CN114095664A - Camera parameter adjusting method and device - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
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Abstract
The invention discloses a method and a device for adjusting camera parameters, and relates to the technical field of computers. One embodiment of the method comprises: acquiring running information of the transportation equipment, wherein the transportation equipment is loaded with a camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; and adjusting the parameters of the camera according to the working parameters. This embodiment has improved the accuracy of camera parameter, has promoted the definition of shooting the image, has promoted factor of safety that traveles.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for adjusting camera parameters.
Background
With the increase of transportation equipment, the driving safety is more and more emphasized, so the requirement on the parameter precision of the camera parameters loaded on the transportation equipment is higher and higher. Especially, with the rise of unmanned transportation equipment (such as unmanned transportation vehicles and unmanned transportation machines), the parameters of the camera loaded on the transportation equipment need to be adjusted in real time according to the driving conditions.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, so that the accuracy of the camera parameters is low, the definition of shot images is poor, and the driving safety factor is low.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for adjusting camera parameters, which can adjust the camera parameters in real time according to driving information, improve accuracy of the camera parameters, improve definition of a captured image, and further improve a driving safety factor.
In order to achieve the above object, according to a first aspect of the embodiments of the present invention, there is provided a method for adjusting parameters of a camera, including:
acquiring running information of the transportation equipment, wherein the transportation equipment is loaded with a camera;
determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera;
and adjusting the parameters of the camera according to the working parameters.
Further, before the step of determining the working parameters of the camera according to the driving information and the parameter mapping table, the method further comprises:
dividing historical driving information to obtain a plurality of driving information sections, and determining section characteristic values corresponding to the driving information sections;
adjusting camera parameters to obtain camera images of all interval characteristic values acquired under different camera parameters;
identifying the camera image based on an image identification model, obtaining working parameters corresponding to all interval characteristic values according to an identification processing result, and constructing a parameter mapping table according to the running interval information and the working parameters corresponding to all interval characteristic values; the image recognition model is a model for recognizing the image definition obtained based on deep learning model training.
Further, the step of identifying the camera image based on the image identification model and obtaining the working parameters corresponding to the characteristic values of each section according to the identification processing result comprises the following steps:
determining a camera image set acquired by each interval characteristic value under different camera parameters, and inputting the camera image set into an image recognition model for recognition processing;
and determining a target camera image corresponding to each interval characteristic value from the camera image set according to the recognition processing result, and determining a working parameter corresponding to each interval characteristic value according to the target camera image.
Further, the method further comprises:
and adjusting camera parameters corresponding to different camera types, acquiring camera images acquired by characteristic values of all the intervals without the camera types and different camera parameters, and constructing parameter mapping tables corresponding to different camera types.
Further, the step of determining the working parameters of the camera according to the driving information and the parameter mapping table further comprises:
acquiring the type of a camera; and determining the working parameters of the camera according to the running information, the type of the camera and the parameter mapping table.
Further, after the step of adjusting the parameters of the camera according to the operating parameters, the method further comprises:
and adding the camera image obtained after the camera parameter adjustment into a training set, updating the image recognition model, and updating the parameter mapping table based on the updated image recognition model.
Further, the running information includes light intensity and/or running acceleration; the light intensity corresponds to the exposure parameters of the camera; the driving acceleration corresponds to the anti-shake parameter of the camera.
According to a second aspect of the embodiments of the present invention, there is provided an apparatus for adjusting parameters of a camera, including:
the system comprises a driving information acquisition module, a camera and a control module, wherein the driving information acquisition module is used for acquiring driving information of transportation equipment;
the working parameter determining module is used for determining the working parameters of the camera according to the running information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each running information interval and each working parameter of the camera;
and the adjusting module is used for adjusting the parameters of the camera according to the working parameters.
According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus, including:
one or more processors;
a storage device for storing one or more programs,
when executed by one or more processors, cause the one or more processors to implement any of the camera parameter adjustment methods described above.
According to a fourth aspect of the embodiments of the present invention, there is provided a computer-readable medium, on which a computer program is stored, which when executed by a processor, implements any one of the camera parameter adjustment methods described above.
