CN113538294B - Method and system for eliminating image motion blur - Google Patents
Method and system for eliminating image motion blur Download PDFInfo
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- CN113538294B CN113538294B CN202110963453.4A CN202110963453A CN113538294B CN 113538294 B CN113538294 B CN 113538294B CN 202110963453 A CN202110963453 A CN 202110963453A CN 113538294 B CN113538294 B CN 113538294B
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The application discloses a method and a system for eliminating image motion blur, which are used for controlling the angular speed of a camera; the method comprises the steps that a four-bar crank rocker mechanism is adopted, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by utilizing the angular speed of the camera, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera; and setting the exposure of the camera to an external triggering mode, controlling the exposure center moment of the camera to be at the moment when the rocker moves to the angular speed, triggering the camera to take a picture according to the time from the starting point of the motor rotation period and the time required by the motor from the starting point of the rotation period to the set angle, and realizing image motion blur elimination. The application has simple realization, does not change the camera, and has good effect of eliminating motion blur.
Description
Technical Field
The application belongs to the technical field of electromechanical integration, and particularly relates to a method and a system for eliminating image motion blur.
Background
The ground object is photographed on an onboard device that moves at a high speed, and a point is photographed in a line due to the relative movement of the camera and the ground object during shutter exposure, resulting in motion blur of the image. Algorithms or motion compensation are typically employed to eliminate image motion blur. Algorithm compensation is sensitive to noise; whereas the existing motion compensation structure is complex.
In the prior art, a mechanical structure and components thereof are adopted to move a light sensing medium during exposure, so that the movement amount of the residual pixels is as small as possible, thereby achieving the purpose of inhibiting motion blur, and the U.S. KA-112A aviation scout eliminates motion image movement by using a moving film method.
The existing optical image motion compensation method rotates or moves the light path element according to the principle that the image motion speed on the focal plane of the camera is consistent to change the light direction so as to achieve the purpose of inhibiting motion blur. A rotating mirror in front of the rotating objective lens is often used to compensate for forward image shift.
Disclosure of Invention
The technical problem to be solved by the application is to provide a method and a system for eliminating image motion blur and solve the problem of image motion blur aiming at the defects in the prior art.
The application adopts the following technical scheme:
a method of removing motion blur of an image, comprising the steps of:
s1, controlling the angular speed w=v/h of a camera, wherein v is the speed of the camera, and h is the height of the camera;
s2, a four-bar crank rocker mechanism is adopted, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by utilizing the angular speed of the camera obtained in the step S1, so that the maximum angular speed of the rocker is more than or equal to the angular speed of the camera obtained in the step S1;
s3, setting the exposure of the camera to be in an external trigger mode, controlling the exposure center moment of the camera to be at the moment when the rocker moves to the angular speed, and according to the time t of the starting point of the motor rotation period 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture, and eliminating the motion blur of the image.
Specifically, in step S2, the four-bar crank rocker mechanism includes a bar end bearing, and one end of the bar end bearing is connected with a motor shaft of the motor through an eccentric shaft; the other end of the rod end bearing is connected with one end of the rocker.
Further, the other end of the rocker is connected with the camera through a camera rotating shaft.
Specifically, in step S2, a rod is disposed on the motor, one end of the rod is provided with a magnet, and the magnet is matched with the hall sensor to determine a start signal of a rotation period of the motor.
Further, the lever is disposed perpendicular to the rotation axis of the motor.
Specifically, in step S3, when t passes 2 -t 1 Triggering the camera shutter to take a picture after 0.01 seconds.
Specifically, in step S3, the exposure time of the camera is constant at 20ms.
Another technical solution of the present application is a system for eliminating motion blur of an image, including:
an angular velocity module controlling an angular velocity w=v/h of the camera, v being a velocity of the camera, h being a height of the camera;
the speed module adopts a four-bar crank rocker mechanism, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by using the angular speed of the camera obtained by the angular speed module, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera obtained by the angular speed module;
the triggering module sets the exposure of the camera to be in an external triggering mode, controls the exposure center moment of the camera to be at the moment of the rocker moving to the angular speed, and controls the moment t of the starting point of the rotation period of the motor 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture, and eliminating the motion blur of the image.
Compared with the prior art, the application has at least the following beneficial effects:
according to the method, the relative ground movement angular velocity is calculated according to the flying speed height of the airplane, the rotating speed of the motor is controlled to enable the maximum angular velocity of the rod mechanism to be equal to the calculated angular velocity, and the camera is controlled to expose near the maximum angular velocity.
Furthermore, the rod end bearing adopts a fish eye bearing, so that the friction coefficient of rotary motion can be reduced, and the method is a common method for a 4-rod crank rocker.
