CN1987484A - Image velocity computer and method for computing image velocity - Google Patents
Image velocity computer and method for computing image velocity Download PDFInfo
- Publication number
- CN1987484A CN1987484A CN 200610167477 CN200610167477A CN1987484A CN 1987484 A CN1987484 A CN 1987484A CN 200610167477 CN200610167477 CN 200610167477 CN 200610167477 A CN200610167477 A CN 200610167477A CN 1987484 A CN1987484 A CN 1987484A
- Authority
- CN
- China
- Prior art keywords
- speed
- image
- camera
- pixel
- time shutter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
An image velocity computing device having a camera, a microcomputer, and a camera control is provided. The camera has a controllable exposure time, and is capable of capturing a plurality of images of objects. The microcomputer is coupled to the camera and is configured to determine an image flow of an object of at least one pixel occurring in images captured by the camera, to determine an exposure time to achieve a predetermined image flow, and to compute an image velocity based on the exposure time of the camera. The camera control is configured to receive exposure time information from the microcomputer and to control the exposure time of the camera.
Description
Technical field
A kind of speed image of relate generally to of the present invention calculates device, more particularly, the present invention relates to a kind of speed image that is used to calculate the speed of photographic images and calculates device and speed image calculating method.
Background technology
Japanese kokai publication hei 11[1999]-No. 160335 communique has been described a kind of traditional images speed counting device.Put down in writing in this communique:, calculate the light stream (optical flow) (that is, presentation video move vector) of destination object for computed image speed.According to the direction and the size of the light stream of being calculated, computed image speed.
In order to calculate light stream, to the image applications gradient calculation method of onboard camera generation.Gradient calculation method supposition can be calculated light stream by the simultaneous equation of constraint of finding the solution based on the image of discrete sampling.This method is also supposed the gray-scale value that keeps destination object.Yet when the destination object fast moving, the grey value profile of this destination object significantly fluctuates.Therefore, when the destination object fast moving, be difficult to the accurate Calculation speed image.Therefore, though need a kind of when speed image calculates the target high-speed mobile, modified speed image calculating device that still can the accurate Calculation speed image.
Summary of the invention
According to an aspect of the present invention, provide a kind of speed image to calculate device, this speed image calculates device and comprises: camera; And the microcomputer that is coupled to described camera, described microcomputer is configured to based on determining image stream by a plurality of images of described camera, determine the time shutter based on determined image stream, and based on determined time shutter computed image speed.
According to another aspect of the present invention, provide a kind of speed image to calculate device, this speed image calculates device and comprises: camera, and it has the controllable time shutter and can take a plurality of object images; Be coupled to the microcomputer of described camera, described microcomputer is configured to determine the object images stream of at least one pixel of occurring in the image by described camera, determine the time shutter obtaining predetermined image stream, and based on the time shutter computed image speed of described camera; And controller of camera, it is coupled to described microcomputer and described camera, and described controller of camera is configured to receive from the time shutter information of described microcomputer and controls time shutter of described camera.
According to another aspect of the present invention, provide a kind of speed image to calculate device, this speed image calculates device and comprises: take the unit, be used to take a plurality of object images; The image stream determining unit is used for determining when described object moves between the exposure period of described shooting unit that the image stream at object described in described a plurality of images of described shooting unit photographs is equal to or greater than a pixel; And speed image calculates the unit, is used for when described 1 pixel moves determining unit and determines that described image stream is 1 pixel stream the time shutter computed image speed based on described shooting unit.
According to another aspect of the present invention, provide a kind of method that is used for determining object velocity, it comprises: utilize a plurality of object images of camera; Determine whether described object has moved the pixel more than predetermined number in described image; The shutter speed that changes described camera is up to determining that described object moves the pixel that is no more than described predetermined number in each image; And based on the shutter speed calculating object speed of described camera.
