CN117014559A - Road picture display method, picture transmission device and electronic equipment - Google Patents
Road picture display method, picture transmission device and electronic equipment Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/70—Labelling scene content, e.g. deriving syntactic or semantic representations
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/01—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level
- H04N7/0117—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level involving conversion of the spatial resolution of the incoming video signal
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Abstract
The embodiment of the invention provides a road picture display method and a picture transmission method, which aim to solve the problem that the real-time performance of road picture transmission cannot be ensured because the performance of a network transmission channel of a target scanning vehicle and a control center cannot be ensured after the existing road scanning shooting. The method comprises the steps of only transmitting a target picture which is different from a previous frame of road picture when a network is unstable, repairing a current frame of road picture by utilizing the previous frame of road picture locally stored in a control center and the received target picture, displaying the repaired current frame of road picture, and improving the real-time performance of road picture display.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a road picture display method, a road picture display device, electronic equipment and a storage medium.
Background
In the road inspection process, the control center has certain requirements on real-time display of road pictures, the real-time display of the road pictures is required to depend on the performance of the network transmission channel of the target scanning vehicle and the control center, and the real-time display of the road pictures is also influenced by the fact that the performance of the network transmission channel is difficult to ensure due to the fact that the target scanning vehicle is in outdoor operation and the network environment is unstable, and the real-time performance of the road picture transmission can be influenced.
Disclosure of Invention
The embodiment of the invention provides a road picture display method and a picture transmission method, which aim to solve the problem that the real-time performance of road picture transmission cannot be ensured because the performance of a network transmission channel of a target scanning vehicle and a control center cannot be ensured after the existing road scanning shooting. The method comprises the steps of only transmitting a target picture which is different from a previous frame of road picture when a network is unstable, repairing a current frame of road picture by utilizing the previous frame of road picture locally stored in a control center and the received target picture, displaying the repaired current frame of road picture, and improving the real-time performance of road picture display.
In a first aspect, an embodiment of the present invention provides a road picture display method, including:
acquiring a current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode;
according to the current frame road picture, searching a previous frame road picture locally to serve as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture;
Repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture;
and displaying the road picture to be displayed.
Optionally, the current frame road picture includes a road area and a roadside area, the pixel points in the roadside area include coding bits, the coding bits correspond to the current running speed of the target scanning vehicle and the coding data of the current picture frame rate, and the repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed includes:
extracting the coding data of a roadside area in the current frame road picture;
determining the current running speed and the current picture frame rate of the target scanning vehicle according to the encoded data;
performing first restoration processing on the coding bits in a roadside area in the current frame road picture to obtain a first restoration picture corresponding to the current frame road picture;
and carrying out second restoration processing on the current frame road picture based on the current running speed, the current picture frame rate and the first restoration picture to obtain a restored road picture to be displayed.
Optionally, the performing a first repair process on the coding bits in the roadside area in the current frame road picture to obtain a first repair picture corresponding to the current frame road picture includes:
determining the coding bit in a roadside area in the current frame road picture;
and filtering the coding bits to obtain a first repair picture corresponding to the current frame road picture.
Optionally, the performing a second repair process on the current frame road picture based on the current running speed, the current picture frame rate and the first repair picture to obtain a repaired road picture to be displayed includes:
determining a reference area in the reference road picture based on the current running speed and the current picture frame rate;
performing second restoration processing on the first restoration picture based on the reference area to obtain a second restoration picture;
and determining the repaired road picture to be displayed based on the second repair picture.
In a second aspect, an embodiment of the present invention further provides a method for transmitting a picture, where the method includes:
when the current network environment is detected not to meet the preset condition, entering a quick transmission mode;
In the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to a current moment according to a current running speed and a current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment;
uploading the current frame road picture to a control center so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed, and displaying the road picture to be displayed.
Optionally, in the process of image acquisition of the target road in the fast transmission mode, the road image corresponding to the current moment is segmented according to the current running speed and the current image frame rate to obtain the current frame road image corresponding to the current moment, including:
acquiring a road picture corresponding to the current moment in the process of image acquisition of a target road in a rapid transmission mode;
dividing the road picture corresponding to the current shooting moment according to the current running speed and the current picture frame rate to obtain a target divided image corresponding to the road picture corresponding to the current shooting moment;
Carrying out semantic segmentation processing on the target segmented image to obtain a road region with road semantics and a roadside region with roadside semantics;
coding the current running speed and the current picture frame rate to pixel point coding bits in the roadside area to obtain a coded target segmentation image;
and determining the current frame road picture corresponding to the current moment according to the encoded target segmentation image.
In a third aspect, an embodiment of the present invention further provides a road picture display device, including:
the first acquisition module is used for acquiring a current frame road picture uploaded by the target scanning vehicle in a rapid transmission mode;
the first searching module is used for searching a previous frame of road picture locally as a reference road picture according to the current frame of road picture, and the resolution of the current frame of road picture is smaller than that of the reference road picture;
the first repairing module is used for repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, and the resolution of the road picture to be displayed is the same as that of the reference road picture;
The first display module is used for displaying the road picture to be displayed.
