CN116757968A - Noise reduction method and device, chip, event imaging device and electronic equipment - Google Patents
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Abstract
Description
技术领域Technical field
本发明涉及一种降噪方法及装置、芯片、事件成像装置和电子设备,并具体涉及一种背景噪声事件的降噪方法及装置、芯片、事件成像装置和电子设备。The present invention relates to a noise reduction method and device, a chip, an event imaging device and an electronic device, and in particular to a noise reduction method and device for a background noise event, a chip, an event imaging device and an electronic device.
背景技术Background technique
神经形态传感器的背景噪声事件是随机产生的,一些现有降噪技术滤除背景噪声的计算资源消耗大,一些现有技术未考虑像素点的位置信息,将某些有效事件当作背景噪声一同过滤,降噪准确度低。The background noise events of neuromorphic sensors are randomly generated. Some existing noise reduction technologies consume a lot of computing resources to filter out background noise. Some existing technologies do not consider the position information of pixels and treat some valid events as background noise. Filtering, noise reduction accuracy is low.
一类常见的降噪方案是相关性滤波,判断当前事件发生时,一段时间、范围内是否有其它事件产生,如果有则认为是有效事件。一些早期降噪方案中将一个像素的时间戳存储至周围8个邻居像素对应的时间戳存储单元中,然后判断当前时间戳与该像素所对应的前一时间戳之间的差值是否大于阈值,以获得时域支持。然而该类方法虽然计算代价较低,但滤波效果并不理想,仅能滤除低频的背景噪声,此外该类方法对空间信息利用不完整,会损失空间信息。A common type of noise reduction scheme is correlation filtering, which determines whether other events occur within a certain period of time and within a range when the current event occurs. If so, it is considered a valid event. In some early noise reduction schemes, the timestamp of a pixel is stored in the timestamp storage units corresponding to the surrounding eight neighboring pixels, and then it is determined whether the difference between the current timestamp and the previous timestamp corresponding to the pixel is greater than the threshold. , for time domain support. However, although this type of method has a low computational cost, the filtering effect is not ideal and can only filter out low-frequency background noise. In addition, this type of method makes incomplete use of spatial information and will lose spatial information.
现有技术1:CN116170702A。现有技术1中事件成像装置通过设定阈值感知事件,判断像素单元的光强变化是否达到设定阈值,只有达到设定阈值时才生成事件,否则作为背景噪声滤除。阈值通常设得很小,以保证高灵敏性,但同时也容易将外界微小的干扰捕获成噪声事件,因此对噪声极其敏感,而增加阈值,会使得物体运动时的捕获的有效事件数量下降,影响成像效果。该方案的降噪准确度低,易将有效事件误判为背景噪声。Prior art 1: CN116170702A. The event imaging device in the prior art 1 senses the event by setting a threshold, and determines whether the change in light intensity of the pixel unit reaches the set threshold. An event is generated only when it reaches the set threshold, otherwise it is filtered out as background noise. The threshold is usually set very small to ensure high sensitivity, but at the same time, it is easy to capture small external interference as noise events, so it is extremely sensitive to noise. Increasing the threshold will reduce the number of effective events captured when the object is moving. affect the imaging effect. The noise reduction accuracy of this solution is low, and it is easy to misjudge valid events as background noise.
基于此,本领域亟需一种降噪方法:能够准确、高效地滤除背景噪声,减小误伤有效事件的概率。Based on this, this field is in urgent need of a noise reduction method that can accurately and efficiently filter out background noise and reduce the probability of accidental damage to effective events.
发明内容Contents of the invention
为了解决或缓解上述部分或全部技术问题,本发明是通过如下技术方案实现的:In order to solve or alleviate some or all of the above technical problems, the present invention is implemented through the following technical solutions:
一种降噪方法,用于对事件成像装置输出的事件流降噪,所述事件流包括由第一像素所生成的待判别事件,所述事件流中的每个事件至少包括坐标信息和时间戳信息,所述降噪方法包括如下步骤:根据所述待判别事件的时间戳信息,判断是否属于第一时间区间;若所述待判别事件不属于第一时间区间,根据第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动,判断是否阻塞所述待判别事件。A denoising method for denoising an event stream output by an event imaging device. The event stream includes events to be distinguished generated by a first pixel. Each event in the event stream at least includes coordinate information and time. Stamp information, the noise reduction method includes the following steps: determine whether the event to be determined belongs to the first time interval according to the timestamp information of the event to be determined; if the event to be determined does not belong to the first time interval, determine whether the event to be determined belongs to the first time interval according to the time stamp of the first pixel. The fluctuation between the statistical number of events generated in a time interval and the statistical number of events generated by the first pixel in the previous time interval of the first time interval is used to determine whether the event to be determined is blocked.
在某类实施例中,对于未被阻塞的待判别事件,根据第一像素周围的空域邻居像素的时间戳能否提供足够的支持,决定未被阻塞的待判别事件是否应被放行。In certain embodiments, for unblocked events to be determined, whether the unblocked events to be determined should be released is determined based on whether the timestamps of spatial neighbor pixels around the first pixel can provide sufficient support.