Further, the other end of the rocker is connected with the camera through a camera rotating shaft, and the angular speed of the 4-bar mechanism can be transmitted to the camera, so that the camera can shake at the same angular speed.
Further, the magnet is matched with the Hall sensor to determine a starting point signal of a motor rotation period, and the camera exposure time point can be accurately calculated through the starting point.
Further, one end of the rod is provided with a magnet, and the other end of the rod is arranged at the reserved hole site of the eccentric wheel and is vertically arranged in the direction of the rotating shaft of the motor.
Further, at this time, just the first 10 milliseconds of the maximum angular velocity, the camera exposure time is 20 milliseconds, thus ensuring continuous exposure of the camera during maximum angular velocity, with the greatest possible reduction in pixel movement during exposure.
Further, the camera exposure time employed was constant at 20 milliseconds.
In summary, the application calculates the relative ground movement angular velocity by measuring the flying velocity of the airplane, controls the camera to shake head by the motor and the four-bar mechanism, and exposes the camera when the camera shake head angular velocity is equal to the calculated angular velocity, thereby eliminating the image movement blur. The method has simple structure, does not change the camera, and has good effect of eliminating motion blur.
The technical scheme of the application is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a graph of angular velocity versus relative motion velocity and object distance;
FIG. 2 is a schematic diagram of a crank rocker structure of a four-bar mechanism according to the present application;
FIG. 3 is a crank rocker design of a four bar mechanism;
FIG. 4 is a block diagram of the overall architecture;
FIG. 5 is a schematic diagram of the eccentric shaft structure;
FIG. 6 is an original image;
FIG. 7 is a motion blur elimination image of an example embodiment;
fig. 8 is an image for example motion blur removal.
Wherein: 1. a motor; 2. an eccentric shaft; 3. a rod end bearing; 4. a rocker; 5. a camera rotation shaft; 6. a rod; 7. a hall sensor; MPU microprocessor; 9. and a flight control system.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application is for the purpose of describing the particular embodiments only and is not intended to be limiting. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Various structural schematic diagrams according to the disclosed embodiments of the present application are shown in the accompanying drawings. The figures are not drawn to scale, wherein certain details are exaggerated for clarity of presentation and may have been omitted. The shapes of the various regions, layers and their relative sizes, positional relationships shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
The application provides a method for eliminating image motion blur, which adopts a four-bar mechanism crank rocker design, and utilizes a motor to rotate so as to realize camera swinging, so that the swinging angular velocity w of the camera exposure center moment is the ratio of the relative motion velocity v of the camera to a shot object and the distance h of the camera to the shot object.
Referring to fig. 1, the method for eliminating image motion blur of the present application includes the following steps:
s1, acquiring the speed v and the height h of a camera, and calculating the angular speed w, wherein w=v/h;
the camera is positioned on an airplane flying at the speed v, the ground static object is shot vertically downwards, and the height of the camera from the ground is h; the camera is regarded as stationary in the sky, and the shot object rotates on the circumference taking the camera as the center of a circle and h as the radius; if the camera and the shot object rotate at the same angular speed, the camera shoots a clear ground static object image.
S2, designing a four-bar crank rocker mechanism, wherein a rocker 4 at one end of the four-bar crank rocker mechanism is connected with a camera through a camera rotating shaft 5, an eccentric shaft 2 at the other end of the four-bar crank rocker mechanism is connected with a motor 1, the camera, the motor 1 and the four-bar crank rocker mechanism are connected with a flight control system 9 through an MPU microprocessor 8, and the rotating speed of the motor 1 is controlled according to the angular speed w calculated in the step S1, so that the maximum angular speed of the rocker 4 is more than or equal to the angular speed w of the camera;
image motion blur elimination photographing control: the MPU microprocessor 8 obtains the speed v and the height h from the flight control system 9, calculates the angular speed w of the camera, w=v/h, and controls the rotation speed of the motor 1 so that the maximum angular speed of the rocker 4 is equal to the angular speed w of the camera, and can reach the maximum angular speed only when the motor 1 rotates to a set angle in one rotation, as shown in fig. 3.
Referring to fig. 3, the design of the crank rocker of the four-bar mechanism is as follows:
and (3) opening four-bar mechanism exe software, selecting a crank rocker, and repeatedly adjusting the length of L1/L2/L3/L4 according to design requirements, so that the maximum angular speed of the rocker 4 is equal to 0.37 radian/second when the rotating speed of the motor is 100 RPM.