In a fourth aspect, an embodiment of the present invention further provides a picture transmission apparatus, including:
the first detection module is used for entering a rapid transmission mode when detecting that the current network environment does not meet the preset condition;
the first segmentation module is used for carrying out segmentation processing on a road picture corresponding to the current moment according to the current running speed and the current picture frame rate in the process of carrying out image acquisition on a target road in a rapid transmission mode to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment;
and the first uploading module is used for uploading the current frame road picture to a control center so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed and displaying the road picture to be displayed.
In a fifth aspect, an embodiment of the present invention further provides a road picture display system, where the road picture display system includes a road picture display device and a picture transmission device.
In a sixth aspect, an embodiment of the present invention provides an electronic device, including: the road picture display method and the picture transmission method provided by the embodiment of the invention are realized when the processor executes the computer program.
In the embodiment of the invention, when the current network environment is detected not to meet the preset condition, a rapid transmission mode is entered; in the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to the current moment according to the current running speed and the current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment; uploading a current frame road picture to a control center, and acquiring the current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode; according to the current frame road picture, searching the last frame road picture locally as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture; repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture; and displaying the road picture to be displayed. The method comprises the steps of only transmitting a target picture which is different from a previous frame of road picture when a network is unstable, repairing a current frame of road picture by utilizing the previous frame of road picture locally stored in a control center and the received target picture, displaying the repaired current frame of road picture, further improving the real-time performance of road picture display, and ensuring the quality of the repaired road picture because the target picture and the previous frame of road picture locally stored in the control center can keep all the characteristics of the current frame of road picture.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a road display system according to an embodiment of the present invention;
FIG. 2 is a flowchart of a road image display method according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for transmitting a picture according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a road picture display device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a picture transmission device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of another electronic device according to an embodiment of the present invention
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a road picture display system according to an embodiment of the present invention, where the road picture display system includes a road picture display device 102 and a picture transmission device 101, and the picture transmission device 101 enters a fast transmission mode when detecting that a current network environment does not satisfy a preset condition; in the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to the current moment according to the current running speed and the current picture frame rate to obtain a current frame road picture corresponding to the current moment; uploading the current frame road picture to a road picture display device 102, wherein the road picture display device 102 is used for acquiring the current frame road picture uploaded by the picture transmission device 101 in a rapid transmission mode; according to the current frame road picture, searching the last frame road picture locally as a reference road picture; repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed; and displaying the road picture to be displayed.
The screen transmission device 101 may be disposed on a target scanning vehicle having an image capturing function, and the road screen display device 102 may be disposed on any electronic apparatus having image processing, image analysis and processing functions. The road picture is divided by the picture transmission device 101, the current frame road picture after the division processing is uploaded to the road picture display device 102, the road picture display device 102 searches the previous frame road picture of the current frame road picture as a reference picture after receiving the current frame road picture, repairs the current frame road picture according to the reference road picture, and displays the repaired road picture to be displayed, and the whole road picture display process realizes that the road picture is automatically divided and uploaded when the network environment does not meet the requirement of implementing the transmission of high-quality images, and repairs and displays the road picture according to the road picture after the division uploading, so that the real-time performance of the road picture display and the display quality of the road picture can be ensured.
As shown in fig. 2, fig. 2 is a flowchart of a method for displaying a road picture according to an embodiment of the present invention. The road picture display method comprises the following steps:
201. and acquiring the current frame road picture uploaded by the target scanning vehicle in the rapid transmission mode.
In the embodiment of the invention, the road picture display method can be deployed on a road inspection platform, the road inspection platform can store a history road picture, the history road picture comprises a history road picture shooting time and a history road picture shooting place, and specifically, each frame of image in the history road picture comprises a corresponding history road picture shooting time and history road picture shooting place. The road inspection platform may be any electronic device with image storage, image processing and analysis functions, for example, may be a server or a server cluster with image storage, image processing and analysis functions, and the road inspection control center is constructed based on the server or the server cluster. The target scanning vehicle can communicate with the road inspection platform through an SSL/TLS (Secure Sockets Layer/Transport Layer Security) encryption communication protocol, and the encryption communication protocol is used for protecting the safety of network communication, can be used for image transmission between a server and the target scanning vehicle, and can ensure that data is not tampered or stolen in the transmission process. The target scanning vehicle may be a vehicle having an integrated function of image acquisition, image processing, data transmission, road running, etc., and may be a remote scanning unmanned vehicle having an integrated function of image acquisition, image processing, data transmission, road running, etc. The current frame road picture may include a current frame road picture shooting time and a current frame road picture shooting location. The historical road image shooting location and the current frame road image shooting location may be longitude and latitude information determined based on GPS or beidou satellite navigation, and the historical road image shooting location and the current frame road image shooting location may be determined according to the longitude and latitude information. The historical road picture photographing time and the current frame road picture photographing time may be determined based on time information of different time zones.
The image transmission between the target scanning vehicle and the server can be performed through a preset transmission mode, the preset transmission mode can comprise a fast transmission mode and a full-speed transmission mode, the full-speed transmission mode can upload the image acquired by the image acquisition function to the server in real time under the condition of unchanged resolution, the full-speed transmission mode can be used for processing the image acquired by the image acquisition function in a frame-by-frame segmentation mode when the network state of the target scanning vehicle is good, and uploading the current frame road picture acquired by the image acquisition function to the server after the frame-by-frame segmentation mode, and the fast transmission mode can be used for processing when the network state of the target scanning vehicle is poor.