Description of drawings
When studying in conjunction with the accompanying drawings, the various examples of purpose of the present invention, feature and attendant advantages will be more readily understood, and in whole accompanying drawings, same Reference numeral is represented identical or similar part, wherein:
Fig. 1 is the block diagram that the configuration of the typical image speed counting device system that makes according to each side of the present invention is shown;
Fig. 2 illustrates the process flow diagram that carries out one group of step of exact image speed calculation according to first embodiment of the invention;
(a) of Fig. 3 is to be used for graphic extension how to utilize frequency analysis to calculate a series of figure of the example of exact image speed to (f);
Fig. 4 illustrates the process flow diagram that the computing method shown in (a) to (f) that utilizes Fig. 3 are carried out one group of step of exact image speed calculation;
(a) of Fig. 5 is to be used for graphic extension how to utilize edge analysis to carry out a series of figure of the example of exact image speed calculation to (f);
(a) of Fig. 6 illustrates the image of the vehicle front that utilizes the camera that is installed in front part of vehicle;
The speed image that (b) of Fig. 6 illustrates the photographic images shown in (a) of Fig. 6 distributes;
Fig. 7 illustrates when camera or other filming apparatus are installed on the moving body, can obtain the process flow diagram of one group of step of exact image speed calculation;
(a) of Fig. 8 is the moment T that is illustrated in appointment
0After, be spaced apart the moment T of T
0-T
4, target is with respect to the synoptic diagram that moves of camera;
(b) of Fig. 8 illustrates four photographic images of camera with a frame IT of different time shutter exposures to (e); And
Fig. 9 illustrates one group of step that utilization can be carried out the exact image speed calculation with the camera that a plurality of different exposure time are as shown in Figure 8 caught image.
Embodiment
Although the present invention can realize with various forms of embodiment, but it is shown in the drawings and described preferred embodiment hereinafter, should be appreciated that simultaneously the disclosure should be regarded example of the present invention as, rather than intention limit the invention to illustrated specific embodiment.Be also to be understood that the title of this section of this instructions, that is, " embodiment " relates to the requirement of Patent Office of the People's Republic of China, rather than hint should not be inferred as the illustrated theme of restriction yet.
In the disclosure, word " a " or " an " be believed to comprise single and a plurality of the two.Otherwise, mention when a plurality of, also comprise single as required.
Fig. 1 illustrates the block diagram of configuration that the speed image of making according to each side of the present invention calculates the exemplary embodiments of device.Put it briefly, this speed image calculates device and comprises: filming apparatus, video memory, image stream determine that device, time shutter modifier, speed image calculate device.This speed image calculates device for example can also comprise that 1 pixel moves that pixels such as determining device moves definite device, 1 pixel moves modifier and monitor 5.
Filming apparatus can for example be a high-speed camera 1.Image stream can be determined that device, time shutter modifier, speed image calculate device and 1 pixel and move and determine that device for example is included in the storer 2 and microcomputer 3.Can constitute 1 pixel by for example camera control section 4 and move modifier.
When computed image speed, microcomputer 3 also calculates the shutter speed of the camera 1 that will be set up, and then, this shutter speed is sent to camera control section 4.The shutter speed of camera control section 4 control cameras 1 is to obtain the shutter speed of microcomputer 3 indications.At this moment, determined the length of time shutter according to the speed of the electronic shutter of camera 1 or mechanical shutter.
The time shutter and the shutter speed of camera are inversely proportional to.Specifically, when the time shutter increased, shutter speed reduced.Otherwise the time shutter, shutter speed raise when reducing.Monitor 5 is used for showing image and the speed image information that is stored in video memory 2.
Fig. 2 illustrates the process flow diagram that carries out one group of step of exact image speed calculation according to first embodiment of the invention.At first, at S101, filming apparatus obtains photographic images, and in the embodiment shown in fig. 1, filming apparatus is a high-speed camera 1.Then, at S102, when image stream occurring in the photographic images, extract the image stream district.
In present embodiment of the present invention, a pixel refers to constitute the least unit of an image.Image stream for example is meant between camera 1 exposure period, the flowing of the so-called image that the photographic subjects object has occurred when having moved one or more pixel.For example, the pedestrian is under the situation that vehicle is run previously, and perhaps under the situation when the vehicle that travels is caught the image of front continuously, the object in the image may flow to peripheral from the center.
