CN114435247A - Method for enhancing display of front-view double-side blind areas of automobile - Google Patents

Method for enhancing display of front-view double-side blind areas of automobile Download PDF

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CN114435247A
CN114435247A CN202111351159.4A CN202111351159A CN114435247A CN 114435247 A CN114435247 A CN 114435247A CN 202111351159 A CN202111351159 A CN 202111351159A CN 114435247 A CN114435247 A CN 114435247A
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image
brightness
blind area
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张晋东
冯天琦
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Yancheng Jiyan Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/90—Dynamic range modification of images or parts thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/602—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective with an adjustable viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20132—Image cropping
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    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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    • G06T2207/20221—Image fusion; Image merging
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    • G06T2207/30196—Human being; Person
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Abstract

The invention discloses an enhanced display method for blind areas on two sides of a front view of an automobile. The method utilizes an image processing technology to enhance the video of the blind areas at the two sides of the front view of the automobile captured by the vehicle-mounted external camera, so that the brightness of the video can be adaptively adjusted relative to the driving environment, and the video images of the blind areas at the two sides of the front view of the automobile in special driving environments, such as the environment without light at night, foggy days and the like, are enhanced and displayed, thereby achieving the purpose of eliminating the blind areas at the two sides of the front view of the automobile.

Description

Method for enhancing display of front-view double-side blind areas of automobile
Technical Field
The invention relates to the technical field of image processing, in particular to an enhanced display method for blind areas on two sides of a front view of an automobile.
Background
In the automobiles seen in our daily lives, the front-view blind areas of the automobiles are the two side blind areas on the front view, the important connecting columns for connecting the roofs and the cabins of the left and right sides of the front parts of the automobiles have important effects on the stability and rigidity of the whole automobile bodies of the automobiles and the safety of the automobiles in collision.
In general, the forward-looking double-sided blind area of the automobile forms a shielding range of about 8 degrees for the visual field of a driver. And serious traffic accidents may be caused due to slight vision which may be caused by the driver to the view of the blind area. And serious threats are generated to safe traveling and driving. And reducing or canceling the blind areas at the two sides of the front view of the automobile can cause the reduction of the structural strength of the automobile. Also poses a serious threat to the safety of the automobile. The safety risk caused by the forward-looking double-side blind area of the automobile cannot be fundamentally solved. Therefore, the computer vision technology and the image processing technology are utilized to carry out visualization processing on the blind areas on the two sides of the front view of the automobile, and the feasible scheme for solving the blind areas on the two sides of the front view of the automobile is formed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a method for enhancing and displaying blind areas on two sides of the front view of an automobile, which comprises a vehicle-mounted external camera, a vehicle-mounted internal camera, an image processing module and a display system. The video image of the blind area is captured by the camera outside the vehicle, and the processed image is displayed on the display system inside the vehicle.
Vehicle-mounted external camera: a camera is installed at a proper position in the range of the blind areas on the two sides of the front view of the automobile, and images in the range of the target area are captured. And then transmitting the video image of the blind area to a vehicle-mounted computer for correcting the image within the blind area range.
Vehicle-mounted interior camera: the facial image of the driver is captured by installing an in-vehicle camera in a proper position. And transmits the image to the vehicle-mounted computer for processing.
An image processing module: the captured video images from the in-vehicle camera and the out-vehicle camera are received and then the two partial images are processed separately. Firstly, the facial image of the driver captured by the camera in the vehicle is processed to obtain the eye coordinate data. And then, carrying out perspective transformation and cutting processing on the video image captured by the vehicle exterior camera through the eye coordinate data to obtain required blind area image data. And then, the image of the blind area is enhanced, so that the purpose of increasing the identifiability of the image is achieved. And finally, sending the processed video images of the front-looking double-side blind areas of the automobile to a front-looking double-side blind area display of the automobile.
