CN113489865A - Monocular camera and image processing system - Google Patents
Monocular camera and image processing system Download PDFInfo
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- CN113489865A CN113489865A CN202110652082.8A CN202110652082A CN113489865A CN 113489865 A CN113489865 A CN 113489865A CN 202110652082 A CN202110652082 A CN 202110652082A CN 113489865 A CN113489865 A CN 113489865A
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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
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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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
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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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 embodiment of the application provides a monocular camera and an image processing system, which are used for improving the image display effect while simplifying the structure of the camera. The method comprises the following steps: the ICR is arranged between the lens and the sensor, wherein the infrared filter is used for filtering the light to obtain a colored light signal, and the full-transmission filter is used for filtering the light to obtain an infrared light signal; the sensor is used for exposing the colored light signals to generate visible light images and exposing the infrared light signals to generate infrared light images; the image processing unit is used for fusing the infrared light image and the visible light image to obtain a fused image.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a monocular camera and an image processing system.
Background
In the practical application of the camera, the color attribute and the detail attribute play an important role in identifying objects, for the camera, when the working mode is day, visible light in the environment is rich, the camera can work in a color mode, and when the working mode is night, visible light information in the environment is less, and the camera is difficult to obtain high-quality visible light images, so that the existing camera can generate infrared images and visible light images at night and fuse the infrared images and the visible light images to improve the display effect of the visible light images, but the camera is complex in structure and high in cost.
Disclosure of Invention
The embodiment of the application provides a monocular camera and an image processing system, which are used for simplifying the structure of the camera and reducing the cost of the camera.
In a first aspect, a monocular camera is provided, which includes a lens, a sensor, a rotating ICR disposed between the lens and the sensor, and an image processing unit, wherein:
the lens is used for receiving light rays from a shot object;
the rotating ICR comprises at least one infrared filter and at least one full-transmission filter, wherein the infrared filter is used for filtering the light to obtain a colored light signal, the full-transmission filter is used for filtering the light to obtain an infrared light signal, and each filter in the rotating ICR is in a fan shape with the same area;
the sensor is used for exposing the colored light signals to generate visible light images and exposing the infrared light signals to generate infrared light images;
and the image processing unit is used for fusing the infrared light image and the visible light image to obtain a fused image.
Optionally, the image processing unit is specifically configured to:
acquiring a first detail information component of the infrared light image, and acquiring a color information component and a second detail information component of the visible light image;
fusing the first detail information component and the second detail information component to obtain a fused third detail information component;
and coding the third detail information component and the color information component to obtain the fused image.
Optionally, the number of the infrared filters in the rotating ICR is greater than the number of the full transmission filters.
Optionally, the rotating ICR further includes a photoelectric coupler, which is disposed at a junction of two adjacent optical filters and used for determining whether all optical signals received by the sensor are from optical signals obtained after the optical signals are filtered by the same optical filter.
Optionally, the exposure time of the sensor is synchronous with the time when the photoelectric coupler is switched to the low level, and the exposure time of the sensor is the same as the time when the photoelectric coupler is in the low level state; when the photoelectric coupler is in a low level state, all optical signals obtained by the sensor come from the optical signals obtained after the optical filters filter the light.
Optionally, before the acquiring the color information component and the second detail information component of the visible light image, the image processing unit is further configured to:
determining that two frames of images adjacent to the infrared light image are both visible light images;
carrying out similarity matching on the infrared light image and two adjacent frames of visible light images to obtain two similarities;
and determining the frame of visible light image with high similarity as a target visible light image for fusion with the infrared light image.
Optionally, the image processing unit is further configured to:
acquiring a plurality of fused images obtained within a preset time length;
performing image quality scoring on the plurality of fused images;
determining a first image with the highest image quality score;
and sending the first image to a server for image push display.
Optionally, the monocular camera further includes an infrared light supplement lamp, and the infrared light supplement lamp is used for supplementing light to the object to be shot when the light is filtered through the full-transmission filter.
In a second aspect, there is provided an image processing system comprising the monocular camera of the first aspect.
In the embodiment of the application, the monocular camera comprises a lens, a sensor, a rotating ICR arranged between the lens and the sensor, and an image processing unit, wherein the lens is used for receiving light of a shot object, the ICR is selected and installed to be used for filtering the light received by the lens and generating an infrared light signal and a color light signal, the sensor is used for exposing the light signal generated after filtering the rotating ICR and generating a visible light image or an infrared light image, and the image processing unit fuses the infrared light image and the visible light image to obtain a fused image. That is to say, the infrared light image and the visible light image can be obtained only by adding the rotating ICR structure between the lens and the sensor of the monocular camera, and then the infrared light image and the visible light image are fused through the image processing unit, so that the fused image can be obtained, the image display effect is enhanced, the structure of the camera is simplified, and the cost of the camera is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings 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 application.