In one possible embodiment, when the network state of the target scanning vehicle is changed from the good network state to the poor network state, the full-speed transmission mode cannot be used for completely and clearly uploading the image to the server, so that the full-speed transmission mode needs to be changed into the fast transmission mode, the image is subjected to the frame-by-frame segmentation processing through the fast transmission mode, and the current frame road picture obtained after the frame-by-frame segmentation processing is uploaded to the server. It should be noted that, the resolution of the current frame road picture obtained after the image is divided frame by frame is smaller, and the smaller resolution is beneficial to image transmission when the network state is poorer.
202. And searching the road picture of the previous frame locally as a reference road picture according to the current frame road picture.
In the embodiment of the present invention, the local area may be a historical road image stored in the road inspection platform. The current frame road picture comprises a current frame road picture shooting time and a current frame road picture shooting place, when the current frame road picture is obtained, a previous frame road picture shooting place of the current frame road picture is determined through the current frame road picture shooting place, the previous frame road picture shooting time of the current frame road picture is determined through the shooting time of the current frame road picture, searching is carried out in the historical road picture according to the previous frame road picture shooting place and the previous frame road picture shooting time, a historical road picture frame with the historical road picture shooting time consistent with the previous frame road picture shooting time in the historical road picture is obtained, and the historical road picture frame with the historical road picture shooting place consistent with the previous frame road picture shooting place is used as a reference road picture. The searching may be performed by a server built-in processor to which the road inspection platform belongs, and the server built-in processor may be an Application Specific Integrated Circuit (ASIC), a digital signal processor (digital signal processor), a digital signal processing device (digital signal processing device), a programmable logic device (programmable logic device), a field programmable gate array (field programmable gate array), a controller, a microcontroller, a microprocessor, or other electronic components for performing the image searching function.
In a possible embodiment, when the network state of the target scanning vehicle is poor, the full-speed transmission mode is converted into the fast transmission mode, the image is subjected to frame-by-frame segmentation processing through the fast transmission mode, a current frame road image obtained after the frame-by-frame segmentation processing is uploaded to a server to which the road inspection platform belongs, the server to which the road inspection platform belongs determines a last frame road image shooting place of the current frame road image according to the current frame road image shooting place, determines a last frame road image shooting time of the current frame road image through the shooting time of the current frame road image, searches in the historical road image according to the last frame road image shooting place and the last frame road image shooting time through the processor, obtains a historical road image frame with the historical road image shooting time consistent with the last frame road image shooting time in the historical road image, and takes the historical road image frame with the historical road image shooting place consistent with the last frame road image shooting place as the reference road image frame. It should be noted that, the current frame road picture resolution is smaller than the reference road picture resolution.
203. And repairing the road picture of the current frame according to the reference road picture to obtain a repaired road picture to be displayed.
In the embodiment of the invention, the repairing can be to refer to the road picture through an image interpolation technology or an image repairing algorithm, repair the road picture of the current frame, and obtain the repaired road picture with display. The interpolation technology may be an image interpolation technology based on optical flow, an image interpolation technology based on sparse coding or an image interpolation technology based on deep learning, the image interpolation technology based on optical flow may be a Horn-Schunck optical flow algorithm or a Lucas-Kanade optical flow algorithm, the image interpolation technology based on sparse coding may be a K-SVD algorithm or a BM3D algorithm, the image interpolation technology based on deep learning may be a Super SloMo interpolation algorithm, and the Super SloMo interpolation algorithm uses a convolutional neural network to learn a mapping relationship between a current frame road picture and the reference road picture frame and repair the current frame road picture according to a learned rule. The image interpolation technique based on deep learning may also be a SepConv interpolation algorithm, where the SepConv algorithm may independently process the time and space information of the current frame road map and the reference road map using a convolutional neural network of separate convolution, and combine them together to implement high-precision image restoration. The image restoration algorithm can be a bilateral filtering algorithm, a mean value iteration algorithm and the like, and is based on the image restoration algorithm, and the current frame road picture is restored according to the reference road picture to obtain a restored road picture to be displayed.
In one possible embodiment, after searching according to the current frame road picture, determining that the reference road picture has an overlapping portion compared with the current frame road picture and the real road, determining an upper half portion of the road in the reference road picture according to a neighboring portion of the road in the reference road picture and the current frame road picture, taking the upper half portion of the road in the reference road picture as a lower half portion of the road in the current frame road picture, repairing the rest of the road except the lower half portion of the road in the current frame road picture by the image interpolation technology or the image repair algorithm, and performing stitching and perspective processing according to the lower half portion of the road in the current frame road picture and the rest of the road in the current frame road lake surface to obtain the road picture to be displayed.
204. And displaying the road picture to be displayed.
In the embodiment of the invention, the road picture to be displayed can be sent to the user interaction interface through the road inspection platform, the user interaction interface can be any electronic equipment with picture display function, the road inspection platform and the user interaction interface can be connected in a point-to-point mode, the road picture to be displayed is encrypted through encryption means such as coding and the like, the encrypted road picture sequence to be displayed is sent to the user interaction interface through the point-to-point connection, and decryption and display processing are carried out by a processor built in the user interaction interface so as to realize data security.