A display system: the blind area video image processing device is arranged at the blind area parts at the two sides of the front view of the automobile, receives the processed blind area video image from the vehicle-mounted computer equipment, and displays the blind area images at the two sides of the front view of the automobile on a display screen, thereby achieving the purpose of eliminating the blind areas at the two sides of the front view of the automobile.
The method as claimed in claim 1, wherein the method first captures video contents of road conditions in the blind areas by using the cameras at the positions of the blind areas on both sides of the front view of the vehicle. The image processing module in the invention comprises an enhanced display method for the blind areas on the two sides of the front view of the automobile:
the method comprises the steps of enhancing a blind area video image, and firstly, respectively obtaining the blind area video image and an environment video image in a vehicle. The method comprises the steps of firstly calculating the average brightness of video images in the vehicle, then automatically increasing or decreasing the brightness of the blind area video images according to the average brightness, enabling the enhanced images to be better blended into the surrounding environment, and then performing enhancement processing on the video images, enhancing the contrast and the identifiability of the images and enabling the fusion effect of the blind area images to be better. Therefore, the procedure for enhancing the image is as follows:
(1) generally, it can be considered that the brightness of an image is determined by its gray level. The closer its gray level is to 0, the darker the image, and conversely, the closer its gray level is to the maximum, the brighter the image. Therefore, the intensity of the ambient illumination brightness around the driver can be judged according to the gray level. In this case, the value of the ambient brightness can be obtained by calculating the representative value of the gray level, and the pixel value of the blind area image can be adaptively adjusted according to the intensity of the ambient brightness of the driver, so that the situation that the brightness is too high or insufficient in the next image enhancement processing can be effectively prevented.
(2) First, considering that the ambient light of the vehicle driven by the driver does not change drastically in general, it is not necessary to measure the brightness level of each frame of image in consideration of the energy saving. And selecting every 5 video frames of the input in-vehicle video image to capture a picture, and returning the average value of the brightness values of the pictures to image enhancement processing. Then, the blind area image is adjusted according to the average brightness value of the image.
For the acquired in-vehicle video image P (x, y), firstly, the picture needs to be converted from a color picture of a three-channel to a black-and-white picture of a single channel. And if the black and white picture Pi (x, y) is i, performing convolution operation on each point in the image, wherein the selected convolution kernel is a matrix of 3 x 3, and the filter matrix W is
Figure BDA0003354329130000041
And carrying out convolution operation on P (x, y) of the in-vehicle environment video image frame
Pc＝(∑P(x，y)*W)/8 (2)
The operation is convolution operation, i.e. multiplying the gray scale by using a filter matrix, then summing and averaging the gray scale, and giving a new pixel level with the central point as the central point to obtain a relatively smooth image.
Obtaining the pixel average brightness value P by convolution operation of P and using the arithmetic mean valuecAnd according to the luminance value PcThe formed collective luminance map PwAnd carrying out brightness adjustment processing on the blind area image.
For blind area image Pa(x, y), calculating the gray value and brightness map P of pixel points under the single-channel imagewThe difference value of the corresponding pixel point is used as the value corresponding to the brightness optimization, and a brightness optimization graph P is obtainedcl。
Pcl＝Pa(x，y)-Pw(x，y) (3)
Then, a blind area image P is calculated according to the brightness optimization mapaTo be adjustedBrightness value N, and for PaAnd adjusting the brightness of the image in the area.
N＝∑Pcl(x，y) (4)
Then adjusting the value N according to the brightness, to PaThe pixels are adjusted one by one to make the brightness of the blind area image consistent with the brightness of the image in the cab. The blind area image PaThe pixel value of each pixel and the brightness adjusting value N are subjected to an addend operation, and a blind area image P which is consistent with the environment brightness in the vehicle can be obtainedac。
Pac＝Pa-N (5)
After obtaining the adjusted blind area image PacThis image can then be used as a blind area video image adapted to the ambient brightness, thus serving as a basis for subsequent enhancement processing of the image.