At S103, the time shutter in measurement image stream district.Then, at S104, determine the length of the time shutter in image stream district.If the time shutter is long, then carry out the processing of S105, if the time shutter is not oversize, then carry out the processing of S106.If the time shutter is oversize, then time shutter of camera 1 is reduced designated value at S105, then, return S101.If the time shutter is not oversize, then calculate the inverse of current time shutter at S106, with the speed in computed image stream district, then, return S101.
As mentioned above, because when image stream occurring in the photographic images, extract the image stream district, a plurality of photographic images of catching are handled so change the time shutter of camera 1.When image stream occurring, shorten the time shutter, and calculate the speed image of target according to the time shutter after shortening.Like this, even on screen, during high-speed mobile, also can calculate the speed image of this target when target.
(a) of Fig. 3 comprises to (f) how be used for graphic extension utilizes frequency analysis to calculate a series of figure of the example of accurate speed image.Fig. 3 (a) illustrates photographic images.The position 31 expression areas of observation coverage, and the object in 32 presentation videos of position.(b) of Fig. 3 illustrates and utilizes camera 1 to catch the shooting cycle of a two field picture.Frame is the unit of the image of catching corresponding to camera 1.(c) of Fig. 3 illustrates the time shutter of camera 1.Fig. 3 (d) illustrates photographic images # 1 to #5.(e) of Fig. 3 illustrates the frequency analysis # 1 to #5 corresponding to photographic images # 1 to #5.Fig. 3 (f) is illustrated in the radio-frequency component that obtains among the frequency analysis # 1 to #5 respectively.
If the time shutter is long, then when opening fast exposure gate, the object of high-speed mobile finally flows one more than the pixel.Therefore on the photographic images shown in the photographic images # 1 to #3 in Fig. 3 (d) image stream appears finally.Yet, when the time shutter shortens, to open between the shutter exposure period, target no longer moves one more than the pixel.Therefore, can catch as photographic images # 4 in Fig. 3 (d) and the image that does not have image stream shown in the #5.
When photographic images # 1 to #5 being carried out frequency analysis, when having specific image stream on the photographic images, produce less radio-frequency component in the mode shown in Fig. 3 (e).Otherwise, when having less image stream on the photographic images, produce more radio-frequency component.
Shown in Fig. 3 (f), when not having image stream in the image, it is maximum that radio-frequency component reaches, and settle out (no longer changing).Therefore, can find the point that image stream no longer occurs by shortening the time shutter with iterative processing.The time shutter that the radio-frequency component that produces in radio-frequency component and last iteration is identical stops iterative processing.At this point, the time shutter equals object and moves the time that pixel is required.That is, the inverse of time shutter becomes the speed image of target.
Fig. 4 illustrates to reach the process flow diagram that above-described computing method are carried out one group of step of exact image speed calculation shown in (a) to (f) that utilizes Fig. 3.At first, at S201, obtain the photographic images of camera 1 (as shown in Figure 1) or other filming apparatus.Then,, in photographic images, select the area of observation coverage (referring to 31 among Fig. 3), when image stream occurring, extract the image stream district at S202.Then, at S203, (Fast Fourier transform, FFT) technology is carried out frequency analysis to the image stream district that is extracted, with the variation of observation radio-frequency component for example to utilize fast fourier transform.
At S204, judge whether radio-frequency component variation has taken place.For this reason, the radio-frequency component in the image stream district in the photographic images of given time shutter and the radio-frequency component in the image stream district in the photographic images of the time shutter after the use shortening are compared.If variable quantity is equal to or less than designated value, then carry out the processing of S205.If variable quantity greater than designated value, is then carried out the processing of S206.If variable quantity is equal to or less than designated value, then calculate the speed of the inverse of current time shutter with calculating high-speed mobile district at S205, enter S207 then.On the contrary, if variable quantity greater than designated value, then in the time shutter shortening designated value of S206 with camera 1, turns back to S201 then.At last,, on monitor 5, be presented at the suitable supervision indication of the speed image that S205 calculates, turn back to S201 then at S207.