One embodiment of the above invention has the following advantages or benefits: the camera is loaded on the transportation equipment due to the adoption of the method for acquiring the running information of the transportation equipment; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; the technical means of adjusting the parameters of the camera according to the working parameters overcomes the technical problems that the accuracy of the camera parameters is low, the definition of shot images is poor and the driving safety factor is low due to the fact that the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, and then the camera parameters are adjusted in real time according to the driving information, the accuracy of the camera parameters is improved, the definition of the shot images is improved, and further the technical effect of the driving safety factor is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
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The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of a main flow of a method for adjusting parameters of a camera according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of a main flow of an adjusting method of camera parameters according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of main modules of an adjusting device for camera parameters provided according to an embodiment of the present invention;
FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 5 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a main flow of a method for adjusting parameters of a camera according to a first embodiment of the present invention; as shown in fig. 1, a method for adjusting parameters of a camera provided in an embodiment of the present invention mainly includes:
and S101, acquiring running information of the transportation equipment, wherein the transportation equipment is loaded with a camera.
Specifically, according to the embodiment of the present invention, the driving information includes light intensity and/or driving acceleration corresponding to the camera during driving; the light intensity corresponds to the exposure parameters of the camera; the driving acceleration corresponds to the anti-shake parameter of the camera.
It should be noted that the above description on the driving information is only an example, and not only includes the above information, but also includes, for example, the distance between the camera and the target object in front of the camera; weather conditions (e.g., whether it is raining, whether there is fog); road conditions (whether there is a turn) in front of the camera, and the like. The driving information is acquired in real time, so that the optimal camera parameters can be determined subsequently, images with higher definition can be acquired, and the driving safety factor is improved.
Preferably, according to the embodiment of the present invention, the driving information corresponding to the camera may be acquired by using a sensor oriented in the same direction as the camera; for multiple cameras, a respective sensor may be configured for each camera. According to a specific implementation manner of the embodiment of the present invention, the adjustment of the camera parameters is performed in real time, so that the driving information of the transportation device is obtained in real time.
Preferably, after the step of acquiring the driving information of the transportation device, the method further includes:
and carrying out filtering smoothing treatment on the real-time acquired running information.
Through the arrangement, accurate driving information can be acquired, and noise interference is avoided.
And step S102, determining the working parameters of the camera according to the running information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each running information interval and each working parameter of the camera.
Through the setting, the corresponding relation between each driving information interval and each working parameter of the camera is indicated in the parameter mapping table, and the working parameter corresponding to the camera can be quickly determined only by determining the corresponding driving information interval according to the acquired driving information, so that the adjusting efficiency of the camera parameter is improved.
The working parameters of the camera refer to the optimal parameters of the camera in the current scene (in the current corresponding driving information), such as the optimal exposure parameters, the optimal anti-shake parameters, and the like.
Further, according to an embodiment of the present invention, after the step of acquiring the driving information of the transportation device, the method further includes:
judging whether the driving information acquired in real time belongs to a driving information interval corresponding to the previous moment, and if not, executing a subsequent process to determine working parameters of the camera; if yes, directly keeping the current camera parameters unchanged.
Specifically, according to an embodiment of the present invention, the step of determining the working parameters of the camera according to the driving information and the parameter mapping table further includes:
and determining the working parameters of the camera according to the running information, the camera type and the parameter mapping table.
According to the embodiment of the invention, the parameter mapping tables corresponding to different camera types can be determined in advance. Firstly, determining a corresponding parameter mapping table according to the type of a camera of current transportation equipment; and then, the working parameters of the camera are determined according to the real-time driving information, and the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded through the setting.
Further, according to an embodiment of the present invention, before the step of determining the target camera parameter according to the driving information and the parameter mapping table, the method further includes:
dividing historical driving information to obtain a plurality of driving information sections, and determining section characteristic values corresponding to the driving information sections;
adjusting camera parameters to obtain camera images of all interval characteristic values acquired under different camera parameters;
identifying the camera image based on an image identification model, obtaining working parameters corresponding to all interval characteristic values according to an identification processing result, and constructing a parameter mapping table according to the running interval information and the working parameters corresponding to all interval characteristic values; the image recognition model is a model for recognizing the image definition obtained based on deep learning model training.
According to the embodiment of the invention, in order to avoid the problem of poor definition of the camera image caused by too frequent adjustment of the camera parameters, a plurality of driving information intervals are obtained by segmenting historical driving information (for example, a plurality of light intensity intervals are obtained by segmenting light intensity, and a plurality of acceleration intervals are obtained by segmenting acceleration). The higher the segmentation precision is, the more accurate the subsequently determined working parameters of the camera are; meanwhile, it can be understood that when the segmentation division precision is too high, the camera parameters of the transportation device are frequently adjusted in the driving process, and the definition of an image acquired by the camera is reduced, so that the driving safety is affected. Therefore, the specific division precision can be determined according to actual conditions.