In a possible embodiment, the road inspection platform may send the road screen to be displayed to the user interface through a remote desktop protocol (Remote Desktop Protocol, RDP) or a virtual network computer protocol (Virtual Network Computing, VNC), and display the road screen to be displayed through the user interface.
In the embodiment of the invention, when the current network environment is detected not to meet the preset condition, a rapid transmission mode is entered; in the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to the current moment according to the current running speed and the current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment; uploading a current frame road picture to a control center, and acquiring the current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode; according to the current frame road picture, searching the last frame road picture locally as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture; repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture; and displaying the road picture to be displayed. The method comprises the steps of only transmitting a target picture which is different from a previous frame of road picture when a network is unstable, repairing a current frame of road picture by utilizing the previous frame of road picture locally stored in a control center and the received target picture, displaying the repaired current frame of road picture, further improving the real-time performance of road picture display, and ensuring the quality of the repaired road picture because the target picture and the previous frame of road picture locally stored in the control center can keep all the characteristics of the current frame of road picture.
Optionally, the current frame road picture includes a road area and a roadside area, the pixels in the roadside area include coding bits, the coding bits correspond to coding data of a current running speed and a current picture frame rate of the target scanning vehicle, and the current frame road picture is repaired according to the reference road picture to obtain a repaired road picture to be displayed, and the method includes: extracting the coding data of a roadside area in the current frame of road picture; determining the current running speed and the current picture frame rate of the target scanning vehicle according to the coded data; performing first restoration processing on coding bits in a roadside area in a current frame road picture to obtain a first restoration picture corresponding to the current frame road picture; and carrying out second restoration processing on the road picture of the current frame based on the current running speed, the current picture frame rate and the first restoration picture to obtain a restored road picture to be displayed.
In an embodiment of the present invention, the road area may be an area including a road in the current frame road image captured by the target scanning vehicle, the roadside area may be an area without a road in the current frame road image captured by the target scanning vehicle, a pixel point in the roadside area corresponds to a pixel point of the no-road area in the current frame road image captured by the target scanning vehicle, a coded bit of the pixel point in the roadside area corresponds to a pixel point coded bit of the no-road area in the current frame road image captured by the target scanning vehicle, the coded data may be a current frame rate obtained by analyzing the image by the target scanning vehicle based on the target scanning vehicle, a current running speed of the target scanning vehicle is detected by a speed sensor, the running speed may be a running speed of the target scanning vehicle, the first repair processing may be a repair processing based on the current frame or a second repair processing based on the current frame rate, or a second repair processing may be a repair processing based on the current frame rate.
Each pixel point can be represented by binary data, each binary data has 8 bits, the last bit is used as a coding bit, and the number of the pixel points in the roadside area is the number of the coding bits, and the coding bits are sequenced according to the sequence from left to right and from top to bottom to obtain corresponding coding data. And decoding the encoded data to obtain the corresponding current running speed and current picture frame rate.
In one possible embodiment, after a previous frame of road picture is locally searched for as a reference road picture according to a current frame of road picture, the road inspection platform is used for extracting the encoded data of a roadside area in the current frame of road picture, the current running speed and the current picture frame rate of a target scanning vehicle are determined according to the encoded data, the encoding in the roadside area in the current frame of road picture is processed through the image interpolation technology or the image restoration algorithm to obtain a first restoration picture corresponding to the current frame of road picture, and the second restoration process is performed on the current frame of road picture through the image interpolation technology or the image restoration algorithm based on the current running speed, the current picture frame rate and the first restoration picture corresponding to the current frame of road picture to obtain the restored road picture to be displayed.
Optionally, performing a first repair process on the coding bits in the roadside area in the current frame road picture to obtain a first repair picture corresponding to the current frame road picture, including: determining a coding bit in a roadside area in a current frame road picture; and filtering the coding bits to obtain a first repair picture corresponding to the current frame road picture.
In the embodiment of the present invention, the filtering process may be a median filtering method, a clipping filtering method, a median averaging filtering method, or the like. And when the previous frame of road picture is searched locally as a reference road picture according to the current frame of road picture, determining the coding bit based on the roadside area in the current frame of road picture, and carrying out filtering processing on the coding bit by the filtering method to obtain a first repair picture corresponding to the current frame of road picture.
Optionally, based on the current running speed, the current frame rate and the first repair frame, performing a second repair process on the current frame road frame to obtain a repaired road frame to be displayed, including: determining a reference area in a reference road picture based on the current running speed and the current picture frame rate; performing second restoration processing on the first restoration picture based on the reference area to obtain a second restoration picture; and determining the repaired road picture to be displayed based on the second repair picture.
In the embodiment of the present invention, the reference area may be an overlapping area of the current frame road picture and the reference picture, the current frame road picture may include a current frame road pixel sequence, the current frame road pixel sequence includes a current frame road pixel, the current frame road pixel corresponds to a current frame road pixel coding bit, a current frame road pixel distance may be included between the current frame road pixels, the current frame road pixel distance corresponds to a real longitude and latitude distance, the reference picture includes a reference picture pixel sequence, the reference picture pixel sequence includes a reference picture pixel, the reference picture pixel corresponds to a reference picture pixel coding bit, the reference picture pixel distance may include a reference picture pixel distance, and the reference picture pixel distance corresponds to a real longitude and latitude distance.