Referring to fig. 2 and 4, the crank rocker of the four-bar mechanism comprises an eccentric shaft 2, the inner axle center of the eccentric shaft 2 is connected with a motor shaft of a motor 1, the outer axle center of the eccentric shaft 2 is connected with one end of a rod end bearing 3, the other end of the rod end bearing 3 is connected with a camera through a rocker 4 and a camera rotating shaft 5 in sequence, and the camera rotating shaft 5 is driven to move by the rotation of the motor 1.
Preferably, the rod end bearing 3 is a fisheye rod end bearing.
The motor 1 is provided with a rod 6, the rod 6 is perpendicular to the rotating shaft of the motor, one side of the magnet is correspondingly provided with a Hall sensor 7, and the Hall sensor 7 is connected with a flight control system 9 through an MPU microprocessor 8 and is used for sending out a calibration pulse when the motor rotates for every circle to serve as a motor rotation period starting point signal.
Referring to fig. 5, the eccentric shaft 2 is used to replace the L1 rocker, so that the mechanical structure is simplified.
The motor 1 adopts a Direct Current (DC) speed reducing motor with an encoder, the MPU microprocessor 8 adopts an STM32F103 singlechip, the camera adopts a LA6110L far infrared camera, and the exposure time is constant at 20ms.
S3, setting the exposure of the camera to an external trigger mode, controlling the exposure center moment of the camera to be at the moment when the rocker 4 moves to the angular velocity w, and measuring the time delay t for acquiring the starting point of the motor rotation period from the Hall sensor 7 by the MPU microprocessor 8 1 Calculating the time t required for the motor 1 from the start of the rotation period to the set angle 2 Through t 2 -t 1 -triggering the camera shutter to take a picture for 0.01 seconds, enabling image motion blur elimination.
Referring to fig. 2, according to the above principle and using a four-bar crank rocker design, the camera is rocked by rotation of a motor, so that the rocking angular velocity w of the exposure center of the camera is the ratio of the relative motion velocity v of the camera to the object and the distance h between the camera and the object.
In still another embodiment of the present application, a system for removing image motion blur is provided, which can be used to implement the method for removing image motion blur described above, and in particular, the system for removing image motion blur includes an angular velocity module, a module, and a module.
Wherein, the angular velocity module controls the angular velocity w=v/h of the camera, v is the velocity of the camera, h is the height of the camera;
the speed module adopts a four-bar crank rocker mechanism, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by using the angular speed of the camera obtained by the angular speed module, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera obtained by the angular speed module;
the triggering module sets the exposure of the camera to be in an external triggering mode, controls the exposure center moment of the camera to be at the moment of the rocker moving to the angular speed, and controls the moment t of the starting point of the rotation period of the motor 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture, and eliminating the motion blur of the image.
In yet another embodiment of the present application, a terminal device is provided, the terminal device including a processor and a memory, the memory for storing a computer program, the computer program including program instructions, the processor for executing the program instructions stored by the computer storage medium. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable gate arrays (FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc., which are the computational core and control core of the terminal adapted to implement one or more instructions, in particular adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function; the processor of the embodiment of the application can be used for eliminating the operation of the image motion blur method, which comprises the following steps:
controlling the angular velocity w=v/h of the camera, v being the velocity of the camera and h being the height of the camera; the method comprises the steps that a four-bar crank rocker mechanism is adopted, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by utilizing the angular speed of the camera, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera; setting the exposure of the camera as an external trigger mode, controlling the exposure center moment of the camera to be at the moment of the rocker moving to the angular velocity, and according to the time t of the starting point of the motor rotation period 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture, and eliminating the motion blur of the image.
In a further embodiment of the present application, the present application also provides a storage medium, in particular, a computer readable storage medium (Memory), which is a Memory device in a terminal device, for storing programs and data. It will be appreciated that the computer readable storage medium herein may include both a built-in storage medium in the terminal device and an extended storage medium supported by the terminal device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also stored in the memory space are one or more instructions, which may be one or more computer programs (including program code), adapted to be loaded and executed by the processor. The computer readable storage medium herein may be a high-speed RAM memory or a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
One or more instructions stored in a computer-readable storage medium may be loaded and executed by a processor to implement the respective steps of the method for removing image motion blur in the above-described embodiments; one or more instructions in a computer-readable storage medium are loaded by a processor and perform the steps of:
controlling the angular velocity w=v/h of the camera, v being the velocity of the camera and h being the height of the camera; the method comprises the steps that a four-bar crank rocker mechanism is adopted, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, and the rotational speed of the motor is controlled by utilizing the angular speed of the camera, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera; setting the exposure of the camera as an external trigger mode, controlling the exposure center moment of the camera to be at the moment of the rocker moving to the angular velocity, and according to the time t of the starting point of the motor rotation period 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture, and eliminating the motion blur of the image.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 6, 7 and 8, in the moving image blur removal effect: FIG. 6 is an original image, FIG. 7 is an example motion blur elimination image when the relative speed between the camera and the object is 36Km/h at a distance of 100 meters, and FIG. 8 is an example motion blur elimination image when the relative speed between the camera and the object is 36Km/h at a distance of 100 meters; it can be seen from fig. 7 that all points are drawn as horizontal lines, and that all points are imaged clearly in fig. 8, comparable to the original image.