在某类实施例中,若所述待判别事件属于第一时间区间,则对第一像素在第一时间区间所生成的事件的统计数加一。In certain embodiments, if the event to be determined belongs to the first time interval, then add one to the statistics of events generated by the first pixel in the first time interval.
在某类实施例中,若第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动大于或等于第一阈值,则放行所述待判别事件进入下一级系统。In certain embodiments, if the fluctuation between the statistical number of events generated by the first pixel in the first time interval and the statistical number of events generated by the first pixel in the previous time interval of the first time interval is greater than or equal to the first threshold, then the event to be determined is allowed to enter the next-level system.
在某类实施例中,若第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动小于第一阈值,则:判断第一像素的空域邻居像素中是否有超过预设数量的像素在第一时间区间和第一时间区间的前一时间区间内所生成的事件的统计数之间的波动大于或等于第一阈值,若是则放行所述待判别事件进入下一级系统,否则阻塞所述待判别事件。In certain embodiments, if the fluctuation between the statistical number of events generated by the first pixel in the first time interval and the statistical number of events generated by the first pixel in the previous time interval of the first time interval is less than The first threshold is: determine whether there are more than a preset number of pixels among the spatial neighbor pixels of the first pixel. The fluctuation between the statistics of events generated in the first time interval and the previous time interval of the first time interval. is greater than or equal to the first threshold, if so, the event to be determined is allowed to enter the next level system, otherwise the event to be determined is blocked.
在某类实施例中,若第一像素在第一时间区间所生成的事件的统计数为零,则将状态矩阵中对应第一像素的状态值更新为第一状态值;若第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动小于第一阈值,则将在状态矩阵中对应第一像素的状态值更新为第二状态值;若第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动大于或等于第一阈值,则将状态矩阵中对应第一像素的状态值更新为第三状态值。In certain embodiments, if the statistics of events generated by the first pixel in the first time interval are zero, then the state value corresponding to the first pixel in the state matrix is updated to the first state value; if the first pixel is in The fluctuation between the statistical number of events generated in the first time interval and the statistical number of events generated by the first pixel in the previous time interval of the first time interval is less than the first threshold, then the corresponding number in the state matrix will be The status value of a pixel is updated to the second status value; if the statistical number of events generated by the first pixel in the first time interval is different from the statistical number of events generated by the first pixel in the previous time interval of the first time interval If the fluctuation between them is greater than or equal to the first threshold, then the state value corresponding to the first pixel in the state matrix is updated to the third state value.
在某类实施例中,若第一像素的空域邻居像素中有超过预设数量的像素在第一时间区间和第一时间区间的前一时间区间内所生成的事件的统计数之间的波动大于或等于第一阈值,则将状态矩阵中对应第一像素的状态值更新为第三状态值。In certain embodiments, if there are more than a preset number of pixels among the spatial neighbor pixels of the first pixel, the fluctuation between the statistics of events generated in the first time interval and the previous time interval of the first time interval is greater than or equal to the first threshold, then the state value corresponding to the first pixel in the state matrix is updated to the third state value.
在某类实施例中,若第一像素在状态矩阵中对应的状态值为第三状态值,则将标记矩阵中对应第一像素的标记值更新为第一标记值;In certain embodiments, if the state value corresponding to the first pixel in the state matrix is the third state value, then the mark value corresponding to the first pixel in the mark matrix is updated to the first mark value;
若第一像素在状态矩阵中对应的状态值为第二状态值,则将标记矩阵中对应第一像素的标记值更新为第二标记值。If the state value corresponding to the first pixel in the state matrix is the second state value, then the mark value corresponding to the first pixel in the mark matrix is updated to the second mark value.
在某类实施例中,若第一像素在标记矩阵中对应第一像素的标记值为第一标记值,则放行所述待判别事件进入下一级系统,若第一像素在标记矩阵中对应第一像素的标记值为第二标记值,则阻塞所述待判别事件。In certain embodiments, if the mark value of the first pixel corresponding to the first pixel in the mark matrix is the first mark value, the event to be determined is allowed to enter the next level system. If the first pixel corresponds to If the mark value of the first pixel is the second mark value, the event to be determined is blocked.
在某类实施例中,所述下一级系统是降噪系统,所述降噪系统基于时间戳矩阵中对应第一像素的空域邻居像素的时间戳与时间戳矩阵中对应第一像素的时间戳之间的时间差,统计时间差小于或等于预定阈值的空域邻居像素的个数,若超过第二阈值,则放行待判别事件,否则阻塞待判别事件。In certain embodiments, the next-level system is a noise reduction system, which is based on the timestamp of the spatial neighbor pixels corresponding to the first pixel in the timestamp matrix and the time of the corresponding first pixel in the timestamp matrix. The time difference between stamps is counted, and the number of spatial neighbor pixels whose time difference is less than or equal to the predetermined threshold is counted. If it exceeds the second threshold, the event to be determined is released, otherwise the event to be determined is blocked.