On the other hand, after the plurality of travel information sections are divided, the section feature value corresponding to each travel information section may be determined by taking an intermediate value (for example only, the section feature value is not limited to the intermediate value, and an end point or any one point of the travel information section may be taken as the section feature value). The parameters corresponding to the target camera image obtained through the image recognition model are working parameters of the camera under the interval characteristic value, and the working parameters can be used as the working parameters corresponding to the driving information interval to which the interval characteristic value belongs. And determining corresponding working parameters through the parameter mapping table as long as the real-time acquired running information falls within a certain running information interval. Through the setting, the degree of automation of camera parameter adjustment is improved, a large amount of human resources are saved, and the efficiency of determining the working parameters of the camera is improved.
According to the embodiment of the invention, the image recognition model can be trained by adopting the existing deep learning model, the trained image recognition model is used for recognizing the input camera image to obtain the camera image with higher definition, and then the parameter corresponding to the camera image with higher definition is determined as the working parameter.
Further, the step of identifying the camera image based on the image identification model and obtaining the working parameters corresponding to the characteristic values of each section according to the identification processing result comprises the following steps:
determining a camera image set acquired by each interval characteristic value under different camera parameters, and inputting the camera image set into an image recognition model for recognition processing;
and determining a target camera image corresponding to each interval characteristic value from the camera image set according to the recognition processing result, and determining a working parameter corresponding to each interval characteristic value according to the target camera image.
Through the setting, a camera image with the highest definition is determined through the image recognition model aiming at the camera image set corresponding to each interval characteristic value, and the parameter of the camera image with the highest definition is taken as the working parameter, namely the working parameter corresponding to the driving information interval to which the interval characteristic value belongs.
Further, according to the embodiment of the present invention, the step of determining the working parameters of the camera according to the driving information and the parameter mapping table further includes:
acquiring the type of a camera; and determining the working parameters of the camera according to the running information, the type of the camera and the parameter mapping table.
For cameras manufactured by different manufacturers, corresponding camera parameters are different, and through the arrangement, when the driving information corresponding to the cameras is obtained in real time, the corresponding camera types are obtained, so that the accuracy of the determined camera working parameters is further improved.
According to the embodiment of the invention, the parameter mapping table can be constructed in an off-line mode and stored, so that network resources are prevented from being occupied.
Preferably, according to an embodiment of the present invention, the method further includes:
and adjusting camera parameters corresponding to different camera types, acquiring camera images acquired by characteristic values of all the intervals without the camera types and different camera parameters, and constructing parameter mapping tables corresponding to different camera types.
Through the arrangement, when the driving information corresponding to the camera loaded on the transportation equipment is obtained in real time, the corresponding camera type can be obtained, and the parameter mapping table corresponding to the camera type is further determined, so that the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded.
And step S103, adjusting the parameters of the camera according to the working parameters.
Specifically, according to the embodiment of the invention, after the working parameters corresponding to the current driving information are determined, the camera parameters loaded on the transportation equipment can be adjusted through the camera control module.
Further, according to an embodiment of the present invention, further after the step of adjusting the parameters of the camera according to the operating parameters, the method further includes:
and adding the camera image obtained after the camera parameter adjustment into a training set, updating the image recognition model, and updating the parameter mapping table based on the updated image recognition model.
Through the setting, the camera images determined after the camera parameters are adjusted by the current transportation equipment are added into the training set, the image recognition model is trained again, the accuracy of the image recognition model is improved, and then the parameter mapping table is updated, so that the accuracy of camera parameter adjustment is further improved.
According to the technical scheme of the embodiment of the invention, the running information of the transportation equipment is acquired, and the transportation equipment is loaded with the camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; the technical means of adjusting the parameters of the camera according to the working parameters overcomes the technical problems that the accuracy of the camera parameters is low, the definition of shot images is poor and the driving safety factor is low due to the fact that the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, and then the camera parameters are adjusted in real time according to the driving information, the accuracy of the camera parameters is improved, the definition of the shot images is improved, and further the technical effect of the driving safety factor is improved.