In summary, according to the method and system for eliminating image motion blur, the aircraft flying speed height is measured, the relative ground motion angular velocity is calculated, the camera is controlled to swing through the motor and the four-bar mechanism, and the camera is exposed when the camera swinging angular velocity is equal to the calculated angular velocity, so that the image motion blur is eliminated. The method has simple structure, does not change the camera, and has good effect of eliminating motion blur.
It will be appreciated by those skilled in the art that 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 embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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.
The above is only for illustrating the technical idea of the present application, and the protection scope of the present application is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present application falls within the protection scope of the claims of the present application.
Claims (3)
1. A method of eliminating motion blur in an image, comprising the steps of:
s1, controlling the angular speed w=v/h of a camera, wherein v is the speed of the camera, and h is the height of the camera;
s2, connecting a rocker at one end of the four-bar crank rocker mechanism with a camera, connecting an eccentric shaft at the other end of the four-bar crank rocker mechanism with a motor, and controlling the rotating speed of the motor by utilizing the angular velocity of the camera obtained in the step S1 to ensure that the maximum angular velocity of the rocker is greater than or equal to the angular velocity of the camera obtained in the step S1, wherein the four-bar crank rocker mechanism comprises a rod end bearing, and one end of the rod end bearing is connected with a motor shaft of the motor through the eccentric shaft; the other end of the rod end bearing is connected with one end of a rocker, and the other end of the rocker is connected with a camera through a camera rotating shaft; the motor is provided with a rod, one end of the rod is provided with a magnet, the magnet is matched with the Hall sensor to determine a starting point signal of a rotation period of the motor, and the rod is perpendicular to a rotation shaft of the motor;
s3, setting the exposure of the camera to be in an external trigger mode, controlling the exposure center moment of the camera to be at the moment when the rocker moves to the angular speed, and according to the time t of the starting point of the motor rotation period 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture when t passes 2 -t 1 Triggering a camera shutter to take a picture after 0.01 seconds, so as to realize image motion blur elimination.
2. The method according to claim 1, characterized in that in step S3 the exposure time of the camera is constant at 20ms.
3. A system for removing motion blur in an image, comprising:
an angular velocity module controlling an angular velocity w=v/h of the camera, v being a velocity of the camera, h being a height of the camera;
the speed module adopts a four-bar crank rocker mechanism, a rocker at one end of the four-bar crank rocker mechanism is connected with a camera, an eccentric shaft at the other end of the four-bar crank rocker mechanism is connected with a motor, the rotational speed of the motor is controlled by using the angular speed of the camera obtained by the angular speed module, so that the maximum angular speed of the rocker is greater than or equal to the angular speed of the camera obtained by the angular speed module, the four-bar crank rocker mechanism comprises a rod end bearing, and one end of the rod end bearing is connected with a motor shaft of the motor through the eccentric shaft; the other end of the rod end bearing is connected with one end of a rocker, and the other end of the rocker is connected with a camera through a camera rotating shaft; the motor is provided with a rod, one end of the rod is provided with a magnet, the magnet is matched with the Hall sensor to determine a starting point signal of a rotation period of the motor, and the rod is perpendicular to a rotation shaft of the motor;
the triggering module is used for setting the exposure of the camera to be in an external triggering mode and controlling the exposure center of the camera to be in rocker motion at the momentBy the time of angular velocity, according to the time t of the start of the motor rotation period 1 And the time t required by the motor from the start point of the rotation period to the set angle 2 Triggering the camera to take a picture when t passes 2 -t 1 Triggering a camera shutter to take a picture after 0.01 seconds, so as to realize image motion blur elimination.
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| JP2000171892A (en) * | 1998-12-02 | 2000-06-23 | Asahi Optical Co Ltd | Image blur check adapter and image blur check method |
| CN102752484A (en) * | 2012-06-25 | 2012-10-24 | 清华大学 | Fast non-global uniform image shaking blur removal algorithm and system thereof |
| CN112792821A (en) * | 2021-04-01 | 2021-05-14 | 北京科技大学 | Method and system for deblurring of vision of moving robot under inertia assisted facilitation exposure |
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