Specifically, after the first repair frame corresponding to the current frame road frame is obtained, determining a pixel point distance required by the reference frame moving to the current frame road frame based on the current running speed and the current frame rate, determining a real longitude and latitude distance corresponding to the reference frame moving to the current frame road frame based on the pixel point distance, determining a distance of an overlapping region of the reference frame and the current frame road frame in real longitude and latitude coordinates based on the real longitude and latitude distance, determining a pixel point distance required by the reference frame and the current frame road frame in real longitude and latitude coordinates based on a distance of an overlapping region of the reference frame and the current frame road frame in real longitude and latitude coordinates, determining the reference region based on the pixel point distance, performing a second repair process on the first repair frame based on the image interpolation technology or the image repair algorithm through the reference region, obtaining a second repair frame, and displaying the second repair frame as a road frame to be repaired after the determination.
It should be noted that, the road picture display method provided by the embodiment of the invention can be applied to devices such as shooting devices, smart phones, computers, servers and the like capable of displaying road pictures.
As shown in fig. 3, fig. 3 is a method flowchart of a picture transmission method according to an embodiment of the present invention. The picture transmission method comprises the following steps:
301. and when the current network environment is detected not to meet the preset condition, entering a quick transmission mode.
In the embodiment of the present invention, the network environment may be a network environment in which the target scanning vehicle is located in a wireless communication protocol for communication, the preset condition may be set according to a transmission rate, when the transmission rate of the network environment in which the target scanning vehicle is located cannot upload an image scanned by the target scanning vehicle to the control center in real time, the network environment in which the target scanning vehicle is located is judged to not satisfy the preset condition, otherwise, the preset condition is satisfied, the fast transmission mode may be a mode in which the target scanning vehicle cannot reach the preset condition based on the network environment and is adapted, and when the network environment does not satisfy the preset condition, the target scanning vehicle may perform reduction processing on an image acquired by the target scanning vehicle through the fast transmission mode, so as to achieve the purpose of fast transmission, and the target scanning vehicle may further include a full-speed transmission mode, where the full-speed transmission mode may be a mode in which the image acquired by the target scanning vehicle is uploaded to the control center in real time when the network environment in which the target scanning vehicle is located satisfies the preset condition.
In a possible embodiment, the target scanning vehicle determines whether to enter a fast transmission mode according to a network environment after the image is acquired, if the network environment where the target scanning vehicle is located does not meet the preset condition, the image cannot be completely and real-timely uploaded to the control center, the target scanning vehicle switches the transmission mode from a full-speed transmission mode to a fast transmission mode, simplifies the image acquired by the target scanning vehicle, and uploads the image after the simplification to the control center.
302. In the process of image acquisition of a target road in a rapid transmission mode, the road picture corresponding to the current moment is segmented according to the current running speed and the current picture frame rate, and the current frame road picture corresponding to the current moment is obtained.
In the embodiment of the present invention, the target road may be any road, the target road may be a highway, a national road, a provincial road, a urban road, a township road, a rural road, or the like, the target scanning vehicle may be configured with an integrated function such as an acquisition camera and an image transmission device, the image acquisition may be that the target scanning vehicle performs image acquisition by the acquisition camera, the segmentation process may perform frame segmentation according to the image, the frame segmentation may be one frame or may be multiple frames, the frame segmentation may be determined according to the network environment, specifically, if the network environment state supports the image to transmit one frame in one second, the frame segmentation may perform the image segmentation process to obtain one frame of image, and the current frame of road is determined according to the one frame of image, if the network environment state supports the image to transmit three frames in one second, the frame segmentation may be performed to the current frame of image, and the frame segmentation may be performed according to the three frames of image. The dividing process may further divide the road frame corresponding to the current time according to the running speed and the current frame rate, where the running speed may be the running speed of the target scanning vehicle, the current frame rate may be the image frame rate acquired by the acquisition camera when the target scanning vehicle runs, and the dividing process may be performed on the road frame corresponding to the current time according to the running speed of the target scanning vehicle and the image frame rate acquired by the acquisition camera when the target scanning vehicle runs, so as to obtain the current frame road frame corresponding to the current time.
303. Uploading the current frame road picture to a control center so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed, and displaying the road picture to be displayed.
In the embodiment of the present invention, the control center may be a server or a server cluster having functions of image processing, image analysis, image storage, image transmission, etc., and the server or the server cluster may be a road inspection platform having functions of image processing, image analysis, image storage, image transmission, etc.
In one possible embodiment, when the network environment of the target scanning vehicle does not meet the preset condition, the target scanning vehicle segments the road frame corresponding to the current time according to the running speed of the target scanning vehicle and the image frame rate acquired by the acquisition camera when the target scanning vehicle runs, so as to obtain the current frame road frame corresponding to the current time, and the current frame road frame is uploaded to the control center, so that the control center repairs the current frame road frame, obtains the repaired road frame to be displayed, and displays the road frame to be displayed.