(3) For a blind area picture P (x, y) to be enhanced, it can be decomposed into a reflection map R (x, y) and a brightness map L (x, y), i.e. a form of R (x, y) multiplied by L (x, y), and separated by using logarithm operation, the brightness map L (x, y) does not affect the vision of human eyes to the color of the picture, the logarithm map of the reflection map R (x, y) is calculated by using subtraction, and then it is restored to the reflection map by using logarithm domain, i.e. it is regarded as the original vision map of the calculated picture, and the visual enhancement effect to the picture is realized.
Drawings
Fig. 1 is a flowchart of image enhancement in an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
The blind zone eliminating system designed by the invention consists of four subsystems, namely a vehicle-mounted external camera, a vehicle-mounted internal camera, an image processing module and a display system. The video image of the blind area is captured by the camera outside the vehicle, and the processed image is displayed on the display system inside the vehicle.
Vehicle-mounted external camera: a camera is installed at a proper position in the range of the blind areas on the two sides of the front view of the automobile, and images in the range of the target area are captured. And then transmitting the video image of the blind area to a vehicle-mounted computer for correcting the image within the blind area range.
Vehicle-mounted interior camera: the facial image of the driver is captured by installing an in-vehicle camera in a proper position. And transmits the image to the vehicle-mounted computer for processing.
An image processing module: the captured video images from the in-vehicle camera and the out-vehicle camera are received and then the two partial images are processed separately. Firstly, the facial image of the driver captured by the camera in the vehicle is processed to obtain the eye coordinate data. And then, carrying out perspective transformation and cutting processing on the video image captured by the vehicle exterior camera through the eye coordinate data to obtain required blind area image data. And then, the image of the blind area is enhanced, so that the purpose of increasing the identifiability of the image is achieved. And finally, sending the processed video images of the front-looking double-side blind areas of the automobile to a front-looking double-side blind area display of the automobile.
The specific implementation flow is shown in fig. 1: firstly, a blind area video image and an environment video image in a vehicle are respectively obtained. The method comprises the steps of firstly calculating the average brightness of video images in the vehicle, then automatically increasing or decreasing the brightness of the blind area video images according to the average brightness, enabling the enhanced images to be better blended into the surrounding environment, and then performing enhancement processing on the video images, enhancing the contrast and the identifiability of the images and enabling the fusion effect of the blind area images to be better. Therefore, the procedure for enhancing the image is as follows:
(1) generally, it can be considered that the brightness of an image is determined by its gray level. Its gray scale
The closer the level is to 0, the darker the image, and conversely, the closer the gray level is to the maximum, the brighter the image. Therefore, the intensity of the ambient illumination around the driver can be judged according to the gray level. In this case, the representative value of the gray level can be calculated to obtain the value of the ambient brightness, and the pixel value of the blind area image is adaptively adjusted according to the intensity of the ambient brightness of the driver, so that the situation that the brightness is too high or insufficient in the next image enhancement processing can be effectively prevented.
(2) First, considering that the ambient light of the vehicle driven by the driver does not change drastically in general, it is not necessary to measure the brightness level of each frame of image in consideration of the energy saving. And selecting every 5 video frames to capture a picture for the input in-vehicle video image, and returning the average value of the brightness values of the pictures to image enhancement processing. And then, adjusting the blind area image according to the average brightness value of the picture.
For the acquired in-vehicle video image P (x, y), firstly, the picture needs to be converted from a color picture of a three-channel to a black-and-white picture of a single channel. And if the black and white picture Pi (x, y) is i, performing convolution operation on each point in the image, wherein the selected convolution kernel is a matrix of 3 x 3, and the filter matrix W is
Figure BDA0003354329130000081
And carrying out convolution operation on P (x, y) of the in-vehicle environment video image frame
Pc＝(∑P(x，y)*W)/8 (2)
The operation is convolution operation, i.e. multiplying the gray scale by a filter matrix, then summing and averaging the gray scale, and giving the central point as a new pixel level of the central point to obtain a relatively smooth image.