在某类实施例中,若第一像素在状态矩阵中对应的状态值为第三状态值,则放行所述待判别事件进入下一级系统,若第一像素在状态矩阵中对应的状态值为第二状态值,则阻塞所述待判别事件。In certain embodiments, if the corresponding state value of the first pixel in the state matrix is the third state value, then the event to be determined is released to enter the next level system. If the corresponding state value of the first pixel in the state matrix is is the second status value, then the event to be determined is blocked.
在某类实施例中,所述对第一像素在第一时间区间所生成的事件的统计数加一之后,则根据第一像素在标记矩阵中对应的标记值或第一像素在状态矩阵中对应的状态值,做出是否放行或阻塞待判别事件判断。In certain embodiments, after adding one to the statistics of events generated by the first pixel in the first time interval, the corresponding tag value of the first pixel in the tag matrix or the number of the first pixel in the state matrix is The corresponding status value is used to determine whether to release or block the pending event.
在某类实施例中,所述第一时间区间的长度与第一时间区间的前一时间区间的长度相同,第一时间区间的长度与第一时间区间的后一时间区间的长度相同。In certain embodiments, the length of the first time interval is the same as the length of the previous time interval of the first time interval, and the length of the first time interval is the same as the length of the subsequent time interval of the first time interval.
一种降噪装置,所述降噪装置使用如前任一种降噪方法。A noise reduction device, which uses the previous noise reduction method.
一种事件成像装置,所述事件成像装置包含如前所述的降噪装置。An event imaging device includes the noise reduction device as described above.
一种芯片,所述芯片部署有如前所述的事件成像装置。A chip is provided with an event imaging device as described above.
一种电子设备,所述电子设备部署有如前所述的芯片,或如前所述的事件成像装置,或如前所述的降噪装置。An electronic device is provided with a chip as described above, an event imaging device as described above, or a noise reduction device as described above.
在某类实施例中,所述电子设备还包括计算模块,以及以下所述模块中的一个或多个:能量收集模块、控制模块、通信模块。In certain embodiments, the electronic device further includes a computing module, and one or more of the following modules: an energy collection module, a control module, and a communication module.
本发明的部分或全部实施例,具有如下有益技术效果:Some or all embodiments of the present invention have the following beneficial technical effects:
1)本发明通过测试发现随机噪声的分布特性,提出一种新型降噪方法,能够准确地滤除背景噪声,极大降低了误伤有效事件的概率,从而提高了DVS等事件成像装置的精度。1) The present invention discovers the distribution characteristics of random noise through testing and proposes a new noise reduction method that can accurately filter out background noise and greatly reduce the probability of accidental damage to effective events, thus improving the accuracy of event imaging devices such as DVS.
2)本发明的降噪方法能高效滤除背景噪声,普通空域滤波滤除背景噪声的效果只有10倍左右,经测试,本发明的时域和空域滤波效果能达80倍及以上,降噪效果突出。2) The noise reduction method of the present invention can efficiently filter out background noise. The effect of ordinary spatial filtering on filtering out background noise is only about 10 times. After testing, the time domain and spatial domain filtering effect of the present invention can reach 80 times or more, and the noise reduction effect is only about 10 times. The effect is outstanding.
更多的有益效果将在优选实施例中作进一步的介绍。More beneficial effects will be further introduced in the preferred embodiments.
以上披露的技术方案/特征,旨在对具体实施方式部分中所描述的技术方案、技术特征进行概括,因而记载的范围可能不完全相同。但是该部分披露的这些新的技术方案同样属于本发明文件所公开的众多技术方案的一部分,该部分披露的技术特征与后续具体实施方式部分公开的技术特征、未在说明书中明确描述的附图中的部分内容,以相互合理组合的方式披露更多的技术方案。The technical solutions/features disclosed above are intended to summarize the technical solutions and technical features described in the specific embodiments section, so the scope of the description may not be exactly the same. However, these new technical solutions disclosed in this section are also part of the many technical solutions disclosed in the present invention document. The technical features disclosed in this section are the same as the technical features disclosed in the subsequent specific embodiments section and the drawings that are not explicitly described in the specification. Part of the content in the document discloses more technical solutions in a reasonable combination with each other.
本发明任意位置所披露的所有技术特征所组合出的技术方案,用于支撑对技术方案的概括、专利文件的修改、技术方案的披露。The technical solution composed of all the technical features disclosed anywhere in the present invention is used to support the summary of the technical solution, the modification of the patent document, and the disclosure of the technical solution.
附图说明Description of the drawings
图1是本发明降噪方法时域处理部分的示意图。Figure 1 is a schematic diagram of the time domain processing part of the noise reduction method of the present invention.
图2是本发明降噪方法时域处理部分的某类具体实施例示意图。Figure 2 is a schematic diagram of some specific embodiments of the time domain processing part of the noise reduction method of the present invention.
图3是下一级系统的某类具体实施例示意图。Figure 3 is a schematic diagram of a specific embodiment of a next-level system.
图4是本发明降噪方法应用于某一装置或芯片的具体实施例示意图。Figure 4 is a schematic diagram of a specific embodiment of the noise reduction method of the present invention applied to a certain device or chip.