In the embodiment of the invention, when the current network environment is detected not to meet the preset condition, a rapid transmission mode is entered; in the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to the current moment according to the current running speed and the current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment; uploading a current frame road picture to a control center, and acquiring the current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode; according to the current frame road picture, searching the last frame road picture locally as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture; repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture; and displaying the road picture to be displayed. The method comprises the steps of only transmitting a target picture which is different from a previous frame of road picture when a network is unstable, repairing a current frame of road picture by utilizing the previous frame of road picture locally stored in a control center and the received target picture, displaying the repaired current frame of road picture, further improving the real-time performance of road picture display, and ensuring the quality of the repaired road picture because the target picture and the previous frame of road picture locally stored in the control center can keep all the characteristics of the current frame of road picture.
Optionally, in the process of image acquisition of the target road in the fast transmission mode, the road image corresponding to the current moment is segmented according to the current running speed and the current image frame rate to obtain the current frame road image corresponding to the current moment, including: acquiring a road picture corresponding to the current moment in the process of image acquisition of a target road in a rapid transmission mode; dividing the road picture corresponding to the current shooting moment according to the current running speed and the current picture frame rate to obtain a target divided image corresponding to the road picture corresponding to the current shooting moment; carrying out semantic segmentation processing on the target segmented image to obtain a road region with road semantics and a roadside region with roadside semantics; coding the current running speed and the current picture frame rate to pixel point coding bits in the roadside area to obtain a coded target segmentation image; and determining a current frame road picture corresponding to the current moment according to the encoded target segmentation image.
In the embodiment of the present invention, the semantic segmentation processing may be segmentation processing of the road picture corresponding to the current shooting time based on FCN (Fully Convolutional Networks) algorithm or Mask R-CNN algorithm according to a road side region and a road region in the road picture, where the road picture corresponds to the road picture semantic, and the target segmentation image may be a target segmentation image obtained by segmentation processing of the image.
Specifically, when the target scanning vehicle is in the rapid transmission mode, in the process of acquiring an image of the target road, acquiring a road picture corresponding to a current moment, performing segmentation processing on the road picture corresponding to the current shooting moment according to a current running speed corresponding to the target scanning vehicle and a current picture frame rate corresponding to the target scanning vehicle to obtain a target segmented image corresponding to the road picture corresponding to the current shooting moment, performing semantic segmentation processing on the target segmented image through the FCN algorithm or the Mask R-CNN algorithm to obtain a road region with road semantics and a roadside region with roadside semantics, and encoding the current running speed corresponding to the target scanning vehicle and a current picture frame rate corresponding to the target scanning vehicle to pixel point encoding bits corresponding to pixels in the roadside region to obtain an encoded target segmented image, and determining a current frame road picture corresponding to the current moment according to the encoded target segmented image.
It should be noted that, the method for transmitting the picture provided by the embodiment of the invention can be applied to devices such as shooting devices, smart phones, computers, servers and the like which can transmit the picture.
As shown in fig. 4, an embodiment of the present invention provides a road picture display device including:
a first obtaining module 401, configured to obtain a current frame road picture uploaded by a target scanning vehicle in a fast transmission mode;
a first searching module 402, configured to locally search a previous frame of road picture as a reference road picture according to the current frame of road picture, where a resolution of the current frame of road picture is smaller than a resolution of the reference road picture;
the first repairing module 403 is configured to repair the current frame road picture according to the reference road picture, to obtain a repaired road picture to be displayed, where the resolution of the road picture to be displayed is the same as that of the reference road picture;
the first display module 404 is configured to display a road picture to be displayed.
Optionally, the first repair module 403 includes:
the first extraction module is used for extracting the encoded data of the roadside area in the current frame road picture;
the first determining module is used for determining the current running speed and the current picture frame rate of the target scanning vehicle according to the encoded data;
the second restoration module is used for carrying out first restoration processing on the coding bits in the roadside area in the current frame road picture to obtain a first restoration picture corresponding to the current frame road picture;
And the third repairing module is used for carrying out second repairing treatment on the current frame road picture based on the current running speed, the current picture frame rate and the first repairing picture to obtain a repaired road picture to be displayed.
Optionally, the second repair module includes:
a first determining unit, configured to determine the coding bit in a roadside area in the current frame road picture;
and the first filtering unit is used for carrying out filtering processing on the coding bits to obtain a first repair picture corresponding to the current frame road picture.
Optionally, the third repair module includes:
a second determining unit configured to determine a reference area in the reference road picture based on the current running speed and the current picture frame rate;
the first restoration unit is used for carrying out second restoration processing on the first restoration picture based on the reference area to obtain a second restoration picture;
and the third determining unit is used for determining the repaired road picture to be displayed based on the second repair picture.
It should be noted that, the road picture display device provided by the embodiment of the invention can be applied to devices such as shooting devices, smart phones, computers, servers and the like capable of displaying road pictures.
The road picture display device provided by the embodiment of the invention can realize each process realized by the road picture display method in the method embodiment, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
As shown in fig. 5, an embodiment of the present invention provides a picture transmission apparatus, including:
a first detection module 501, configured to enter a fast transmission mode when detecting that a current network environment does not meet a preset condition;
the first segmentation module 502 is configured to segment a road picture corresponding to a current time according to a current running speed and a current picture frame rate in a process of performing image acquisition on a target road in a fast transmission mode, so as to obtain a current frame road picture corresponding to the current time, where resolution of the current frame road picture is smaller than resolution of the road picture corresponding to the current shooting time;
the first uploading module 503 is configured to upload the current frame road frame to a control center, so that the control center repairs the current frame road frame, obtains a repaired road frame to be displayed, and displays the road frame to be displayed.