Fig. 2 is a schematic diagram of a main flow of an adjusting method of camera parameters according to a second embodiment of the present invention; in an application scenario of the embodiment of the present invention, exposure parameters and anti-shake parameters of a camera are adjusted according to light intensity and acceleration obtained in real time, as shown in fig. 2, a method for adjusting parameters of a camera provided in the embodiment of the present invention mainly includes:
step S201, dividing the light intensity and the acceleration to obtain a plurality of light intensity intervals and acceleration intervals, and determining an interval characteristic value corresponding to each light intensity interval and acceleration interval.
It should be noted that in the application scenario of the embodiment of the present invention, the exposure parameter of the camera is adjusted according to the light intensity and the acceleration obtained in real time (adjusting the exposure parameter is beneficial to improving the quality of the image obtained by the camera under different light intensities, and improving the accuracy of subsequent image recognition), and the anti-shake parameter (adjusting the anti-shake parameter is beneficial to improving the definition of the image obtained by the camera, and is convenient to monitor the environment around the transportation device, and improve the driving safety factor). It can be understood that, if the camera parameters need to be adjusted according to other driving speeds, the corresponding driving information also needs to be divided when the parameter mapping table is constructed, so as to obtain a plurality of driving information sections. For example, if the driving information includes a road condition (whether there is a turn) in front of the camera, it is necessary to divide the distance between the camera and a target object in front of the camera, obtain a plurality of distance sections, and determine a focal length parameter of the camera.
Further, according to the embodiment of the invention, in order to avoid the problem of poor definition of the camera image caused by too frequent adjustment of the camera parameters, a plurality of driving information intervals are obtained by segmenting the historical driving information (for example, a plurality of light intensity intervals are obtained by segmenting the light intensity, and a plurality of acceleration intervals are obtained by segmenting the acceleration). The higher the segmentation precision is, the more accurate the subsequently determined target camera parameters are; meanwhile, it can be understood that when the segmentation division precision is too high, the camera parameters of the transportation device are frequently adjusted in the driving process, and the definition of an image acquired by the camera is reduced, so that the driving safety is affected. Therefore, the specific division precision can be determined according to actual conditions.
According to the embodiment of the invention, the intermediate value of each interval (light intensity interval and acceleration interval) is taken as the interval characteristic value, and after the camera parameter corresponding to the interval characteristic value is determined subsequently, the corresponding camera parameter is taken as the optimal camera parameter (namely the working parameter) corresponding to the interval.
And step S202, adjusting camera parameters corresponding to different camera types, and acquiring camera images acquired by characteristic values of all the intervals without the camera types and the different camera parameters.
Through the setting, the parameter calibration is respectively carried out on the cameras of different manufacturers and different models, and the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded.
According to the embodiment of the invention, the camera image can be determined by taking a picture of a typical scene (such as a scene with different illumination intensities and representative road surfaces (typical acceleration) in the morning, midday, evening and night) by using different exposure parameters and anti-shake parameters under the condition of the interval characteristic value. According to a specific implementation manner of the embodiment of the invention, in order to determine the diversity and accuracy of the camera images, a method of sampling for multiple times and/or increasing the number of sensors can be adopted to obtain a plurality of camera images with different camera parameters corresponding to different interval characteristic values.
Step S203, determining a camera image set acquired by each interval characteristic value under different camera parameters, and inputting the camera image set into an image recognition model for recognition processing; and determining a target camera image corresponding to each interval characteristic value from the camera image set according to the identification processing result, determining a working parameter corresponding to each interval characteristic value according to the target camera image, and constructing a parameter mapping table according to the running interval information and the working parameter corresponding to each interval characteristic value.
The parameters corresponding to the target camera image obtained through the recognition processing by the image recognition model can be used as the working parameters corresponding to the driving information section (in the embodiment of the present invention, the light intensity section and the acceleration section) to which the section characteristic value belongs. And determining corresponding camera working parameters through the parameter mapping table as long as the real-time acquired running information falls within a certain running information interval. Through the setting, the degree of automation of camera parameter adjustment is improved, a large amount of human resources are saved, and the efficiency of determining camera working parameters is improved.
According to the embodiment of the invention, the image recognition model for recognizing the image definition can be obtained by adopting the existing deep learning model training, the input camera image is recognized, the camera image with higher definition in the camera image set corresponding to each section characteristic value is determined, and further the working parameter corresponding to each section characteristic value is determined.