Obtaining the pixel average brightness value P by convolution operation of P and using the arithmetic mean valuecAnd according to the luminance value PcThe formed collective luminance map PwAnd carrying out brightness adjustment processing on the blind area image.
For blind area image Pa(x, y), calculating the gray value and brightness map P of pixel points under the single-channel imagewThe difference value of the corresponding pixel point is used as the value corresponding to the brightness optimization, and a brightness optimization graph P is obtainedcl。
Pcl＝Pa(x，y)-Pw(x，y) (3)
Then, a blind area image P is calculated according to the brightness optimization mapaThe brightness value N to be adjusted, and for PaAnd adjusting the brightness of the image in the area.
N＝∑Pcl(x，y) (4)
Then adjusting the value N according to the brightness, to PaThe pixels are adjusted one by one to make the brightness of the blind area image consistent with the brightness of the image in the cab. The blind area image PaThe pixel value of each pixel and the brightness adjusting value N are subjected to an addend operation, and a blind area image P which is consistent with the environment brightness in the vehicle can be obtainedac。
Pac＝Pa-N (5)
After obtaining the adjusted blind area image PacThis image can then be used as a blind area video image adapted to the ambient brightness, thus serving as a basis for subsequent enhancement processing of the image.
(3) For a blind area picture P (x, y) to be enhanced, it can be decomposed into a reflection map R (x, y) and a luminance map L (x, y), i.e. a form calculated by multiplying R (x, y) and L (x, y), and separated by using logarithm operation, the luminance map L (x, y) does not affect the vision of human eyes to the color of the image, the logarithm map of the reflection map R (x, y) is calculated by subtraction, and then it is restored to the reflection map by using logarithm domain, i.e. it is regarded as the original visual map of the calculated image. The visual enhancement effect on the image is realized.

Claims (2)

1. A method for enhancing display of blind areas on two sides of a front view of an automobile comprises the following steps: the equipment configuration comprises a vehicle-mounted external camera, a vehicle-mounted internal camera, an image processing module and a display system, wherein the vehicle-mounted external camera captures a video image of a blind area, and the image module displays the processed video image on the display system in the vehicle:
(1) vehicle-mounted external camera: installing a camera at a proper position in the range of blind areas on the two sides of the front view of the automobile, capturing images in the range of a target area, and then transmitting video images of the blind areas to an on-board computer for correcting the images in the range of the blind areas;
(2) vehicle-mounted interior camera: capturing a facial image of a driver by installing an in-vehicle camera at a proper position, and transmitting the image to an on-vehicle computer for processing;
(3) an image processing module: the method comprises the steps of receiving captured video images from an inside camera and an outside camera, then respectively processing two parts of images, firstly processing a driver face image captured by the inside camera to obtain eye coordinate data, then carrying out perspective transformation and cutting processing on the video image captured by the outside camera through the eye coordinate data to obtain required blind area image data, then carrying out enhancement processing on the image of the blind area to achieve the purpose of increasing the identifiability of the image, and finally sending the processed video image of the front-looking double-side blind area of the automobile to a front-looking double-side blind area display of the automobile;
(4) a display system: the blind area video image processing device is arranged at the blind area parts at the two sides of the front view of the automobile, receives the processed blind area video image from the vehicle-mounted computer equipment, and displays the blind area images at the two sides of the front view of the automobile on a display screen, thereby achieving the purpose of eliminating the blind areas at the two sides of the front view of the automobile.