Optionally, the first segmentation module 502 includes:
the second acquisition module is used for acquiring a road picture corresponding to the current moment in the process of image acquisition of the target road in the rapid transmission mode;
the second segmentation module is used for carrying out segmentation processing on the road picture corresponding to the current shooting moment according to the current running speed and the current picture frame rate to obtain a target segmentation image corresponding to the road picture corresponding to the current shooting moment;
the first semantic segmentation module is used for carrying out semantic segmentation processing on the target segmented image to obtain a road region with road semantics and a roadside region with roadside semantics;
the first coding module is used for coding the current running speed and the current picture frame rate to pixel point coding bits in the roadside area to obtain a coded target segmentation image;
and the second determining module is used for determining a current frame road picture corresponding to the current moment according to the encoded target segmentation image.
It should be noted that the image transmission device provided in the embodiment of the present invention may be applied to devices such as a photographing device, a smart phone, a computer, and a server, which may perform image transmission.
The picture transmission device provided by the embodiment of the invention can realize each process realized by the picture transmission method in the method embodiment, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 6, including: a memory 602, a processor 601 and a computer program for a road picture display method stored on the memory 602 and executable on the processor 601, wherein:
the processor 601 is configured to call a computer program stored in the memory 602, and perform the following steps:
acquiring a current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode;
according to the current frame road picture, searching a previous frame road picture locally to serve as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture;
repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture;
and displaying the road picture to be displayed.
Optionally, the current frame road picture executed by the processor 601 includes a road area and a roadside area, the pixels in the roadside area include coding bits, the coding bits correspond to coding data of a current running speed and a current picture frame rate of the target scanning vehicle, and the repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed includes:
extracting the coding data of a roadside area in the current frame road picture;
determining the current running speed and the current picture frame rate of the target scanning vehicle according to the encoded data;
performing first restoration processing on the coding bits in a roadside area in the current frame road picture to obtain a first restoration picture corresponding to the current frame road picture;
and carrying out second restoration processing on the current frame road picture based on the current running speed, the current picture frame rate and the first restoration picture to obtain a restored road picture to be displayed.
Optionally, the performing, by the processor 601, the first repair processing on the encoded bits in the roadside area in the current frame road picture to obtain a first repair picture corresponding to the current frame road picture includes:
Determining the coding bit in a roadside area in the current frame road picture;
and filtering the coding bits to obtain a first repair picture corresponding to the current frame road picture.
Optionally, the processor 601 performs, based on the current running speed, the current frame rate, and the first repair frame, a second repair process on the current frame road frame to obtain a repaired road frame to be displayed, where the second repair process includes:
determining a reference area in the reference road picture based on the current running speed and the current picture frame rate;
performing second restoration processing on the first restoration picture based on the reference area to obtain a second restoration picture;
and determining the repaired road picture to be displayed based on the second repair picture.
It should be noted that, the electronic device provided by the embodiment of the invention can be applied to devices such as a smart phone, a computer, a server and the like which can perform the road picture display method.
The electronic equipment provided by the embodiment of the invention can realize each process realized by the road picture display method in the embodiment of the method, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
Referring to fig. 7, fig. 7 is a schematic structural diagram of another electronic device according to an embodiment of the present invention, as shown in fig. 7, including: a memory 702, a processor 701, and a computer program for a picture transmission method stored on the memory 702 and executable on the processor 701, wherein:
the processor 701 is configured to call a computer program stored in the memory 702, and perform the following steps:
when the current network environment is detected not to meet the preset condition, entering a quick transmission mode;
in the process of image acquisition of a target road in a rapid transmission mode, dividing a road picture corresponding to a current moment according to a current running speed and a current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment;
uploading the current frame road picture to a control center so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed, and displaying the road picture to be displayed.
Optionally, in the process of image acquisition of the target road in the fast transmission mode, the processor 701 performs segmentation processing on the road picture corresponding to the current time according to the current running speed and the current picture frame rate to obtain the current frame road picture corresponding to the current time, including:
Acquiring a road picture corresponding to the current moment in the process of image acquisition of a target road in a rapid transmission mode;
dividing the road picture corresponding to the current shooting moment according to the current running speed and the current picture frame rate to obtain a target divided image corresponding to the road picture corresponding to the current shooting moment;
carrying out semantic segmentation processing on the target segmented image to obtain a road region with road semantics and a roadside region with roadside semantics;
coding the current running speed and the current picture frame rate to pixel point coding bits in the roadside area to obtain a coded target segmentation image;
and determining the current frame road picture corresponding to the current moment according to the encoded target segmentation image.
It should be noted that, the electronic device provided by the embodiment of the invention can be applied to devices such as a smart phone, a computer, a server and the like which can perform the picture transmission method.
The electronic equipment provided by the embodiment of the invention can realize each process realized by the picture transmission method in the embodiment of the method, and can achieve the same beneficial effects. In order to avoid repetition, a description thereof is omitted.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements each process of the road picture display method, the application-side road picture display method picture transmission method or the application-side picture transmission method provided by the embodiment of the invention, and can achieve the same technical effects, so that repetition is avoided, and no further description is provided herein.