As mentioned above, because determined the image stream on the photographic images,, there is not the photographic images of image stream with extraction so handle a plurality of photographic images by the time shutter of quick change camera 1.Then, calculate the speed image of target according to used time shutter, even during the target high-speed mobile, speed image that also can the accurate Calculation target.
(a) of Fig. 5 is a series of figure how graphic extension carries out the example of exact image speed calculation to (f).It is different that (a) of Fig. 5 calculates the speed image calculating shown in (a) to (e) with Fig. 3 to the speed image shown in (f).Yet figure and the figure in (a) to (e) of Fig. 3 of (a) of Fig. 5 in (f) is similar, therefore omits the explanation to repeating part.
Fig. 5 (a) illustrates photographic images.(b) of Fig. 5 illustrates and utilizes camera 1 or other filming apparatus to catch the shooting cycle of a frame photographic images.Frame is the unit of the image of being caught corresponding to camera 1.Fig. 5 (c) illustrates the various time shutter.Fig. 5 (d) illustrates photographic images # 1 to #5.(e) of Fig. 5 illustrates the edge image # 1 to #5 of photographic images # 1 to #5 among (d) that corresponds respectively to Fig. 5.(f) of Fig. 5 illustrates the edge strength of (e) middle edge image # 1 to #5 of Fig. 5.
Similar with Fig. 3 (a) to (e), when the time shutter is long, finally move one more than the pixel at the object of opening high-speed mobile between the shutter exposure period.Therefore, in the photographic images of being caught shown in the photographic images # 1 to #3 in Fig. 5 (d) image stream appears.Yet, when the time shutter shortens, no longer move one more than the pixel opening between the shutter exposure period target.Like this, can catch as photographic images # 4 in Fig. 5 (d) and the image that does not have image stream shown in the #5.
The edge strength of observation photographic images # 1 to #5 finds that the big more edge strength of image stream is weak more.Otherwise the more little edge strength of image stream is big more.When not having image stream shown in Fig. 5 (f), edge strength reaches maximum and settles out.
Time shutter when no longer changing, can find the point that image stream no longer occurs by the edge strength that is shortened to extraction the time shutter continuously.At this point, the time shutter is that target moves the time that pixel is required.That is, the inverse of time shutter becomes the speed image of target.Like this, even target during high-speed mobile, by the inverse of calculation exposure time, also can be calculated the speed image of target on screen.
Within the scope of the invention, for example for example camera 1 or other filming apparatus (perhaps entire image speed counting device) can be installed on the moving body such as automobile.According to this aspect of the present invention, camera 1 is installed in for example front portion of vehicle, to catch the image of vehicle front.Monitor 5 is installed in the vehicle, with the image that display image memory 2 is preserved, the speed image information that the microcomputer 3 that superposes simultaneously calculates.Utilize the time shutter of camera control section 4 change cameras 1, microcomputer 3 computed image speed.
(a) of Fig. 6 illustrates the image of the vehicle front that utilizes camera 1 shooting that is installed in front part of vehicle.The speed image that (b) of Fig. 6 illustrates photographic images shown in (a) of Fig. 6 distributes.Speed image to each coordinate position on the horizontal direction is handled, and draws out the most frequent speed image that (because vehicle, promptly camera 1 moves) causes.In (a) of Fig. 6, position 61 expression low speed move object, and position 62 expression high-speed mobile objects.In (b) of Fig. 6, position 63 expression low speed turnover zones, and 64 expression high-speed mobile districts, position.
When vehicle on highway to overtake, and camera 1 or other filming apparatus be at optical axis (y axle) when direction moves, image is displaced sideways with respect to the optical axis direction of camera 1.In addition, it is far away more that image leaves the optical axis direction of camera 1, and it is fast more that speed becomes.According to these features, the object images of catching near the optical axis of camera 1 moves on image hardly, it is static that this object images keeps, and moves object 61 as low speed, and its mobile on each frame is no more than a pixel (frame is the unit of expression camera 1 image of catching).Like this, by the frame number that counting low speed moving body 61 rests on the specific pixel, can calculate the speed image of low speed moving body 61.