具体实施方式Detailed ways
由于不能穷尽描述各种替代方案,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案中的要点内容进行清楚、完整地描述。对于下文未详细披露的其它的技术方案和细节,一般均属于本领域通过常规手段即可实现的技术目标或技术特征,限于篇幅,本发明不对其详细介绍。Since various alternatives cannot be described exhaustively, the key points of the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Other technical solutions and details not disclosed in detail below generally belong to technical goals or technical features that can be achieved by conventional means in this field. Due to space limitations, the present invention will not introduce them in detail.
除非是除法的含义,本发明中任意位置的“/”均表示逻辑“或”。本发明任意位置中的“第一”、“第二”等序号仅仅用于描述上的区分标记,并不暗示时间或空间上的绝对顺序,也不暗示冠以这种序号的术语与冠以其它定语的相同术语必然是不同的指代。Unless it means division, "/" at any position in the present invention means logical "or". Serial numbers such as "first" and "second" in any position in the present invention are only used as descriptive distinction marks and do not imply an absolute sequence in time or space, nor do they imply that terms with such serial numbers are different from those with The same terms in other attributive terms must have different referents.
本发明会对各种用于组合成各种不同具体实施例的要点进行描述,这些要点将被组合至各种方法、产品中。在本发明中,即便仅在介绍方法/产品方案时所描述的要点,意味着对应的产品/方法方案也明确地包括该技术特征。The present invention will describe various elements for combination into various specific embodiments, and these elements will be combined into various methods and products. In the present invention, even if only the main points are described when introducing the method/product solution, it means that the corresponding product/method solution also clearly includes the technical feature.
本发明中任意位置处描述存在或包括某步骤、模块、特征时,并不暗示这种存在是排它性地唯一存在,本领域技术人员完全可以根据本发明所披露的技术方案而辅以其它技术手段而获得其它实施例。本发明所公开的实施例,一般是出于披露优选实施例的目的,但这并不暗示该优选实施例的相反实施例,为本发明所排斥/排除,只要这种相反实施例至少解决了本发明的某个技术问题,都是本发明所希望涵盖的。基于本发明中具体实施例描述的要点,本领域技术人员完全可以对某些技术特征施加替换、删减、增加、组合、调换顺序等手段,获得一个仍遵循本发明构思的技术方案。这些未脱离本发明技术构思的方案也在本发明保护范围之内。When describing the existence or inclusion of a certain step, module, or feature anywhere in the present invention, it does not imply that such existence is exclusive and unique. Those skilled in the art can completely supplement it with other methods based on the technical solutions disclosed in the present invention. Other embodiments can be obtained using technical means. The disclosed embodiments of the present invention are generally for the purpose of disclosing preferred embodiments, but this does not imply that the opposite embodiments of the preferred embodiments are excluded/excluded by the present invention, as long as such opposite embodiments at least solve the problem of Certain technical problems of the present invention are all expected to be covered by the present invention. Based on the key points described in the specific embodiments of the present invention, those skilled in the art can completely replace, delete, add, combine, change the order and other means to certain technical features to obtain a technical solution that still adheres to the concept of the present invention. These solutions that do not depart from the technical concept of the present invention are also within the protection scope of the present invention.
部分重要术语解释:Explanation of some important terms:
事件成像装置,是一种通过感受光线变化而以事件的形式反应这种变化的传感器。包括能产生脉冲事件(spiking events)的像素的任意形式的传感器均可以视为本发明所定义的视觉传感器,其包括但不限于事件相机/DVS,DAVIS传感器,以及将事件成像和RGB成像融合、将事件成像和红外融合等的融合传感器。An event imaging device is a sensor that senses changes in light and responds to these changes in the form of events. Any form of sensor including pixels that can generate spiking events can be regarded as a visual sensor as defined in the present invention, including but not limited to event cameras/DVS, DAVIS sensors, and fusion of event imaging and RGB imaging, Fusion sensors that combine event imaging and infrared fusion.
经发明人测试发现,随机噪声的时间间隔近似泊松分布,即在相同长度的时间间隔内,相同的像素点大体具有相似的事件数。而若像素点在某一时间间隔内有更多的事件,则事件很可能是由动作产生的,而非背景噪声。基于发明人测试结果及分析、实验,本发明提出一种高效、准确滤除背景噪声的方法,通过待判别事件的时间戳信息以及生成待判别事件的像素的位置信息判断事件是否为噪声。The inventor found through testing that the time interval of random noise approximates a Poisson distribution, that is, within a time interval of the same length, the same pixel points generally have a similar number of events. And if a pixel has more events within a certain time interval, the events are likely to be generated by motion rather than background noise. Based on the inventor's test results, analysis, and experiments, the present invention proposes an efficient and accurate method for filtering out background noise. It determines whether an event is noise based on the timestamp information of the event to be identified and the position information of the pixels that generated the event to be identified.