Those skilled in the art will appreciate that the processes implementing all or part of the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the processes of the embodiments of the methods as above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM) or the like.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (10)
1. A road picture display method for road picture display of a control center, the road picture display method comprising the steps of:
acquiring a current frame road picture uploaded by a target scanning vehicle in a rapid transmission mode;
according to the current frame road picture, searching a previous frame road picture locally to serve as a reference road picture, wherein the resolution of the current frame road picture is smaller than that of the reference road picture;
repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, wherein the resolution of the road picture to be displayed is the same as that of the reference road picture;
and displaying the road picture to be displayed.
2. The method for displaying a road picture according to claim 1, wherein the current frame road picture includes a road area and a roadside area, the pixels in the roadside area include coding bits corresponding to the current running speed of the target scanning vehicle and the coding data of the current picture frame rate, and the repairing the current frame road picture according to the reference road picture to obtain the repaired road picture to be displayed includes:
Extracting the coding data of a roadside area in the current frame road picture;
determining the current running speed and the current picture frame rate of the target scanning vehicle according to the encoded data;
performing first restoration processing on the coding bits in a roadside area in the current frame road picture to obtain a first restoration picture corresponding to the current frame road picture;
and carrying out second restoration processing on the current frame road picture based on the current running speed, the current picture frame rate and the first restoration picture to obtain a restored road picture to be displayed.
3. The method for displaying a road picture according to claim 2, wherein said performing a first repair process on said encoded bits in a roadside area in said current frame road picture to obtain a first repair picture corresponding to said current frame road picture comprises:
determining the coding bit in a roadside area in the current frame road picture;
and filtering the coding bits to obtain a first repair picture corresponding to the current frame road picture.
4. The road picture display method as set forth in claim 3, wherein said performing a second repair process on the current frame road picture based on the current running speed, the current picture frame rate and the first repair picture to obtain a repaired road picture to be displayed comprises:
Determining a reference area in the reference road picture based on the current running speed and the current picture frame rate;
performing second restoration processing on the first restoration picture based on the reference area to obtain a second restoration picture;
and determining the repaired road picture to be displayed based on the second repair picture.
5. A picture transmission method for picture transmission of a target scanning vehicle, the picture transmission method comprising the steps of:
when the current network environment is detected not to meet the preset condition, entering a quick transmission mode;
in the process of image acquisition of a target road in the rapid transmission mode, dividing a road picture corresponding to the current moment according to the current running speed and the current picture frame rate to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment;
uploading the current frame road picture to a control center, so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed, and displaying the road picture to be displayed.
6. The picture transmission method as claimed in claim 5, wherein in the process of image acquisition of the target road in the fast transmission mode, the road picture corresponding to the current time is divided according to the current traveling speed and the current picture frame rate to obtain the current frame road picture corresponding to the current time, comprising:
acquiring a road picture corresponding to the current moment in the process of image acquisition of a target road in a rapid transmission mode;
dividing the road picture corresponding to the current shooting moment according to the current running speed and the current picture frame rate to obtain a target divided image corresponding to the road picture corresponding to the current shooting moment;
carrying out semantic segmentation processing on the target segmented image to obtain a road region with road semantics and a roadside region with roadside semantics;
coding the current running speed and the current picture frame rate to pixel point coding bits in the roadside area to obtain a coded target segmentation image;
and determining the current frame road picture corresponding to the current moment according to the encoded target segmentation image.
7. A road picture display device for road picture display of a control center, the road picture display device comprising:
The first acquisition module is used for acquiring a current frame road picture uploaded by the target scanning vehicle in a rapid transmission mode;
the first searching module is used for searching a previous frame of road picture locally as a reference road picture according to the current frame of road picture, and the resolution of the current frame of road picture is smaller than that of the reference road picture;
the first repairing module is used for repairing the current frame road picture according to the reference road picture to obtain a repaired road picture to be displayed, and the resolution of the road picture to be displayed is the same as that of the reference road picture;
the first display module is used for displaying the road picture to be displayed.
8. A picture transmission apparatus for picture transmission of a target scanning vehicle, the picture transmission apparatus comprising:
the first detection module is used for entering a rapid transmission mode when detecting that the current network environment does not meet the preset condition;
the first segmentation module is used for carrying out segmentation processing on a road picture corresponding to the current moment according to the current running speed and the current picture frame rate in the process of carrying out image acquisition on a target road in a rapid transmission mode to obtain a current frame road picture corresponding to the current moment, wherein the resolution of the current frame road picture is smaller than that of the road picture corresponding to the current shooting moment;
And the first uploading module is used for uploading the current frame road picture to a control center so that the control center repairs the current frame road picture to obtain a repaired road picture to be displayed and displaying the road picture to be displayed.
9. A road picture display system, characterized in that the road picture display system comprises a road picture display device according to claim 7 and a picture transmission device according to claim 8.
10. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps in the road picture display method according to any one of claims 1 to 4 when the computer program is executed or the processor implementing the steps in the picture transmission method according to claim 5 or 6 when the computer program is executed.
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