High-speed mobile district 64 is moved beyond a pixel, and therefore each end at photographic images illustrates high-speed mobile object 62.Space continuity is considered in speed image distribution (shown in the solid line in Fig. 6 (b)) according to low speed turnover zone 63, can estimate the speed image distribution (shown in the dotted line in Fig. 6 (b)) in high-speed mobile district 64.In order to carry out this estimation, must there be the low speed moving body 61 that calculates in the above described manner.Like this, distribute according to the speed image of the estimated low speed turnover zone 63 that goes out and proofread and correct the speed image in high-speed mobile district 64.Therefore, even when camera 1 moves, also can eliminate the relative velocity that is produced that moves by camera 1.
Fig. 7 illustrates when being installed in camera 1 or other filming apparatus on the moving body, carries out the process flow diagram of one group of step of exact image speed calculation.The example of the present invention of speed image calculating method shown in (a) to (f) that adopts Fig. 5 will be described below.
At first, at S401, obtain the photographic images of camera 1 (as shown in Figure 1) or other filming apparatus.Then,, this photographic images is carried out Suo Beier (Sobel) Filtering Processing, and this photographic images is stored in the video memory 2 to calculate the transverse edge image at S402.Then, at S403, obtain image by transverse edge picture delay one frame that will in S402, calculate, and the image after will postponing is kept in the video memory 2.Then, at S404, calculate and to be illustrated in the transverse edge image that S402 calculates and the image of the difference between the landscape images after the delay that S 40 3 calculates.Then, at S405, determine whether to exist the edge according to the transverse edge difference image that calculates at S404.If there is the edge, then carry out S406, and S408 is then carried out at if there is no edge.
At S406, counting (poll) this edge in the image difference image that step S405 extracts is arranged in the frame number of same pixel.Then,, try to achieve the inverse that is arranged in the frame number of same pixel at this edge, to calculate the speed image of transverse edge at the S406 counting at S407.This is the speed of low speed image.Then, the speed with this low speed image sends to monitor 5 (referring to Fig. 1).
On the contrary, when when the S405 judgement does not have the edge, calculate the edge strength of the transverse edge that extracts at S402 at S408.Then, at S409, there is the maximum speed of speed image quantity in calculating at this same x coordinate place to each x coordinate (horizontal direction of image).Then, distribute, estimate the velocity distribution of high speed image (dotted line in Fig. 6 (b)) by satisfying space continuity according to the low speed image that is calculated.Like this, calculated the speed image distribution of all x coordinates that comprise the high-speed mobile district that is positioned at each end of screen.
Then, at S410, according to the speed image distributed intelligence of calculating, eliminate vehicle (that is, camera 1 or other filming apparatus) and move the relative velocity that produces, to proofread and correct the speed of high speed image at S409.That is, read and be positioned at the edge strength that has been shifted corresponding to the transverse edge of the former frame of the position of the degree of the speed image of estimating at S409.
At S411, will utilize the edge strength (reading) in the image stream district of the photographic images that edge strength and the time shutter of utilizing after shortening in the image stream district of photographic images of (calculating at S408) shooting of given time shutter take to compare at S410.If variable quantity is equal to or less than setting, then carry out the processing procedure of S412, and if variable quantity greater than setting, then carry out the processing procedure of S413.If variable quantity is equal to or less than this setting, then at S412, calculate the inverse of current time shutter, as the speed image of the transverse edge that extracts at S405.On the contrary, if variable quantity greater than this setting, then at S413, the edge strength that keeps the transverse edge position and calculate at S408.
At S414,, then, return S401 with the time shutter shortening designated value of camera 1.At S415, on monitor 5, be presented at the suitable supervision indication of the speed image of S407 and S412 calculating.Utilize different tones, the image information that microcomputer 3 is calculated is superimposed upon on the image of video memory 2 preservations.For example, be presented at the image that moves to the right on the screen with blueness, and with the mobile to the left image of red display.