Fig. 1 is a schematic structural diagram of a monocular camera according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a position of a photocoupler provided in an embodiment of the present application in a rotating ICR;
fig. 3 is a schematic structural diagram of an image processing system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
The terms "first" and "second" in the description and claims of the present application and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the term "comprises" and any variations thereof, which are intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The "plurality" in the present application may mean at least two, for example, two, three or more, and the embodiments of the present application are not limited.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in this document generally indicates that the preceding and following related objects are in an "or" relationship unless otherwise specified.
For ease of understanding, the technical background of the embodiments of the present invention will be described below.
As described above, in the prior art, in order to enhance the image display effect, the structure of the camera used is complicated and the cost is high. At present, in order to solve the technical problem, a closest scheme is to add a double-pass filter between a lens and a sensor to alternately generate color Image frames and infrared Image frames, respectively perform Image optimization on the infrared Image frames and the color Image frames through two Image Signal Processing (ISP), then estimate and generate color Image frames corresponding to the infrared Image frames according to two adjacent color Image frames of the infrared Image frames, and fuse the estimated color Image frames and the infrared Image frames to generate fused color Image frames. That is to say, the color image frames fused by the scheme include both the color information of the color image frames and the color information of the color image frames, so that the color image frames fused by the scheme also include the color information of the infrared light image frames, which affects the display effect.
In view of this, an embodiment of the present application provides a monocular camera, which includes a lens, a sensor, a rotating dual pass Filter (IR Cut Filter, ICR) disposed between the lens and the sensor, an image processing unit, wherein the rotating ICR is used to Filter light received by the lens to generate an infrared light signal and a visible light signal, the sensor is used to expose the visible light signal and the infrared light signal to generate a visible light image and an infrared light image, the image processing unit is used to respectively obtain a first detail information component of the infrared light image, a second detail information component of the visible light image, and a color information component, and finally the first detail information component and the second detail information component are fused to obtain a third detail information component, and finally the third detail information component and the color information component are encoded to obtain a fused image, so that all color information components in the fused image come from the visible light image, and the purpose of enhancing the detail display effect is achieved. And, only one ISP in the monocular camera provided in the embodiment of the present application is used to filter out color information of an infrared light image and only retain detail information, and no processing is performed on a color light image, so that the monocular camera in the embodiment of the present application needs fewer ISPs than the monocular camera in the above scheme, that is, the requirement on a chip on chip (SOC) is lower, so that the cost of the monocular camera provided in the embodiment of the present application is lower than that of the monocular camera in the above scheme.
The technical scheme provided by the embodiment of the application is described in the following with the accompanying drawings of the specification.
Referring to fig. 1, fig. 1 is a monocular camera according to an embodiment of the present application, where the monocular camera includes: a lens 101, a rotating ICR102, a sensor 103, and an image processing unit 104; wherein the content of the first and second substances,
the lens 101 is used for collecting light from an object (e.g. a person) to be photographed, and the lens 101 is generally a lens group composed of one or more optical glasses or plastics, and may be a concave lens, a convex lens, or the like, and may be a spherical mirror or an aspherical mirror, where in the embodiment of the present application, the number of the lenses is 1.
The rotating ICR102 comprises at least one infrared filter and at least one full-transmission filter, wherein light is filtered by the infrared filter to obtain a colored light signal, and is filtered by the full-transmission filter to obtain an infrared light signal, each filter is a fan shape with the same shape and size, and the at least one infrared filter and the at least one full-transmission filter are combined into a whole circle.
In one possible embodiment, the infrared filter and the total-transmittance filter may be arranged in a manner that different filters are arranged in a staggered manner, or the same filters are arranged together. For example, if there are 4 infrared filters and 2 full-transmission filters, each filter is in a sector shape with an included angle of 60 degrees, where 4 infrared filters may be arranged together, and 2 full-transmission filters are arranged together, or 2 infrared filters may be arranged first, then 1 full-transmission filter may be arranged, then 2 infrared filters may be arranged, and then 1 full-transmission filter may be arranged (that is, different filters may be arranged in a staggered manner), or 3 infrared filters may be arranged first, then 1 full-transmission filter may be arranged, then 1 infrared filter may be arranged, and then 1 full-transmission filter may be arranged. It should be noted that, in the embodiment of the present application, the arrangement manner of the optical filters is not specifically limited, and a person skilled in the art may arrange the optical filters according to actual requirements.
