302 is the same moving target mentioned above.

When the turntable 301 is controlled to move at a constant speed at a set rotational speed, the RGB camera, the infrared camera and the infrared thermal imager are controlled to shoot, wherein the image captured by the RGB camera is an RGB image, and the image captured by the infrared camera is an infrared image, The image captured by the infrared thermal imager is a heat map; exemplarily, the set rotation speed may be 1000 revolutions per second, that is, the time for one turn of the turntable is 1 millisecond.

By performing target recognition and corner detection on the RGB image, the position of the pointer 302 in the RGB image is determined. Referring to FIG. 3A , the position of the pointer 302 is a position rotated 36 degrees from the true north direction. By performing target recognition and corner detection on the infrared image, the position of the pointer 302 in the infrared image is determined. Referring to FIG. 3B , the position of the pointer 302 is a position rotated 54 degrees from the true north direction. Target recognition is performed on the heat map, and the position of the pointer 302 in the heat map is determined. Referring to FIG. 3C , the position of the pointer 302 is a position rotated 72 degrees from the true north direction.

After the position of the pointer 302 in the RGB image, the infrared image and the heat map is determined, the polar angle difference of the pointer can be determined between the RGB image, the infrared image and the heat map, and then the RGB image, the infrared image and the heat map can be determined. The delay time between pairs in the heatmap.

Exemplarily, referring to FIGS. 3A to 3C , the polar angle difference of the pointer relative to the movement center point in the RGB image and the infrared image is -18 degrees, then under the condition that the set rotational speed can be 1000 revolutions per second, according to the formula (1), it can be determined that the delay time of the RGB image relative to the infrared image is -50 microseconds, that is, the RGB camera is 50 microseconds slower than each frame of the infrared camera image

The polar angle difference between the pointer in the RGB image and the heat map relative to the center point of the motion is -36 degrees, then when the set rotation speed can be 1000 rpm, according to formula (1), it can be determined that the RGB image is relative to the heat The delay time of the image is -100 microseconds, i.e., the RGB camera is 100 microseconds slower per image frame than the infrared camera.

The polar angle difference between the pointer in the infrared image and the heat map relative to the center point of motion is -18 degrees, then when the set rotation speed can be 1000 revolutions per second, according to formula (1), it can be determined that the infrared image is relative to the heat The delay time of the image is -50 microseconds, that is, the infrared camera is 50 microseconds slower than the thermal imager for each frame of image.

In some embodiments, the second velocity information of the same moving object moving in a uniform straight line may be acquired, and the second velocity information may be used as the motion state information.

Exemplarily, the second rate information is preset rate information. It can be seen that, in the embodiment of the present disclosure, by controlling the moving object to perform a uniform linear motion at the second rate, it is convenient to perform time synchronization on at least two image acquisition devices before time synchronization. Determine the motion state information of the moving target.

In some embodiments, determining the delay time between at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object may include:

According to the position of the same moving object in the at least two images, determine the relative distance of the same moving object in any two images in the at least two images;

A delay time between any two of the at least two images is determined according to the relative distance and the second rate information.

In some embodiments, the delay time between any two images can be calculated according to the following formula:

Among them, Δt represents the delay time between any two images, l represents the relative distance of the same moving object in any two images, and v represents the second rate.

In some embodiments, the at least two image acquisition devices include an RGB camera, an infrared camera, and an infrared thermal imager. Correspondingly, the at least two images are an RGB image, an infrared image, and a heat map, and the moving target in the RGB image is relative to the starting point. The distance is l ₁ , the distance of the moving target relative to the starting point in the infrared image is l ₂ , and the distance of the moving target relative to the starting point in the heat map is l ₃ .

It can be seen that the relative distance of the moving target in the RGB image and the infrared image is l ₁ -l ₂ . According to formula (2), the delay time of the RGB image and the infrared image can be calculated; the moving target is in the RGB image and the heat map. The relative distance is l ₁ -l ₃ , the delay time of the RGB image and the heat map can be calculated according to formula (2); the relative distance of the moving target in the infrared image and the heat map is l ₂ -l ₃ , according to the formula ( 2) The delay time of infrared image and heat map can be calculated.

It can be seen that in the embodiments of the present disclosure, the delay time between at least two images can be determined according to the relative distance and the second rate information, which is different from the determination of the delay time between different image acquisition devices by using the video image number frames or the human eye observation method in the related art. Compared with the image delay scheme, it has the characteristics of accuracy and efficiency.

In some embodiments, the movement speed change information of the same moving object may be acquired, and the movement speed change information may be used as the movement state information.

Exemplarily, the movement mode of the moving object at each moment can be specified, so that the speed of the moving object at each moment can be predetermined, that is, the movement speed change information of the moving object can be determined.

It can be seen that, in the embodiment of the present disclosure, by controlling the moving target to move with reference to the preset movement speed change information, it is convenient to determine the motion state information of the moving target before time synchronization is performed on the at least two image capturing devices, thus, it is beneficial to Determine the delay time for at least two images.