在本发明中,不失一般性,将事件成像装置生成的事件流中所含有的某个待判别事件记为由第一像素(也称其为A像素)生成,其位置坐标(x,y)和时间戳t信息被记为A(x,y,t),时间区间[t0,t1]命名为第一时间区间/当前时间区间,其前一个时间区间为第一时间区间的前一时间区间(也称第二时间区间)。In the present invention, without loss of generality, a certain event to be determined contained in the event stream generated by the event imaging device is recorded as generated by the first pixel (also called A pixel), and its position coordinates (x, y ) and timestamp t information are recorded as A (x, y, t), the time interval [t 0 , t 1 ] is named the first time interval/current time interval, and the previous time interval is the previous time interval of the first time interval. A time interval (also called a second time interval).
本发明的核心在于时域处理部分。优选地,除了时域处理部分,本发明还包括空域处理部分(本质依然是依赖空时域支持的方案)。The core of the present invention lies in the time domain processing part. Preferably, in addition to the time domain processing part, the present invention also includes a spatial domain processing part (the essence is still a solution that relies on space-time domain support).
在存储空间一存储单元存储像素阵列中一对应像素在当前时间区间内所生成的事件的统计数,并称整个像素阵列所对应的所述统计数集合为事件数量矩阵。类似的,对应第二时间区间的前述类型的矩阵,称之为第二事件数量矩阵。A storage unit in the storage space stores the statistics of events generated by a corresponding pixel in the pixel array within the current time interval, and the set of statistics corresponding to the entire pixel array is called an event quantity matrix. Similarly, the matrix of the aforementioned type corresponding to the second time interval is called the second event quantity matrix.
在另一存储空间一存储单元存储像素阵列中一对应像素在当前时间区间的状态值,并称整个像素阵列所对应的所述状态值集合为事件状态矩阵。A storage unit in another storage space stores the state value of a corresponding pixel in the pixel array in the current time interval, and the set of state values corresponding to the entire pixel array is called an event state matrix.
经过本发明时域处理后,在又一存储空间一存储单元存储像素阵列中一对应像素所生成的脉冲事件的标记,并称整个像素阵列所对应的所述标记集合为标记矩阵。After the time domain processing of the present invention, a storage unit in another storage space stores the mark of the pulse event generated by a corresponding pixel in the pixel array, and the set of marks corresponding to the entire pixel array is called a mark matrix.
优选地,每个时间区间的长度等长,比如第一时间区间和第二时间区间等长。示例地,图2中第一时间区间t0至t1共计时长10毫秒。Preferably, each time interval has the same length, for example, the first time interval and the second time interval have the same length. For example, the first time interval t 0 to t 1 in Figure 2 has a total length of 10 milliseconds.
参考图1,对于时域处理部分的降噪方法,用于对事件成像装置输出的事件流降噪,所述事件流包括由第一像素所生成的待判别事件,所述事件流中的每个事件至少包括坐标信息和时间戳信息,所述降噪方法包括如下步骤:根据所述待判别事件的时间戳信息,判断是否属于第一时间区间;若所述待判别事件不属于第一时间区间,根据第一像素在第一时间区间所生成的事件的统计数,与第一像素在第一时间区间的前一时间区间所生成的事件的统计数之间的波动,判断是否阻塞所述待判别事件。Referring to Figure 1, a noise reduction method for the time domain processing part is used to reduce noise on an event stream output by an event imaging device. The event stream includes an event to be discriminated generated by a first pixel. Each event stream in the event stream Each event at least includes coordinate information and timestamp information. The noise reduction method includes the following steps: judging whether the event to be identified belongs to the first time interval according to the timestamp information of the event to be identified; if the event to be identified does not belong to the first time interval interval, based on the fluctuation between the statistical number of events generated by the first pixel in the first time interval and the statistical number of events generated by the first pixel in the previous time interval of the first time interval, determine whether to block the Events to be determined.
更具体地,对应上述技术方案的某个具体实施例,包括如下步骤(如图2所示):More specifically, corresponding to a specific embodiment of the above technical solution, the following steps are included (as shown in Figure 2):
步骤S1:判断像素A生成的待判别事件的时间戳(信息)t是否属于第一时间区间[t0,t1],若属于,则像素A在事件数量矩阵中对应的统计数加1,执行步骤S6;否则,执行步骤S2。Step S1: Determine whether the timestamp (information) t of the event to be determined generated by pixel A belongs to the first time interval [t 0 , t 1 ]. If so, add 1 to the corresponding statistical number of pixel A in the event quantity matrix. Go to step S6; otherwise, go to step S2.
步骤S2:查询当前像素A在事件数量矩阵中对应的统计数,若该统计数为0,则将状态矩阵中对应像素A的状态值更新为第一状态值(示例为0),并执行步骤S5;否则执行步骤S3。Step S2: Query the statistics corresponding to the current pixel A in the event quantity matrix. If the statistics are 0, update the state value of the corresponding pixel A in the state matrix to the first state value (0 in the example), and execute the steps S5; otherwise, execute step S3.