In one possible embodiment, the number of infrared filters is greater than the number of full transmission filters, and preferably the ratio of the number of infrared filters to the number of full transmission filters is 3:1, so that more effective color effective frame images can be encoded and output without too little black and white frame rate.
In a possible real-time manner, the monocular camera provided in the embodiment of the present application further includes an infrared light supplement lamp, which is used for supplementing light when receiving a control signal sent by the SOC. When determining that light needs to be filtered through the full-transmission filter, the SOC sends a control signal to the infrared light supplement lamp, where the infrared light supplement lamp may be an infrared light supplement lamp whose infrared light band is 730nm, or an infrared light supplement lamp whose infrared light band is 850nm, or any infrared light supplement lamp whose infrared light band cannot pass through the infrared filter.
In one possible embodiment, the rotating ICR further comprises a photoelectric coupler 1021, and the photoelectric coupler 1021 is arranged at the boundary of the two optical filters. For example, as shown in fig. 2, fig. 2 includes 3 infrared filters and 1 total transmission filter, each filter is shaped as a sector with an included angle of 90 degrees, and a black dot at the boundary of each sector is the set photocoupler 1021.
When the light source emitted by the light source in the photocoupler 1021 is received by the light receiver, it indicates that there is a shielding object (in the embodiment of the present application, the shielding object is the sensor 103) in the direction of light emission, and at this time, the photocoupler 1021 is in a high level state, and when the light source emitted by the light source in the photocoupler 1021 is not received by the light receiver (i.e., the light source emitted by the light source is absorbed by the light absorbing base of the monocular camera), it indicates that there is no shielding object in the direction of light emission, and at this time, the photocoupler 1021 is in a low level state. Therefore, when the photocoupler 1021 is in the high state, it indicates that the optical signal received by the sensor 103 is an optical signal obtained after being filtered by different optical filters, for example, a part of the optical signal comes from the first infrared filter, a part of the optical signal comes from the second infrared filter, or a part of the optical signal comes from the infrared filter and a part of the optical signal comes from the full-transmission filter; when the photocoupler 1021 is in a low level state, it indicates that all the optical signals received by the sensor 103 are optical signals obtained after being filtered by the same optical filter.
And the sensor 103 is used for receiving the optical signal obtained after filtering through the rotating ICR, exposing the received color optical signal to generate a visible light image, and exposing the received infrared optical signal to generate an infrared light image.
In one possible embodiment, the sensor 103 further needs to determine the state of the photo coupler 1021 before exposing the received light signal, and if the state of the photo coupler 1021 is high, it indicates that there is both an infrared light portion and a visible light portion in the image that may be generated if the received light signal is exposed, so that when the state of the photo coupler 1021 is determined to be high, a preparatory operation before exposure is performed (at this time, exposure is not performed), and when the state of the photo coupler 1021 is determined to be low, the received light signal is exposed to generate a corresponding image.
The mode of determining the state of the photocoupler 1021 by the sensor 103 may be setting a control logic inside the sensor, acquiring the state of the photocoupler 1021 before exposure, exposing the received optical signal when the state of the photocoupler 1021 is a low level state, and entering a preparation operation before exposure when the state of the photocoupler 1021 is a high level state. The method may further include exposing the received optical signal when the received indication information is determined to be that the photoelectric coupler 1021 is in a low level state, and entering a preparation operation before exposure when the received indication information is determined to be that the photoelectric coupler 1021 is in a high level state, where the indication information is transmitted by the SOC.
In one possible embodiment, the time at which the sensor 103 performs exposure is the same as the time at which the photocoupler 1021 switches to the low state, and the time period for which the sensor 103 performs exposure is the same as the time period for which the photocoupler 1021 is in the low state. For example, the sensor 103 operates in a 60fps mode, 1s has an output of 60 frames of images, the rotating ICR includes 3 infrared filters and 1 full-transmission filter, so that the rotating ICR rotates once, the sensor 103 can be exposed to generate 4 pictures, and then the time required for one rotation of the rotating ICR is 4ms, wherein the total time of the photocoupler 1021 in the high level state is 40us, and the total time of the photocoupler in the low level state is 200us, i.e. the time of the photocoupler 1021 in the low level state in one filter is 50us, and therefore, the time of one exposure of the sensor 103 is 50ms, so that the sensor 103 can expose the received optical signals as long as possible, and the generated images are clearer.