In some embodiments, when the at least two image acquisition devices include thermal imagers, the moving target may include a hollowed-out portion; before image synchronization, the background heat source may be turned on, and the moving target may be placed in front of the background heat source. In this way, Since the moving target includes hollow parts, it is convenient to observe the moving target intuitively in the image collected by the thermal imager.

Exemplarily, when the moving target is located on the turntable, a hollow scale line may be added on the turntable, so that the position of the moving target can be visually observed in the image collected by the thermal imager.

In access control, security, and rapid temperature measurement scenarios, a multi-camera system can be integrated into electronic devices to obtain RGB images, infrared images and heat maps. There will be time delays between RGB images, infrared images and heat maps. For fast moving objects, there will be differences in binocular ranging and abnormal target mapping, resulting in abnormal functions of temperature measurement, living body, and distance position estimation. Therefore, it is necessary to determine the time delay between images collected by multi-camera cameras and follow-up. deal with. In response to this problem, in the embodiment of the present disclosure, the delay time of at least two images is determined according to the position difference of the same moving object in the at least two images and the predetermined motion state information of the same moving object, so as to realize at least two Time synchronization of image acquisition devices, because it is not necessary to determine the image delay between different image acquisition devices through video image number frames or human eye observation methods, the delay time of at least two images can be quickly and accurately determined, and the difference between different image acquisition devices can be improved. The statistical efficiency of the image delay between the two optimizes the data path of the electronic equipment integrated with the multi-camera system, and increases the user experience.

Those skilled in the art can understand that in the above method of the specific implementation, the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.

On the basis of the image synchronization methods proposed in the foregoing embodiments, the embodiments of the present disclosure provide an image synchronization apparatus.

FIG. 4 is a schematic structural diagram of an image synchronization apparatus according to an embodiment of the present disclosure. As shown in FIG. 4 , the apparatus may include an acquisition module 400 , a first processing module 401 and a second processing module 402 , wherein,

An acquisition module 400, configured to acquire at least two images acquired by at least two image acquisition devices, wherein the image acquisition devices corresponding to each of the at least two images are different;

The first processing module 401 is used to perform target recognition on at least two images, and determine the position of the same moving target in the at least two images; according to the position of the same moving target in the at least two images and the predetermined same moving target the motion state information, determine the delay time between at least two images;

The second processing module 402 is configured to perform time synchronization processing on at least two image acquisition devices according to the delay time.

In some embodiments, the first processing module 401 is further configured to acquire motion state information of the same moving object moving at a uniform speed.

In some embodiments, the first processing module 401, configured to acquire the motion state information of the same moving object moving at a uniform speed, includes:

Obtain the first speed information of the same moving object in uniform circular motion, and use the first speed information as the motion state information.

In some embodiments, the first processing module 401 is configured to determine the delay time between the at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object, include:

Determine the polar angle of the same moving object in each of the at least two images according to the position of the same moving object in the at least two images, and the polar angle of the same moving object in each image means: in each image the same The angle between the line connecting the moving center point of the uniform circular motion from the moving target and the reference direction;

Determine the polar angle difference between the two polar angles according to the two polar angles of any two images of the same moving object in the at least two images;

A delay time between any two of the at least two images is determined according to the polar angle difference and the first rate information.

In some embodiments, the first processing module 401, configured to acquire the motion state information of the same moving object moving at a uniform speed, includes:

Acquire second rate information of the same moving object moving in a uniform straight line, and use the second rate information as motion state information.

In some embodiments, the first processing module 401 is configured to determine the delay time between the at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object, include:

According to the position of the same moving object in the at least two images, determine the relative distance of the same moving object in any two images in the at least two images;

A delay time between any two of the at least two images is determined according to the relative distance and the second rate information.

In some embodiments, the first processing module 401 is further configured to acquire the movement speed change information of the same moving object, and use the movement speed change information as the movement state information.

In some embodiments, the at least two image acquisition devices include thermal imagers, and the moving target includes a cutout.

In practical applications, the acquisition module 400, the first processing module 401, and the second processing module 402 can all be implemented by a processor in an electronic device, and the above-mentioned processor can be an ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, At least one of a microcontroller and a microprocessor.

In addition, each functional module in this embodiment may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware, or can be implemented in the form of software function modules.

If the integrated unit is implemented in the form of a software functional module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or The part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium, and includes several instructions for making a computer device (which can be It is a personal computer, a server, or a network device, etc.) or a processor (processor) that executes all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes: U disk, removable hard disk, Read Only Memory (ROM), Random Access Memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes.

Specifically, the computer program instructions corresponding to an image synchronization method in this embodiment may be stored on a storage medium such as an optical disc, a hard disk, a U disk, etc. When the computer program instructions corresponding to an image synchronization method in the storage medium When read or executed by an electronic device, any one of the image synchronization methods of the foregoing embodiments is implemented.