步骤S3:计算像素A在事件数量矩阵中对应的第一时间区间的统计数与像素A在第二事件数量矩阵中对应的第二时间区间的统计数之差(即第一像素在第一时间区间与第一时间区间的前一时间区间所生成的事件的统计数之间的波动),若所述统计数之差的绝对值大于或等于3(示例),将像素A在状态矩阵对应的状态值更新为第三状态值(示例为2),否则更新为第二状态值(示例为1)。然后,进入步骤S4。Step S3: Calculate the difference between the statistics of the first time interval corresponding to pixel A in the event quantity matrix and the statistics of the second time interval corresponding to pixel A in the second event quantity matrix (i.e., the first pixel in the first time period interval and the statistics of events generated in the previous time interval of the first time interval), if the absolute value of the difference between the statistics is greater than or equal to 3 (example), pixel A is placed in the corresponding state matrix The status value is updated to the third status value (example is 2), otherwise it is updated to the second status value (example is 1). Then, proceed to step S4.
步骤S4:当像素A在状态矩阵中对应的状态值为1时,检查像素A邻域内的空域邻居像素(简称邻居像素)在状态矩阵中对应的状态值,并根据这些状态值,决定是否将像素A对应的状态值更新为第三状态值。比如,这些状态值之和大于预设值,则执行前述更新。Step S4: When the corresponding state value of pixel A in the state matrix is 1, check the corresponding state values of the spatial neighbor pixels (referred to as neighbor pixels) in the neighborhood of pixel A in the state matrix, and based on these state values, decide whether to The state value corresponding to pixel A is updated to the third state value. For example, if the sum of these status values is greater than the preset value, the aforementioned update will be performed.
举例地,在3*3邻域范围内,若像素A的8个邻居像素在状态矩阵中分别对应的状态值之和大于3(沿用了第二状态值为1的示例),则将像素A在状态矩阵中对应的状态值更新为第三状态值(示例为2),否则不更新。再比如,通过统计像素A周围的邻居像素中状态值为第三状态值的像素个数,若处于该种状态的像素个数超过预设值(示例为3),则同样将像素A在状态矩阵中对应的状态值更新为第三状态值(示例为2),否则不更新。然后执行步骤S5。For example, in the 3*3 neighborhood range, if the sum of the corresponding state values of pixel A's 8 neighbor pixels in the state matrix is greater than 3 (the example in which the second state value is 1 is followed), then pixel A will be The corresponding state value in the state matrix is updated to the third state value (2 in the example), otherwise it is not updated. For another example, by counting the number of pixels whose state value is the third state value among the neighboring pixels around pixel A, if the number of pixels in this state exceeds the preset value (3 in the example), pixel A will also be in the state. The corresponding state value in the matrix is updated to the third state value (2 in the example), otherwise it is not updated. Then execute step S5.
步骤S4的目的在于,像素A生成待判别事件时,若其邻居像素也生成了一定数量(举例:1个、2个、3个)的脉冲事件,则对像素A在状态矩阵中对应的状态值予以纠正(从第二状态值修改为第三状态值),给与其在下一级系统(即空域处理部分)再作判别的机会。该步骤,有利地避免了对一些有效事件的误杀。The purpose of step S4 is that when pixel A generates an event to be determined, if its neighbor pixels also generate a certain number (for example: 1, 2, 3) of pulse events, then the corresponding state of pixel A in the state matrix is The value is corrected (modified from the second state value to the third state value), giving it the opportunity to make further judgments in the next-level system (ie, the airspace processing part). This step advantageously avoids the accidental killing of some valid events.
步骤S5:查询像素A在状态矩阵中对应的状态值,若该数值为第三状态值,则将像素A在标记矩阵中对应的标记值更新为第一标记值(示例为0);若该状态值为第二状态值,则将像素A在标记矩阵中对应的标记值更新为第二标记值(示例为1)。Step S5: Query the corresponding state value of pixel A in the state matrix. If the value is the third state value, update the corresponding label value of pixel A in the label matrix to the first label value (0 in the example); If the state value is the second state value, then the corresponding mark value of pixel A in the mark matrix is updated to the second mark value (1 in the example).
步骤S6:查询像素A在标记矩阵中对应的标记值,若该数值为第一标记值,放行待判别事件进入下一级系统,若该数值为第二标记值,则阻塞待判别事件。Step S6: Query the corresponding tag value of pixel A in the tag matrix. If the value is the first tag value, the event to be determined is allowed to enter the next-level system. If the value is the second tag value, the event to be determined is blocked.
对于步骤S5和步骤S6,替代地,也可以省略将状态矩阵转换为标记矩阵的步骤,直接根据状态值来做出是否放行/阻塞判断。For steps S5 and S6, alternatively, the step of converting the state matrix into a mark matrix can be omitted, and the release/blocking judgment can be made directly based on the state value.
在某类实施例中,待判别事件进入的下一级系统,其优选为前述空域处理部分,请参考图3。In certain embodiments, the next-level system that the event to be determined enters is preferably the aforementioned airspace processing part, please refer to Figure 3 .
在某存储空间一存储单元存储像素阵列中一对应像素最后生成事件的时间戳,并称整个像素阵列所对应的所述时间戳集合为时间戳矩阵。A storage unit in a certain storage space stores the timestamp of the last generated event of a corresponding pixel in the pixel array, and the set of timestamps corresponding to the entire pixel array is called a timestamp matrix.