Can utilize the speed image of measuring at the low speed turnover zone to estimate the configuration of moving in high-speed mobile district because have, even so when camera 1 or filming apparatus is installed on the moving body and when mobile, also can eliminate because should move the relative speed image that produces.Therefore, even be installed on the moving bodys such as vehicle when camera 1 and this moving body when mobile, also can computed image speed.In addition, even can calculate near the camera 1 that moves and with the speed image of the target that moves relative to high speed.
One aspect of the present invention is that utilization can come computed image speed since camera or other filming apparatus (please refer to camera shown in Figure 1 1) that the fixed time is caught image with a plurality of different exposure time.(a) of Fig. 8 is the moment T that is illustrated in appointment
0The back is being spaced apart the moment T of T
0-T
4Target is with respect to the synoptic diagram that moves of camera.θ
1It is the field angle of each pixel of camera 1.θ
2, θ
3And θ
4Be respectively at corresponding moment T
0To T
4The angle of extending from camera 1 to target.Although only provide T in the figure as an example
0To T
4, but can comprise more a plurality of moment.
The photographic images # 1 to #4 that (b) of Fig. 8 illustrates respectively to (e) is with different exposure time T
0-T
1, T
0-T
2, T
0-T
3And T
0-T
4When exposing, a frame photographic images of catching.That is, in that exposed should be after the time shutter, at corresponding moment T
1, T
2, T
3And T
4Catch image.For example, when T equals to move required time of pixel second, because photographic images # 1 exposure T second, that is, and T
0-T
1So target appears in the same pixel.For photographic images # 2 to #4, because at T
0-T
2, T
0-T
3And T
0-T
4Shutter is in when opening during this time, and target moves 2 pixels, 3 pixels and 4 pixels respectively, so image stream occurs.
Because from specifying T constantly
0Beginning is caught image with a plurality of time shutter, so observe (please refer to Fig. 5) by carrying out aforesaid frequency analysis (please refer to Fig. 3) or aforesaid edge strength, can extract the image that the image stream among the photographic images # 1 to #4 do not occur.Then, measure corresponding speed image.
Fig. 9 illustrates one group of step that utilization can be carried out the exact image speed calculation with the camera that a plurality of different exposure time are as shown in Figure 8 caught image.As an example, the method (referring to Fig. 3) of aforesaid frequency analysis as computed image speed adopted in following description.Because identical processing in S501 to S507 (referring to Fig. 9) execution and S401 to S407 (referring to Fig. 6) is so the repetitive description thereof will be omitted.
If judge in the difference image that S504 extracts at S505 not have the edge, then at S508, change time in the frame by speed with appointment, camera 1 or other filming apparatus are controlled to a plurality of time shutter photographic images.Then, at S509, a plurality of images of catching with the different time shutter are carried out frequency analysis.At S510,, detect radio-frequency component and reach maximal value and stable time shutter under coming according to the result of frequency analysis.Then, at S511, calculate inverse in the detected time shutter of S510 as speed image.At last, at S512, will be presented on the monitor 5 in the speed image information of S507 and S511 calculating.
As mentioned above, because present embodiment is configured to from specifying T constantly
0The image that beginning is caught with a plurality of different shutter speeds is handled, so can be with fixed time T
0For benchmark is observed this target in a plurality of time shutter.Like this, even can calculate the speed image of the target of high-speed mobile.
Because in a frame, catch image, so can shorten the processing time with a plurality of different exposure time.In addition, embodiment shown in Figure 6 is different with reaching as mentioned above, because do not estimate the speed image in high-speed mobile district, can improve the speed calculation precision.
At this,, provide above-described embodiment in order to help to understand technological thought of the present invention.This limits the present invention anything but.Therefore, disclosed each unit comprises all Change In Designs and the equivalent thereof that belongs to technical scope of the present invention in the foregoing description.
The above only is an explanation of the principles of the present invention.In addition,, expect many modifications and changes easily, so shown in not wanting the present invention is confined to fully and described exact configuration and operation, therefore, modification and equivalent that all are suitable all fall within the scope of the present invention because to one skilled in the art.