2. The method according to claim 1, wherein the method comprises capturing road condition video content of the blind area by using cameras at the positions of the blind areas on both sides of the front view of the vehicle, capturing facial images of human faces by using cameras in the vehicle, and the image processing module comprises a method for enhancing the display of the blind areas on both sides of the front view of the vehicle:
carry out enhancement processing to blind area video image, need obtain the environment video image in blind area video image and the car respectively at first, first step calculates the average brightness of video image in the car earlier, later come to carry out the automatic increase of luminance or the adjustment that reduces to blind area video image according to its average brightness, make the image after the reinforcing can be better melt into the surrounding environment, later, make enhancement processing to video image, the contrast and the distinguishable degree of enhancement image, make the fusion effect of blind area image better, therefore, the flow to its image enhancement does:
(1) generally, the brightness of an image is determined by the gray level, the image is darker as the gray level is closer to 0, and conversely, the image is brighter as the gray level is closer to the maximum value, therefore, the intensity of the illumination brightness of the surrounding environment of a driver can be judged according to the gray level, in this case, the representative value of the gray level can be calculated to obtain the value of the environment brightness, and the pixel value of the blind area image can be adaptively adjusted according to the intensity of the environment brightness of the driver, so that the situation that the brightness generated by the image enhancement processing in the next step is too high or insufficient can be effectively prevented;
(2) firstly, considering that the ambient light of a driver driving a vehicle does not change violently under a general condition, therefore, considering the energy saving, the brightness intensity of each frame of image is not required to be measured, for the input video image in the vehicle, every 5 video frames are selected to capture one picture, the average value of the brightness value of the picture is returned to the image enhancement processing, and then the blind area image is adjusted according to the average brightness value of the picture;
for an acquired in-vehicle video image P (x, y), firstly, the image needs to be converted from a three-channel color image into a single-channel black-and-white image, and when the black-and-white image Pi (x, y) ═ i is set, convolution operation is performed on each point in the image, and the selected convolution kernel is a matrix of 3 × 3, wherein a filter matrix W is:
Figure RE-FDA0003571020610000031
and carrying out convolution operation on P (x, y) of the in-vehicle environment video image frame:
Pc＝(∑P(x，y)*W)/8 (2)
wherein, the operation is convolution operation, namely multiplying the gray level by a filter matrix, then summing and averaging the gray level, and giving a central point of the gray level as a new pixel level of the central point to obtain a relatively smooth image;
by making use of PConvolution operation and obtaining the average brightness value P of the pixel by calculating the arithmetic average valuecAnd according to the luminance value PcThe formed collective luminance map PwAdjusting the brightness of the blind area image;
for blind area image Pa(x, y), calculating the gray value and brightness map P of pixel points under the single-channel imagewThe difference value of the corresponding pixel point is used as the value corresponding to the brightness optimization, and a brightness optimization graph P is obtainedcl：
Pcl＝Pa(x，y)-Pw(x，y) (3)
Then, a blind area image P is calculated according to the brightness optimization mapaThe brightness value N to be adjusted, and PaAdjusting the brightness of the image in the area:
N＝∑Pcl(x，y) (4)
then adjusting the value N according to the brightness, to PaThe pixels of the blind area image P are adjusted one by one to ensure that the brightness of the blind area image is consistent with that of the image in the cab, and the blind area image P is adjustedaThe pixel value of each pixel and the brightness adjusting value N are subjected to addend operation, and a blind area image P which is consistent with the environment brightness in the vehicle can be obtainedac：
Pac＝Pa-N (5)
After obtaining the adjusted blind area image PacThis image can then be used as a blind-zone video image adapted to the ambient brightness, thus serving as the basis for the subsequent enhancement processing of the image:
(3) for a blind area picture P (x, y) to be enhanced, it can be decomposed into a reflection map R (x, y) and a luminance map L (x, y), i.e. a form of multiplication calculation of R (x, y) and L (x, y), and is separated by using logarithm operation, the luminance map L (x, y) does not affect the vision of human eyes to the color of the picture, the logarithm map of the reflection map R (x, y) is calculated by using subtraction, and then is restored to the reflection map by using logarithm domain, i.e. the original visual map of the calculated picture, so as to achieve the visual enhancement effect of the picture.
CN202111351159.4A 2021-11-15 2021-11-15 Method for enhancing display of front-view double-side blind areas of automobile Pending CN114435247A (en)

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