According to the embodiment of the invention, the parameter mapping table can be constructed in an off-line mode and stored, so that network resources are prevented from being occupied.
Step S204, acquiring the light intensity and the acceleration of the transportation equipment in real time, wherein the transportation equipment is loaded with a camera, the light intensity and the acceleration are acquired through a sensor arranged on the camera accessory, and the orientation of the sensor is consistent with that of the camera.
According to the embodiment of the invention, the driving information corresponding to the camera can be acquired by using the sensor with the same orientation as the camera; for multiple cameras, a respective sensor may be configured for each camera.
Preferably, after the step of acquiring the light intensity and the acceleration of the transportation device in real time, the method further comprises:
and carrying out filtering smoothing treatment on the light intensity and the acceleration acquired in real time.
Through the arrangement, the accurate light intensity and acceleration can be acquired, and noise interference is avoided.
Step S205, determining whether the light intensity and the acceleration obtained in real time both belong to the light intensity interval and the acceleration interval corresponding to the previous time. If yes, namely the light intensity and the acceleration acquired in real time belong to the light intensity interval and the acceleration interval corresponding to the previous moment, the step S206 is carried out; if not, at least one of the light intensity and the acceleration obtained in real time does not belong to the light intensity interval and the acceleration interval corresponding to the previous moment, and step S207 is executed.
The working parameters of the camera corresponding to each light intensity interval and each acceleration interval indicated in the parameter mapping table are obtained in real time, and therefore, firstly, it needs to be judged whether the light intensity interval and the acceleration interval obtained in real time are in the light intensity interval and the acceleration interval corresponding to the last moment, and if so, the camera parameters do not need to be adjusted.
And step S206, keeping the current camera parameters unchanged.
Through the arrangement, the problem that the definition of an image acquired by the camera is reduced and the driving safety is influenced due to the fact that the camera parameters are adjusted too frequently is solved.
Step S207, the camera type loaded on the transportation apparatus is acquired.
For cameras manufactured by different manufacturers, corresponding camera parameters are different, and through the arrangement, when the driving information corresponding to the cameras is obtained in real time, the corresponding camera types are obtained, so that the accuracy of the determined camera parameters is further improved.
Step S208, determining working parameters of the camera according to the light intensity, the acceleration, the camera type and the parameter mapping table which are acquired in real time; the parameter mapping table indicates the corresponding relation between each light intensity interval, each acceleration interval and each working parameter of the camera.
According to the embodiment of the invention, firstly, a corresponding parameter mapping table is determined according to the type of a camera of the current transportation equipment; and then, the working parameters of the camera are determined according to the real-time driving information, and the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded through the setting.
And step S209, adjusting the parameters of the camera according to the working parameters.
Specifically, according to the embodiment of the invention, after the working parameters of the camera corresponding to the current light intensity and acceleration are determined, the parameters of the camera loaded on the transportation equipment can be adjusted through the camera control module.
And step S210, adding the camera image obtained after the camera parameter adjustment into a training set, updating the image recognition model, and updating the parameter mapping table based on the updated image recognition model.
Through the setting, the camera images determined after the camera parameters are adjusted by the current transportation equipment are added into the training set, the image recognition model is trained again, the accuracy of the image recognition model is improved, and then the parameter mapping table is updated, so that the accuracy of camera parameter adjustment is further improved.
According to the technical scheme of the embodiment of the invention, the running information of the transportation equipment is acquired, and the transportation equipment is loaded with the camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; the technical means of adjusting the parameters of the camera according to the working parameters overcomes the technical problems that the accuracy of the camera parameters is low, the definition of shot images is poor and the driving safety factor is low due to the fact that the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, and then the camera parameters are adjusted in real time according to the driving information, the accuracy of the camera parameters is improved, the definition of the shot images is improved, and further the technical effect of the driving safety factor is improved.
Fig. 3 is a schematic diagram of main modules of an adjusting device for camera parameters provided according to an embodiment of the present invention; as shown in fig. 3, an adjusting apparatus 300 for camera parameters according to an embodiment of the present invention mainly includes:
and the driving information acquisition module 301 is configured to acquire driving information of the transportation device, and the transportation device is loaded with the camera.