Claims (14)
1. a speed image calculates device, comprising:
Camera; And
Be coupled to the microcomputer of described camera, described microcomputer is configured to based on determining image stream by a plurality of images of described camera, determine the time shutter based on determined image stream, and based on determined time shutter computed image speed.
2. a speed image calculates device, comprising:
Camera, it has the controllable time shutter and can take a plurality of object images;
Be coupled to the microcomputer of described camera, described microcomputer is configured to determine the object images stream of at least one pixel of occurring in the image by described camera, determine the time shutter obtaining predetermined image stream, and based on the time shutter computed image speed of described camera; And
Controller of camera, it is coupled to described microcomputer and described camera, and described controller of camera is configured to receive from the time shutter information of described microcomputer and controls time shutter of described camera.
3. speed image according to claim 2 calculates device, it is characterized in that, described microcomputer further is configured to image applying frequency analysis iteratively determining radio-frequency component, and it is basic identical between image and image up to determined radio-frequency component to reduce the described time shutter.
4. speed image according to claim 2 calculates device, it is characterized in that described microcomputer further is configured to determine described edge of image intensity and reduces the described time shutter basic identical between image and image up to described edge strength.
5. speed image according to claim 2 calculates device, it is characterized in that described microcomputer further is configured to detect the low speed turnover zone and determines the speed image of this low speed moving body by the picture number that counting low speed moving body moves a pixel.
6. speed image according to claim 2 calculates device, it is characterized in that described microcomputer further is configured to:
The picture number that moves the predetermined number pixel by counting low speed turnover zone is calculated the speed image of described low speed turnover zone; And
Estimate the speed image of object in the high-speed mobile district based on the speed image of time shutter of described camera and described low speed turnover zone.
7. speed image according to claim 6 calculates device, it is characterized in that, the speed image of the low speed turnover zone that is calculated is corresponding to the speed of described camera, and the speed that the estimation of the speed image of object in the described high-speed mobile district is used to revise described camera.
8. speed image according to claim 2 calculates device, it is characterized in that described intended pixel stream comprises the pixel less than two.
9. speed image according to claim 2 calculates device, it is characterized in that described intended pixel stream comprises a pixel.
10. a speed image calculates device, and it comprises:
Take the unit, be used to take a plurality of object images;
The image stream determining unit is used for determining when described object moves between the exposure period of described shooting unit that the image stream at object described in described a plurality of images of described shooting unit photographs is equal to or greater than a pixel; And
Speed image calculates the unit, is used for when described 1 pixel moves determining unit and determines that described image stream is 1 pixel stream the time shutter computed image speed based on described shooting unit.
11. speed image according to claim 10 calculates device, it is characterized in that, described speed image calculates the unit and further comprises:
Low speed turnover zone detecting unit is used to detect and is judged as described photographic images do not have the to flow zone of one or more pixel; And
Low speed turnover zone speed image calculates the unit, is used for when described low speed turnover zone detecting unit judges that described photographic images has moved greater than a pixel, moves the speed image that a required frame number of pixel calculates described low speed turnover zone by counting.
12. speed image according to claim 11 calculates device, it is characterized in that, described object is determined and is in the high-speed mobile district, and described speed image calculates the unit and further comprises the unit of estimating the speed of object in the high-speed mobile district based on the speed image of time shutter of described camera and described low speed turnover zone.
13. a method that is used for determining object velocity, it comprises:
Utilize a plurality of object images of camera;
Determine whether described object has moved the pixel more than predetermined number in described image;
The shutter speed that changes described camera is up to determining that described object moves the pixel that is no more than described predetermined number in each image; And
Shutter speed calculating object speed based on described camera.