对于时域处理部分所放行(未阻塞)的待判别事件,送入空域处理部分。优选地,本发明空域处理部分,是利用第一像素周围的空域邻居像素的时间戳,能否提供足够的支持,以允许待判别事件被放行。示例地,空域处理部分具体过程如下:Events to be determined that are released (not blocked) by the time domain processing part are sent to the air domain processing part. Preferably, the spatial processing part of the present invention is to use the time stamps of spatial neighbor pixels around the first pixel to determine whether they can provide sufficient support to allow the event to be determined to be released. For example, the specific process of airspace processing is as follows:
能够进入下一级系统的待判别事件流作为初步过滤的(filtered)事件流。初步过滤的事件流进入下一级系统,仍以像素A为例,将时间戳矩阵中对应像素A的时间戳(更新前,对应像素A的存储单元所存储的是待判别事件前一事件的时间戳)更新为待判别事件的时间戳t,将存储在时间戳矩阵中的像素A的若干邻居像素所对应的时间戳,记为tn(n=1,2,3,4,……)。The event stream to be determined that can enter the next-level system is used as a preliminary filtered event stream. The initially filtered event stream enters the next-level system. Still taking pixel A as an example, the timestamp corresponding to pixel A in the timestamp matrix (before the update, the storage unit corresponding to pixel A stores the event before the event to be determined) timestamp) is updated to the timestamp t of the event to be identified, and the timestamps corresponding to several neighbor pixels of pixel A stored in the timestamp matrix are recorded as t n (n=1, 2, 3, 4,... ).
计算时间戳t和tn之间的时间差,将该差值与设定阈值(比如10毫秒)进行比较,统计该差值小于或等于设定阈值的邻居像素的个数。若该统计个数大于第二阈值,则放行待判别事件,否则阻塞待判别事件。Calculate the time difference between timestamp t and t n , compare the difference with a set threshold (such as 10 milliseconds), and count the number of neighbor pixels whose difference is less than or equal to the set threshold. If the statistical number is greater than the second threshold, the event to be determined is released, otherwise the event to be determined is blocked.
举例地,在5*5邻域范围内,计算时间戳t和tn(n=1,2,3,4,……,24)之间的时间差,设定阈值为10毫秒,若该差值大于10毫秒,则将第n个邻居像素在时间戳矩阵中对应的时间戳更新为0。并对邻域范围内时间戳不为0的像素进行计数,若该数值之和大于4,则放行待判别事件,否则阻塞待判别事件。此种示例中将时间戳置零的操作,并不会破坏时间戳矩阵的性质,且兼具节省存储空间/硬件开销的优点。For example, within the 5*5 neighborhood, calculate the time difference between timestamp t and t n (n=1, 2, 3, 4,..., 24), and set the threshold to 10 milliseconds. If the difference If the value is greater than 10 milliseconds, the timestamp corresponding to the nth neighbor pixel in the timestamp matrix is updated to 0. And count the pixels with timestamps other than 0 in the neighborhood. If the sum of the values is greater than 4, the event to be determined is released, otherwise the event to be determined is blocked. In this example, the operation of setting the timestamp to zero does not destroy the properties of the timestamp matrix, and has the advantage of saving storage space/hardware overhead.
该类空域处理部分的优势是速度快、可以事件驱动地处理,并且降噪质量高。The advantages of this type of airspace processing part are fast speed, event-driven processing, and high quality noise reduction.
在某类实施例中,本发明的降噪方法被应用于一种降噪装置,该降噪装置位于事件成像装置之中,而该事件成像装置可以被部署至芯片中。装置,比如电子设备,其包括前述的芯片、事件成像装置或降噪装置,如图4所示。In certain embodiments, the noise reduction method of the present invention is applied to a noise reduction device, the noise reduction device is located in an event imaging device, and the event imaging device can be deployed in a chip. A device, such as an electronic device, includes the aforementioned chip, event imaging device or noise reduction device, as shown in Figure 4 .
在所述装置中,部署有能量收集模块、感知模块、计算模块、控制模块、通信模块。能量收集模块可以接收环境能量,比如利用光能、温差能、热能、海浪能、摩擦能、机械能、压电材料发电的各种已知的生电模块,比如纳米发电机。In the device, an energy collection module, a sensing module, a computing module, a control module, and a communication module are deployed. The energy collection module can receive environmental energy, such as various known electricity-generating modules that use light energy, temperature difference energy, thermal energy, wave energy, friction energy, mechanical energy, and piezoelectric materials to generate electricity, such as nanogenerators.
感知模块可以感知环境信号,并将环境信号传入计算模块中进行处理,比如其可以是事件成像装置、IMU、麦克风等。所感知的信号,优选通过脉冲神经网络推理后,获得处理后的结果。The sensing module can sense environmental signals and transmit the environmental signals to the computing module for processing. For example, it can be an event imaging device, an IMU, a microphone, etc. The sensed signal is preferably inferred through a spiking neural network to obtain a processed result.