Specifically, according to the embodiment of the present invention, the driving information includes light intensity and/or driving acceleration corresponding to the camera during driving; the light intensity corresponds to the exposure parameters of the camera; the driving acceleration corresponds to the anti-shake parameter of the camera.
It should be noted that the above description on the driving information is only an example, and not only includes the above information, but also includes, for example, the distance between the camera and the target object in front of the camera; weather conditions (e.g., whether it is raining, whether there is fog); road conditions (whether there is a turn) in front of the camera, and the like. The driving information is acquired in real time, so that the optimal camera parameters can be determined subsequently, images with higher definition can be acquired, and the driving safety factor is improved.
Preferably, according to the embodiment of the present invention, the driving information corresponding to the camera may be acquired by using a sensor oriented in the same direction as the camera; for multiple cameras, a respective sensor may be configured for each camera. According to a specific implementation manner of the embodiment of the present invention, the adjustment of the camera parameters is performed in real time, so that the driving information of the transportation device is obtained in real time.
Preferably, the adjusting device 300 for camera parameters further comprises a filtering and smoothing module, after the step of acquiring the driving information of the transportation device, the filtering and smoothing module is configured to:
and carrying out filtering smoothing treatment on the real-time acquired running information.
Through the arrangement, accurate driving information can be acquired, and noise interference is avoided.
And a target camera parameter determining module 302, configured to determine working parameters of the camera according to the driving information and a parameter mapping table, where the parameter mapping table indicates a corresponding relationship between each driving information interval and each working parameter of the camera.
Through the setting, the corresponding relation between each driving information interval and each working parameter of the camera is indicated in the parameter mapping table, and the working parameter corresponding to the camera can be quickly determined only by determining the corresponding driving information interval according to the acquired driving information, so that the adjusting efficiency of the camera parameter is improved.
The working parameters of the camera refer to the optimal parameters of the camera in the current scene (in the current corresponding driving information), such as the optimal exposure parameters, the optimal anti-shake parameters, and the like.
Further, according to the embodiment of the present invention, the adjusting apparatus 300 for camera parameters further includes a determining module, after the step of acquiring the driving information of the transportation device, configured to:
judging whether the driving information acquired in real time belongs to a driving information interval corresponding to the previous moment, and if not, executing a subsequent process to determine working parameters of the camera; if yes, directly keeping the current camera parameters unchanged.
Specifically, according to an embodiment of the present invention, the target camera parameter determining module 302 is further configured to:
and determining the working parameters of the camera according to the running information, the camera type and the parameter mapping table.
According to the embodiment of the invention, the parameter mapping tables corresponding to different camera types can be determined in advance. Firstly, determining a corresponding parameter mapping table according to the type of a camera of current transportation equipment; and then, the working parameters of the camera are determined according to the real-time driving information, and the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded through the setting.
Further, according to an embodiment of the present invention, the apparatus 300 for adjusting parameters of a camera further includes a parameter mapping table building module, before the step of determining the working parameters of the camera according to the driving information and the parameter mapping table, the parameter mapping table building module is configured to:
dividing historical driving information to obtain a plurality of driving information sections, and determining section characteristic values corresponding to the driving information sections;
adjusting camera parameters to obtain camera images of all interval characteristic values acquired under different camera parameters;
identifying the camera image based on an image identification model, obtaining working parameters corresponding to all interval characteristic values according to an identification processing result, and constructing a parameter mapping table according to the running interval information and the working parameters corresponding to all interval characteristic values; the image recognition model is a model for recognizing the image definition obtained based on deep learning model training.
According to the embodiment of the invention, in order to avoid the problem of poor definition of the camera image caused by too frequent adjustment of the camera parameters, a plurality of driving information intervals are obtained by segmenting historical driving information (for example, a plurality of light intensity intervals are obtained by segmenting light intensity, and a plurality of acceleration intervals are obtained by segmenting acceleration). The higher the segmentation precision is, the more accurate the subsequently determined working parameters of the camera are; meanwhile, it can be understood that when the segmentation division precision is too high, the camera parameters of the transportation device are frequently adjusted in the driving process, and the definition of an image acquired by the camera is reduced, so that the driving safety is affected. Therefore, the specific division precision can be determined according to actual conditions.