Based on the same technical concept as the foregoing embodiments, see FIG. 5 , which shows an electronic device 5 provided by an embodiment of the present disclosure, which may include: a memory 501 and a processor 502; wherein,

The memory 501 is used to store computer programs and data;

The processor 502 is configured to execute the computer program stored in the memory to implement any one of the image synchronization methods in the foregoing embodiments.

In practical applications, the above-mentioned memory 501 may be a volatile memory (volatile memory), such as RAM; or a non-volatile memory (non-volatile memory), such as ROM, flash memory (flash memory), hard disk (Hard Disk memory) Drive, HDD) or solid-state drive (Solid-State Drive, SSD); or a combination of the above types of memory, and provide instructions and data to the processor 502 .

The above-mentioned processor 502 may be at least one of ASIC, DSP, DSPD, PLD, FPGA, CPU, controller, microcontroller, and microprocessor. It can be understood that, for different devices, the electronic device used to implement the function of the processor may also be other, which is not specifically limited in the embodiment of the present disclosure.

In some embodiments, the functions or modules included in the apparatuses provided in the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments. For specific implementation, reference may be made to the descriptions of the above method embodiments. For brevity, here No longer.

The above description of the various embodiments tends to emphasize the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, details are not repeated herein.

The methods disclosed in each method embodiment provided in the present disclosure can be combined arbitrarily without conflict to obtain a new method embodiment.

The features disclosed in each product embodiment provided by the present disclosure can be combined arbitrarily without conflict to obtain a new product embodiment.

The features disclosed in each method or device embodiment provided in the present disclosure can be combined arbitrarily without conflict to obtain a new method embodiment or device embodiment.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on this understanding, the technical solutions of the present disclosure essentially or the parts that contribute to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in the various embodiments of the present disclosure.

The embodiments of the present disclosure have been described above in conjunction with the accompanying drawings, but the present disclosure is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of the present disclosure, many forms can be made without departing from the scope of the present disclosure and the protection scope of the claims, which all fall within the protection of the present disclosure.

Claims (11)

1. an image synchronization method, is characterized in that, described method comprises: acquiring at least two images acquired by at least two image acquisition devices, wherein the image acquisition devices corresponding to each of the at least two images are different; performing target recognition on the at least two images, and determining the position of the same moving target in the at least two images; determining the delay time between the at least two images according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object; According to the delay time, time synchronization processing is performed on the at least two image capturing devices. 2. The method according to claim 1, wherein the method further comprises: Obtain the motion state information of the same moving object moving at a uniform speed. 3. The method according to claim 2, wherein the acquiring the motion state information of the same moving target in uniform motion comprises: Acquire first velocity information of the same moving object in uniform circular motion, and use the first velocity information as the motion state information. 4 . The method according to claim 3 , wherein the determining of the same moving object is performed according to the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object. 5 . delay time between at least two images, including: Determine the polar angle of the same moving object in each of the at least two images according to the position of the same moving object in the at least two images, and the same moving object in each of the images The polar angle in : represents the included angle between the line connecting the center point of the uniform circular motion of the same moving object in each image and the reference direction; Determine the polar angle difference between the two polar angles according to the two polar angles of the same moving object in any two of the at least two images; A delay time between any two of the at least two images is determined according to the polar angle difference and the first rate information. 5. The method according to claim 2, wherein the acquiring the motion state information of the same moving target in uniform motion comprises: Acquire second rate information of the same moving object moving in a uniform straight line, and use the second rate information as the motion state information. 6 . The method according to claim 5 , wherein the determining of the same moving object is based on the position of the same moving object in the at least two images and the predetermined motion state information of the same moving object. 7 . delay time between at least two images, including: According to the position of the same moving object in the at least two images, determine the relative distance of the same moving object in any two images in the at least two images; A delay time between any two of the at least two images is determined according to the relative distance and the second rate information. 7. The method of claim 1, wherein the method further comprises: Obtain the movement speed change information of the same moving object, and use the movement speed change information as the movement state information. 8. The method according to any one of claims 1 to 7, wherein the at least two image acquisition devices comprise thermal imagers, and the moving target comprises a hollowed-out portion. 9. An image synchronization device, wherein the device comprises: an acquisition module, configured to acquire at least two images acquired by at least two image acquisition devices, wherein the image acquisition devices corresponding to each of the at least two images are different; The first processing module is configured to perform target recognition on the at least two images, and determine the position of the same moving target in the at least two images; according to the position of the same moving target in the at least two images, and the predetermined motion state information of the same moving object, to determine the delay time between the at least two images; The second processing module is configured to perform time synchronization processing on the at least two image acquisition devices according to the delay time. 10. An electronic device, comprising a processor and a memory for storing a computer program that can run on the processor; wherein, The processor is adapted to run the computer program to perform the method of any one of claims 1 to 8. 11. A computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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