And the image processing unit 104 is configured to fuse the infrared light image and the visible light image to obtain a fused image.
In the embodiment of the present application, the manner of fusing the infrared light image and the visible light image is as follows: acquiring a first detail information component of the infrared light image, acquiring a second detail information component and a color information component of the visible light image, fusing the first detail information component and the color information component to obtain a fused third detail information component, and encoding the third detail information component and the color information component to obtain a fused image.
Specifically, a first Y component of each pixel point in the infrared light image is obtained, a second Y component and a UV component of each pixel point in the visible light image are obtained, the first Y component and the second Y component corresponding to the same pixel point are fused to obtain a third Y component corresponding to the pixel point, and the third Y component and the UV component are encoded to obtain a fused color image. For example, a first Y component of a P-position pixel point in the infrared light image is obtained and recorded as nir _ M, a second Y component of the same-position pixel point corresponding to the P position in the visible light image is obtained and recorded as vis _ M, the first Y component and the second Y component are fused to obtain a third Y component, where after the first Y component and the second Y component are fused, an energy change coefficient of the Y component corresponding to the P-position pixel point is C ═ nir _ M/(nir)/("niM+ vis _ M) and the UV component is all from the visible image.
In a specific implementation process, in the process of fusing the infrared light image and the visible light image, the first detail information component of the infrared light image and the second detail information component of the visible light image are fused, so that the detail display effect in the fused image can be effectively enhanced, and the color information in the fused image is completely from the visible light image, so that the influence on the display effect caused by the fact that the color information in the infrared light image is displayed in the fused image can be effectively avoided, and the detail information in the fused image is displayed more clearly and the color information is more natural.
Furthermore, after the fused image is generated, average filtering can be performed on the UV component in the fused image, so that the problems of color imbalance, color noise and the like in the fused image are effectively avoided.
In a possible implementation manner, before acquiring the first detail information component of the infrared light image and acquiring the second detail information component and the color information component of the visible light image, on one hand, the image processing unit 104 may mark the infrared light image of the visible light image generated by the sensor 103, so that the ISP does not process the visible light image, and filter the color information of the infrared light image, and only retain the detail information of the infrared light image, so that only one ISP is required to process in the monocular camera provided by the present application, thereby further simplifying the structure of the monocular camera and reducing the cost of the monocular camera.
On the other hand, it is also necessary to determine whether two frames of images adjacent to the infrared light image are both visible light images, and if the two frames of images adjacent to the infrared light image are both visible light images, it is necessary to determine a target visible light image finally used for fusion with the infrared light image from the two frames of visible light images, at this time, similarity matching may be performed between the infrared light image and the two adjacent frames of visible light images to obtain two similarities, and one frame of visible light image with a high similarity is determined as the target visible light image to be fused with the infrared light image. If only one frame of visible light image exists in the two frames of images adjacent to the infrared light image, the frame of visible light image can be directly determined as the target visible light image for fusion with the infrared light image.
For example, the rotating ICR includes 4 infrared filters and 2 full-transmission filters, and the 6 filters are arranged in the following manner: 4 infrared filters are arranged together, 2 medium-sized full-transmission filters are arranged together, two frames of infrared light images are generated after exposure of the sensor 103, the two frames of infrared light images are continuous, namely only one frame of visible light image is in an image adjacent to one frame of infrared light image, the other frame of infrared light image is, and at the moment, the image processing unit directly fuses the visible light image adjacent to the infrared light image and the infrared light image.
For another example, the arrangement of the 6 filters is as follows: arranging 2 infrared filters, then arranging 1 full-transmission filter, then arranging 2 infrared filters, then arranging 1 full-transmission filter, or arranging 3 infrared filters, then arranging 1 full-transmission filter, then arranging 1 infrared filter, and finally arranging 1 full-transmission filter, wherein after exposure through the sensor 103, two frames of infrared images are discontinuous, two frames of images adjacent to each frame of infrared image are visible images, at the moment, similarity matching needs to be carried out on the infrared images and the two frames of visible images, wherein the similarity obtained by matching with the visible image A is 99.5%, the similarity obtained by matching with the visible image B is 99.2%, and then the visible image A is determined as a target visible image fused with the infrared images.
In a possible implementation manner, after fusing the infrared light image and the visible light image, the image processing unit 104 may further obtain a plurality of fused images obtained within a preset time period, perform image quality scoring on the plurality of fused images, and send the fused image with the highest image quality score to the server for image-push display.