所述处理后的结果分别传入控制模块或/和通信模块。能量收集模块连接感知模块、计算模块、控制模块、通信模块,为之提供能量。通信模块可以连接云端或其它节点,用于必要的信息交互,比如可以与其它节点构成自组织网络。控制模块与外部设备连接,用于控制外部设备做出相应的响应;或者将控制模块部署于外部设备中,基于通信模块输出控制指令以控制外部设备做出相应的响应,对于这些根据具体应用需要做出的变化,本发明不作限制。The processed results are respectively transmitted to the control module or/and communication module. The energy collection module connects the sensing module, computing module, control module, and communication module to provide energy for them. The communication module can connect to the cloud or other nodes for necessary information exchange, such as forming a self-organizing network with other nodes. The control module is connected to the external device to control the external device to make corresponding responses; or the control module is deployed in the external device and outputs control instructions based on the communication module to control the external device to make corresponding responses. For these, according to specific application needs The changes made are not limited by the present invention.
在替代的实施例中,该装置选择性地包括以下所述模块中的一个或多个:能量收集模块、控制模块、通信模块。In alternative embodiments, the device selectively includes one or more of the following modules: an energy harvesting module, a control module, a communication module.
优选地,该电子设备,是物联网设备/边缘计算设备/电池驱动设备。Preferably, the electronic device is an Internet of Things device/edge computing device/battery-driven device.
尽管已经参考本发明的具体特征和实施例描述了本发明,但是在不脱离本发明的情况下仍可以对其进行各种修改、组合、替换。本发明的保护范围旨在不限于说明书中描述的过程、机器、制造、物质组成、装置、方法和步骤的特定实施例,并且这些方法、模块可能还被实施在相关联、相互依赖、相互配合、前/后级的一个或多个产品、方法当中。Although the invention has been described with reference to its specific features and embodiments, various modifications, combinations and substitutions are possible without departing from the invention. The scope of the present invention is not intended to be limited to the specific embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification, and these methods, modules may also be implemented in associated, interdependent, cooperative , among one or more products and methods of the front/end stage.
因此,说明书和附图应简单地视为由所附权利要求限定的技术方案的部分实施例的介绍,因而应根据最大合理解释原则对所附权利要求解读,并旨在尽可能涵盖本发明公开范围内的所有修改、变化、组合或等同物,同时还应避免不合常理的解读方式。Therefore, the description and drawings should be regarded simply as an introduction to some embodiments of the technical solution defined by the appended claims, and therefore the appended claims should be interpreted in accordance with the principle of maximum reasonable interpretation, and are intended to cover the disclosure of the invention as much as possible. All modifications, changes, combinations or equivalents within the scope of this Agreement, and unreasonable interpretations should be avoided.
为了实现更好的技术效果或出于某些应用的需求,本领域技术人员可能在本发明的基础之上,对技术方案做出进一步的改进。然而,即便该部分改进/设计具有创造性或/和进步性,只要依赖本发明的技术构思,覆盖了权利要求所限定的技术特征,该技术方案同样应落入本发明的保护范围之内。In order to achieve better technical effects or meet the needs of certain applications, those skilled in the art may make further improvements to the technical solutions based on the present invention. However, even if some of the improvements/designs are creative and/or progressive, as long as they rely on the technical concept of the present invention and cover the technical features defined in the claims, the technical solution should also fall within the protection scope of the present invention.
所附的权利要求中所提及的若干技术特征可能存在替代的技术特征,或者对某些技术流程的顺序、物质组织顺序可以重组。本领域普通技术人员知晓本发明后,容易想到该些替换手段,或者改变技术流程的顺序、物质组织顺序,然后采用了基本相同的手段,解决基本相同的技术问题,达到基本相同的技术效果,因此即便权利要求中明确限定了上述手段或/和顺序,然而该些修饰、改变、替换,均应依据等同原则而落入权利要求的保护范围。There may be alternative technical features for some of the technical features mentioned in the appended claims, or the order of certain technical processes and the order of material organization may be reorganized. After those of ordinary skill in the art know the present invention, they can easily think of these alternative means, or change the sequence of technical processes and the order of material organization, and then adopt basically the same means to solve basically the same technical problems and achieve basically the same technical effects. Therefore, even if the above-mentioned means or/and sequence are clearly defined in the claims, such modifications, changes, and substitutions shall fall within the protection scope of the claims based on the principle of equivalents.
结合本文中所公开的实施例中描述的各方法步骤或模块,能够以硬件、软件或者二者的结合来实现,为了清楚地说明硬件和软件的可互换性,在上述说明中已经按照功能一般性地描述了各实施例的步骤及组成。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用或设计约束条件。本领域普通技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为在本发明所要求保护的范围之外。Each method step or module described in conjunction with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the above description has been based on functions. The steps and components of each embodiment are generally described. Whether these functions are performed in hardware or software depends on the specific application or design constraints of the technical solution. Persons of ordinary skill in the art may use different methods to implement the described functions for each specific application, but such implementations should not be considered to be outside the scope of the invention.
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