On the other hand, after the plurality of travel information sections are divided, the section feature value corresponding to each travel information section may be determined by taking an intermediate value (for example only, the section feature value is not limited to the intermediate value, and an end point or any one point of the travel information section may be taken as the section feature value). The parameters corresponding to the target camera image obtained through the image recognition model are working parameters of the camera under the interval characteristic value, and the working parameters can be used as the working parameters corresponding to the driving information interval to which the interval characteristic value belongs. And determining corresponding working parameters through the parameter mapping table as long as the real-time acquired running information falls within a certain running information interval. Through the setting, the degree of automation of camera parameter adjustment is improved, a large amount of human resources are saved, and the efficiency of determining the working parameters of the camera is improved.
According to the embodiment of the invention, the image recognition model can be trained by adopting the existing deep learning model, the trained image recognition model is used for recognizing the input camera image to obtain the camera image with higher definition, and then the parameter corresponding to the camera image with higher definition is determined as the working parameter.
Further, the parameter mapping table constructing module is further configured to:
determining a camera image set acquired by each interval characteristic value under different camera parameters, and inputting the camera image set into an image recognition model for recognition processing;
and determining a target camera image corresponding to each interval characteristic value from the camera image set according to the recognition processing result, and determining a working parameter corresponding to each interval characteristic value according to the target camera image.
Through the setting, a camera image with the highest definition is determined through the image recognition model aiming at the camera image set corresponding to each interval characteristic value, and the parameter of the camera image with the highest definition is taken as the working parameter, namely the working parameter corresponding to the driving information interval to which the interval characteristic value belongs.
Further, according to the embodiment of the present invention, the target camera parameter determining module 302 is further configured to obtain a type of a camera; and determining the working parameters of the camera according to the running information, the type of the camera and the parameter mapping table.
For cameras manufactured by different manufacturers, corresponding camera parameters are different, and through the arrangement, when the driving information corresponding to the cameras is obtained in real time, the corresponding camera types are obtained, so that the accuracy of the determined camera working parameters is further improved.
According to the embodiment of the invention, the parameter mapping table can be constructed in an off-line mode and stored, so that network resources are prevented from being occupied.
Preferably, according to an embodiment of the present invention, the parameter mapping table constructing module is further configured to:
and adjusting camera parameters corresponding to different camera types, acquiring camera images acquired by characteristic values of all the intervals without the camera types and different camera parameters, and constructing parameter mapping tables corresponding to different camera types.
Through the arrangement, when the driving information corresponding to the camera loaded on the transportation equipment is obtained in real time, the corresponding camera type can be obtained, and the parameter mapping table corresponding to the camera type is further determined, so that the application range of the camera parameter adjusting method provided by the embodiment of the invention is expanded.
And the adjusting module 303 is used for adjusting parameters of the camera according to the working parameters.
Specifically, according to the embodiment of the invention, after the working parameters corresponding to the current driving information are determined, the camera parameters loaded on the transportation equipment can be adjusted through the camera control module.
Further, according to an embodiment of the present invention, the adjusting apparatus 300 for camera parameters further includes an updating module, after the step of adjusting the parameters of the camera according to the working parameters, the updating module is configured to:
and adding the camera image obtained after the camera parameter adjustment into a training set, updating the image recognition model, and updating the parameter mapping table based on the updated image recognition model.
Through the setting, the camera images determined after the camera parameters are adjusted by the current transportation equipment are added into the training set, the image recognition model is trained again, the accuracy of the image recognition model is improved, and then the parameter mapping table is updated, so that the accuracy of camera parameter adjustment is further improved.
According to the technical scheme of the embodiment of the invention, the running information of the transportation equipment is acquired, and the transportation equipment is loaded with the camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; the technical means of adjusting the parameters of the camera according to the working parameters overcomes the technical problems that the accuracy of the camera parameters is low, the definition of shot images is poor and the driving safety factor is low due to the fact that the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, and then the camera parameters are adjusted in real time according to the driving information, the accuracy of the camera parameters is improved, the definition of the shot images is improved, and further the technical effect of the driving safety factor is improved.
Fig. 4 shows an exemplary system architecture 400 to which the camera parameter adjustment method or the camera parameter adjustment apparatus according to the embodiment of the present invention can be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405 (this architecture is merely an example, and the components included in a particular architecture may be adapted according to application specific circumstances). The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have installed thereon various communication client applications, such as a camera adjustment type application, a data processing type application, an automatic driving/transportation/distribution type application tool (for example only).
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 401, 402, 403. The background management server may analyze and otherwise process the received data such as the driving information, and feed back a processing result (for example, an operating parameter — just an example) to the terminal device.
It should be noted that the method for adjusting the camera parameters provided in the embodiment of the present invention is generally executed by the server 405, and accordingly, the device for adjusting the camera parameters is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 5, a block diagram of a computer system 500 suitable for use with a terminal device or server implementing an embodiment of the invention is shown. The terminal device or the server shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a travel information acquisition module, an operating parameter determination module, and an adjustment module. The names of these modules do not in some cases constitute a limitation on the modules themselves, and for example, the travel information acquisition module may also be described as "a module for acquiring travel information of a transportation device on which a camera is loaded".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: acquiring running information of the transportation equipment, wherein the transportation equipment is loaded with a camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; and adjusting the parameters of the camera according to the working parameters.
According to the technical scheme of the embodiment of the invention, the running information of the transportation equipment is acquired, and the transportation equipment is loaded with the camera; determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera; the technical means of adjusting the parameters of the camera according to the working parameters overcomes the technical problems that the accuracy of the camera parameters is low, the definition of shot images is poor and the driving safety factor is low due to the fact that the existing camera parameters loaded on the transportation equipment cannot be adjusted in real time according to the driving condition, and then the camera parameters are adjusted in real time according to the driving information, the accuracy of the camera parameters is improved, the definition of the shot images is improved, and further the technical effect of the driving safety factor is improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for adjusting camera parameters is characterized by comprising the following steps:
acquiring running information of a transport device, wherein a camera is loaded on the transport device;
determining working parameters of the camera according to the driving information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each driving information interval and each working parameter of the camera;
and adjusting the parameters of the camera according to the working parameters.
2. The method of adjusting parameters of a camera according to claim 1, wherein before the step of determining the operating parameters of the camera according to the driving information and a parameter mapping table, the method further comprises:
dividing historical driving information to obtain a plurality of driving information sections, and determining section characteristic values corresponding to the driving information sections;
adjusting camera parameters to obtain camera images of all interval characteristic values acquired under different camera parameters;
identifying the camera image based on an image identification model, obtaining working parameters corresponding to all interval characteristic values according to an identification processing result, and constructing a parameter mapping table according to the running interval information and the working parameters corresponding to all interval characteristic values; the image recognition model is a model for recognizing the image definition obtained based on deep learning model training.
3. The method for adjusting the camera parameters according to claim 2, wherein the step of identifying the camera image based on the image identification model and obtaining the working parameters corresponding to the characteristic values of each section according to the identification result comprises:
determining a camera image set acquired by each interval characteristic value under different camera parameters, and inputting the camera image set into the image recognition model for recognition processing;
and determining a target camera image corresponding to each interval characteristic value from the camera image set according to the identification processing result, and determining a working parameter corresponding to each interval characteristic value according to the target camera image.
4. The method of adjusting camera parameters according to claim 2, further comprising:
and adjusting camera parameters corresponding to different camera types, acquiring camera images acquired by characteristic values of all the intervals without the camera types and different camera parameters, and constructing parameter mapping tables corresponding to different camera types.
5. The method for adjusting parameters of a camera according to claim 1, wherein the step of determining the operating parameters of the camera according to the driving information and a parameter mapping table further comprises:
acquiring the type of the camera; and determining the working parameters of the camera according to the running information, the type of the camera and a parameter mapping table.
6. The method of adjusting parameters of a camera according to claim 2, wherein after the step of adjusting parameters of the camera according to the operating parameters, the method further comprises:
and adding the camera image obtained after the camera parameter adjustment into a training set, updating the image recognition model, and updating the parameter mapping table based on the updated image recognition model.
7. The method for adjusting camera parameters according to claim 1, wherein the driving information includes light intensity and/or driving acceleration; the light intensity corresponds to exposure parameters of the camera; the driving acceleration corresponds to an anti-shake parameter of the camera.
8. A camera parameter adjustment device, comprising:
the system comprises a driving information acquisition module, a camera and a control module, wherein the driving information acquisition module is used for acquiring driving information of transportation equipment;
the working parameter determining module is used for determining working parameters of the camera according to the running information and a parameter mapping table, wherein the parameter mapping table indicates the corresponding relation between each running information interval and each working parameter of the camera;
and the adjusting module is used for adjusting the parameters of the camera according to the working parameters.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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