For example, the rotating ICR102 includes 3 infrared filters and 1 total transmission filter, the sensor 103 operates in a 60fps mode, and the preset duration is, for example, 1s, so that the sensor 103 is exposed in 1s to generate 60 frames of images, wherein 45 frames of visible light images (for example, also called color images) and 15 frames of infrared light images (for example, also called black-and-white images) are generated, the 15 frames of black-and-white images are fused with 15 frames of target visible light images determined from the 45 frames of color images to obtain 15 frames of fused images, the 15 frames of fused images are subjected to image quality scoring, and the fused image with the highest scoring is sent to the server for image push display.
In another possible implementation, the generated 45-frame color image can be inserted into 60-frame images for real-time output, so as to avoid output delay and jamming.
In other embodiments, before the visible light image is fused with the infrared light image, the image processing unit may further obtain a face region in the visible light image of the infrared light image, then respectively obtain a first detail information component of the face region in the infrared light image and a second detail information component and a color information component of the face region in the visible light image, and fuse the first detail information component and the second detail information component of the face region to obtain a third detail information component of the face region, and finally encode the third detail information component of the face region and the color information component of the face region to obtain a fused face thumbnail, and send the face thumbnail to the server, so that the server pushes the face thumbnail to the client to display a face capture effect, thereby achieving the purpose of enhancing the face display effect.
The embodiment of the present application further provides an image processing system, please refer to fig. 3, in which the image processing system includes a monocular camera 31, a network 32, and a server 33. The configuration of the monocular camera is as described above, and in the image processing system, the number of the monocular cameras may be 1, or may be multiple, and fig. 3 illustrates that the number of the monocular cameras is 1, and the number of the servers may be 1, or may be multiple, and fig. 3 illustrates that the number of the servers is 1. The monocular camera 31 is configured to acquire the fused image as described above, and send the fused image to the server 33 through the network 32, and the server 33 stores the fused image sent by the monocular camera, and sends the fused image to the client for image display.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A monocular camera comprising a lens, a sensor, a rotating ICR disposed between the lens and the sensor, an image processing unit, wherein:
the lens is used for receiving light rays from a shot object;
the rotating ICR comprises at least one infrared filter and at least one full-transmission filter, wherein the infrared filter is used for filtering the light to obtain a colored light signal, the full-transmission filter is used for filtering the light to obtain an infrared light signal, and each filter in the rotating ICR is in a fan shape with the same area;
the sensor is used for exposing the colored light signals to generate visible light images and exposing the infrared light signals to generate infrared light images;
and the image processing unit is used for fusing the infrared light image and the visible light image to obtain a fused image.
2. The monocular camera of claim 1, wherein the image processing unit is specifically configured to:
acquiring a first detail information component of the infrared light image, and acquiring a color information component and a second detail information component of the visible light image;
fusing the first detail information component and the second detail information component to obtain a fused third detail information component;
and coding the third detail information component and the color information component to obtain the fused image.
3. The monocular camera of claim 1, wherein the infrared filter and the all-pass filter are arranged in a manner that the same filters are arranged in series or different filters are arranged in a staggered manner.
4. A monocular camera according to any one of claims 1 to 3, wherein the number of said infrared filters in said rotating ICR is greater than the number of said total transmission filters.
5. The monocular camera of claim 1, wherein the rotating ICR further comprises an opto-coupler disposed at the intersection of two adjacent filters for determining whether the optical signals received by the sensor all come from the optical signals obtained after filtering with the same filter.
6. The monocular camera according to claim 5, wherein an exposure timing of the sensor is synchronized with a timing at which the photocoupler is switched to a low level, and an exposure time period of the sensor is the same as a time period at which the photocoupler is in a low level state; when the photoelectric coupler is in a low level state, all optical signals obtained by the sensor come from the optical signals obtained after the optical filters filter the light.
7. The monocular camera of claim 2, wherein the image processing unit, prior to acquiring the color information component and the second detail information component of the visible light image, is further configured to:
determining that two frames of images adjacent to the infrared light image are both visible light images;
carrying out similarity matching on the infrared light image and two adjacent frames of visible light images to obtain two similarities;
and determining the frame of visible light image with high similarity as a target visible light image for fusion with the infrared light image.
8. The monocular camera of claim 1, wherein the image processing unit is further configured to:
acquiring a plurality of fused images obtained within a preset time length;
performing image quality scoring on the plurality of fused images;
determining a first image with the highest image quality score;
and sending the first image to a server for image push display.
9. The monocular camera of claim 1, further comprising an infrared fill-in lamp for filling in light to the object when the light is filtered through the full-transmission filter.
10. An image processing system comprising a monocular camera according to claims 1-9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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