14. the method that is used for determining object velocity according to claim 13, it further comprises:
The picture number that moves the predetermined number pixel by counting low speed turnover zone is calculated the speed image of this low speed turnover zone; And
Estimate the speed of described object based on the speed image of time shutter of described camera and described low speed turnover zone.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005365779 | 2005-12-20 | ||
| JP2005365779 | 2005-12-20 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1987484A true CN1987484A (en) | 2007-06-27 |
Family
ID=38184361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610167477 Pending CN1987484A (en) | 2005-12-20 | 2006-12-20 | Image velocity computer and method for computing image velocity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1987484A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955041A (en) * | 2011-08-22 | 2013-03-06 | 中国核动力研究设计院 | Method for measuring speed of rod dropping process of control rod drive wire |
| CN106771320A (en) * | 2016-11-23 | 2017-05-31 | 北京航天控制仪器研究所 | A kind of rocket sledge image speed measurement method |
| CN108726338A (en) * | 2017-04-19 | 2018-11-02 | 奥的斯电梯公司 | The speed detector and its speed detection method of the handrail of passenger conveyor |
| JP7148126B2 (en) | 2018-11-02 | 2022-10-05 | コーデンシ株式会社 | Moving body detection system and program for moving body detection system |
-
2006
- 2006-12-20 CN CN 200610167477 patent/CN1987484A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102955041A (en) * | 2011-08-22 | 2013-03-06 | 中国核动力研究设计院 | Method for measuring speed of rod dropping process of control rod drive wire |
| CN102955041B (en) * | 2011-08-22 | 2014-06-18 | 中国核动力研究设计院 | Method for measuring speed of rod dropping process of control rod drive wire |
| CN106771320A (en) * | 2016-11-23 | 2017-05-31 | 北京航天控制仪器研究所 | A kind of rocket sledge image speed measurement method |
| CN106771320B (en) * | 2016-11-23 | 2019-03-12 | 北京航天控制仪器研究所 | A kind of rocket sledge image speed measurement method |
| CN108726338A (en) * | 2017-04-19 | 2018-11-02 | 奥的斯电梯公司 | The speed detector and its speed detection method of the handrail of passenger conveyor |
| US11169170B2 (en) | 2017-04-19 | 2021-11-09 | Otis Elevator Company | Speed detection device of handrail of passenger conveyor and a speed detection method thereof |
| JP7148126B2 (en) | 2018-11-02 | 2022-10-05 | コーデンシ株式会社 | Moving body detection system and program for moving body detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100373423C (en) | Method and system for evaluating moving image quality of displays | |
| KR101489048B1 (en) | Imaging apparatus, image processing method, and recording medium for recording program thereon | |
| CN111263142B (en) | Method, device, equipment and medium for testing optical anti-shake of camera module | |
| US10277809B2 (en) | Imaging device and imaging method | |
| EP3291004A1 (en) | Ranging method, automatic focusing method and device | |
| US10346685B2 (en) | System and method for detecting and tracking a moving object | |
| EP3055986B1 (en) | Imaging device and method for automatic focus in an imaging device as well as a corresponding computer program | |
| JP2768042B2 (en) | Distance measuring device | |
| WO2019105433A1 (en) | Image distortion detection method and system | |
| US10643338B2 (en) | Object detection device and object detection method | |
| CN105740792A (en) | Target detection method and apparatus | |
| CN104133076A (en) | Speed measurement device and method and terminal | |
| CN110114801B (en) | Image foreground detection device and method and electronic equipment | |
| CN1987484A (en) | Image velocity computer and method for computing image velocity | |
| JP2007195141A (en) | Device and method for computing image velocity | |
| CN113365028A (en) | Method, device and system for generating routing inspection path | |
| EP3076656B1 (en) | Method and system for image stabilization | |
| US9521397B2 (en) | System and method for selecting a two-dimensional region of interest using a range sensor | |
| JP2014082957A (en) | Cell counting apparatus and cell counting program | |
| US20170061649A1 (en) | Image measuring apparatus and non-temporary recording medium on which control program of same apparatus is recorded | |
| JP2010019640A (en) | Speed measuring device and speed measurement method | |
| Van Eekeren et al. | Super-resolution on moving objects and background | |
| CN112461853A (en) | Automatic focusing method and system | |
| JP6579816B2 (en) | Image processing apparatus, image processing method, and program | |
| CN103491286A (en) | Imaging apparatus and image display method therefor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |