EP3970111A1 - Image processing device and method - Google Patents
Image processing device and methodInfo
- Publication number
- EP3970111A1 EP3970111A1 EP19728376.5A EP19728376A EP3970111A1 EP 3970111 A1 EP3970111 A1 EP 3970111A1 EP 19728376 A EP19728376 A EP 19728376A EP 3970111 A1 EP3970111 A1 EP 3970111A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- image
- pixels
- current
- distortion
- pixel
- 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
- 238000012545 processing Methods 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title description 16
- 238000013507 mapping Methods 0.000 claims abstract description 52
- 238000003672 processing method Methods 0.000 claims abstract description 16
- 238000004590 computer program Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 15
- 230000009466 transformation Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000013519 translation Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000000844 transformation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/60—Memory management
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/18—Image warping, e.g. rearranging pixels individually
Definitions
- the present invention relates to the field of image processing. More specifically, the present invention relates to an image processing device and method for compensating image distortions.
- ISP image signal processor
- SoC System on a Chip
- the ISP can process an electronic image obtained by the camera in order to compensate, i.e. reduce or remove image distortions caused, for instance, by the camera itself, such as the rolling shutter effect, or by a movement of the camera, while capturing the image. Because of high camera resolution these electronic images are usually very large so that the image processor can only process respective portions of the image stored in a local cache memory one after the other, while the whole image is stored in a high latency main memory, in particular a DRAM of the electronic device.
- the invention relates to an image processing device, such as a smartphone or a component of a smartphone.
- the image processing device comprises a main memory, in particular a DRAM, for storing a current image, wherein the current image comprises a plurality of pixels, including a first set of support pixels and a second set of support pixels.
- the image processing device comprises a processing circuitry configured to generate a distortion-compensated image on the basis of the current image using an image distortion model, wherein the image distortion model defines for each pixel of the first set of support pixels a first mapping between its position in the current image and its corresponding position in the distortion-compensated image and for each pixel of the second set of support pixels a second mapping between its position in the current image and its corresponding position in the current image.
- the processing circuitry is configured to apply the second mapping subsequently to, i.e. after the first mapping for generating the distortion- compensated image.
- the image processing device further comprises a fast-access i.e. low latency, local cache memory for storing, i.e. caching a plurality of non-overlapping, rectangular portions of the current image in a corresponding plurality of sectors of the cache memory, wherein each sector comprises a subset of the plurality of pixels stored in the main memory.
- a fast-access i.e. low latency, local cache memory for storing, i.e. caching a plurality of non-overlapping, rectangular portions of the current image in a corresponding plurality of sectors of the cache memory, wherein each sector comprises a subset of the plurality of pixels stored in the main memory.
- the processing circuitry is further configured to determine on the basis of the image distortion model one or more positions of one or more pixels of the first set of support pixels and/or one or more pixels of the second set of support pixels in the current image and to select the plurality of portions of the current image for storing in the corresponding plurality of sectors of the cache memory on the basis of the one or more positions of the one or more pixels of the first set of support pixels and/or the one or more pixels of the second set of support pixels in the current image.
- the first mapping of the image distortion model is configured to compensate one or more distortions caused by an image rotation and/or the second mapping of the image distortion model is configured to
- a current full-integer pixel in the current image lies within a global cell defined by a plurality of, in particular four current pixels of the first set of support pixels or the second set of support pixels in the current image
- the processing circuitry is configured to generate the corresponding current sub integer pixel in the distortion-compensated image on the basis of the plurality of portions of the current image stored in the corresponding plurality of sectors of the cache memory by: (i) determining the respective sub-integer positions of the plurality of current pixels of the first set of support pixels or the second set of support pixels in the current image;
- the processing circuitry is configured to determine the sub-integer position of the corresponding current pixel in the distortion-compensated image on the basis of the image distortion model and the respective sub-integer positions of the plurality of current pixels of the first set of support pixels or the second set of support pixels in the current image using interpolation, in particular bi-linear interpolation.
- the processing circuitry is further configured to determine a pixel value of a current full-integer pixel in the distortion- compensated image on the basis of the plurality of portions of the current image stored in the corresponding plurality of sectors of the cache memory by:
- the processing circuitry is configured to determine the pixel value of the current full-integer pixel in the distortion- compensated image on the basis of the pixel values and the sub-integer positions of the plurality of neighboring sub-integer interpolation pixels in the distortion-compensated image using interpolation, in particular bi-linear interpolation.
- the image processing device further comprises an image capturing device, in particular a camera for obtaining the current image.
- the first set of support pixels and the second set of support pixels are equal.
- the first set of support pixels is a subset of the second set of support pixels or the second set of support pixels is a subset of the first set of support pixels.
- the respective support grids defined by the first set of support pixels and the second set of support pixels can have different resolutions.
- the invention relates to a corresponding image processing method comprising the steps of: providing a current image, wherein the current image comprises a plurality of pixels, including a first set of support pixels and a second set of support pixels; and generating a distortion-compensated image on the basis of the current image using an image distortion model, wherein the image distortion model defines for each pixel of the first set of support pixels a first mapping between its position in the current image and its corresponding position in the distortion-compensated image and for each pixel of the second set of support pixels a second mapping between its position in the current image and its corresponding position in the current image and wherein the second mapping is applied subsequently to, i.e. after the first mapping for generating the distortion-compensated image.
- the image processing method according to the second aspect of the invention can be performed by the image processing device according to the first aspect of the invention. Further features of the image processing method according to the second aspect of the invention result directly from the functionality of the image processing device according to the first aspect of the invention and its different implementation forms described above and below.
- the invention relates to a computer program with a program code for performing an image processing method according to the second aspect of the invention when the computer program runs on a computer.
- the invention relates to a computer readable storage medium comprising computer program code instructions, being executable by a computer, for performing an image processing method according to the second aspect of the invention when the computer program code instructions run on a computer.
- Embodiments of the invention can be implemented in hardware, in software or in a combination of hardware and software.
- Fig. 1 is a schematic diagram illustrating the architecture of an image processing device according to an embodiment of the invention
- Fig. 2 is a schematic diagram illustrating different processing steps implemented by an image processing device and an image processing method according to an embodiment of the invention
- Fig. 3 is a schematic diagram illustrating a current image, the distortion-compensated current image and a plurality of support pixels defining a support grid as used by an image processing device according to an embodiment of the invention
- Fig. 4 is a schematic diagram illustrating an image processing device according to a further embodiment of the invention.
- Fig. 5 is a schematic diagram illustrating further details of several processing steps implemented by an image processing device and an image processing method according to an embodiment of the invention
- Fig. 6 is a schematic diagram illustrating a mapping for compensating image distortions caused by an image rotation as implemented by an image processing device and an image processing method according to an embodiment of the invention
- Fig. 7 is a schematic diagram illustrating a mapping for compensating image distortions caused by the rolling shutter effect as implemented by an image processing device and an image processing method according to an embodiment of the invention.
- Fig. 8 is a flow diagram illustrating an image processing method according to an embodiment of the invention.
- a disclosure in connection with a described method may also hold true for a corresponding device or system configured to perform the method and vice versa.
- a corresponding device may include one or a plurality of units, e.g. functional units, to perform the described one or plurality of method steps (e.g. one unit performing the one or plurality of steps, or a plurality of units each performing one or more of the plurality of steps), even if such one or more units are not explicitly described or illustrated in the figures.
- a specific apparatus is described based on one or a plurality of units, e.g.
- a corresponding method may include one step to perform the functionality of the one or plurality of units (e.g. one step performing the functionality of the one or plurality of units, or a plurality of steps each performing the functionality of one or more of the plurality of units), even if such one or plurality of steps are not explicitly described or illustrated in the figures. Further, it is understood that the features of the various exemplary embodiments and/or aspects described herein may be combined with each other, unless specifically noted otherwise.
- Figure 1 is a schematic diagram showing an image processing device 100 configured to process a current image into a distortion-compensated image, i.e. an image having less distortions than the current image.
- the image processing device 100 is a smartphone, a laptop, a tablet or a component of these or other similar devices and can comprise an image capturing device, in particular a camera for capturing the current image.
- the image processing device 100 may comprise a communication interface configured to receive the current image, for instance, from an application server.
- the current image can be a single image or one of a plurality of images, for instance, an image of a video frame.
- the image processing device 100 comprises a main memory 101 , in particular a DRAM 101 for storing the current image.
- the current image comprises a plurality of pixels including a first set of support pixels defining a first support grid and a second set of support pixels defining a second support grid, as will be described in more detail below, in particular, in the context of figures 3 and 5.
- the image processing device 100 comprises processing circuitry 103 (herein also referred to as“WARP” unit 103) configured to generate a distortion-compensated image, i.e. a processed version of the current image having less distortions than the original current image, on the basis of the current image using an image distortion model.
- processing circuitry 103 herein also referred to as“WARP” unit 103 configured to generate a distortion-compensated image, i.e. a processed version of the current image having less distortions than the original current image, on the basis of the current image using an image distortion model.
- the main memory, in particular DRAM 101 is connected with the processing circuitry, i.e. the WARP unit 103 by means of an SOC interconnect 102.
- the image distortion model defines for each pixel of the first set of support pixels a first mapping between its position in the current image and its corresponding position in the distortion-compensated image and for each pixel of the second set of support pixels a second mapping between its position in the current image and its corresponding position in the current image.
- the processing circuitry 103 is configured to apply the second mapping subsequently to, i.e. after the first mapping for generating the distortion-compensated image.
- the processing stage is configured to apply in a first processing stage the first mapping for compensating image distortions of a first type and, subsequently, in a second processing state the second mapping for compensating image distortions of a second type.
- FIG. 2 is a schematic diagram illustrating different processing steps, i.e. the processing chain implemented by the image processing device 100 according to an embodiment of the invention.
- a 2D image 203 of a 3D scene 201 is provided to the image processing device 100.
- the image processing device 100 comprises a camera for obtaining the 2D image 203.
- the processing circuitry 103 of the image processing device 100 is configured to compensate image distortions of the current 2D image 203 caused by the lens of the camera of the image processing device 100 using the first mapping.
- the processing circuitry 103 of the image processing device 100 is configured to compensate distortions caused by the rolling shutter effect using the second mapping.
- FIG. 2 refers to the successive compensation of image distortions caused by the lens of the camera of the image processing device 100 and the rolling shutter effect, it will be appreciated that other types of image distortions can be compensated successively as well, such as image distortions caused by a rotation of the camera, perspective correction, translation (stripe processing or stabilization) and the like.
- the image processing device 100 further comprises a cache memory 103a for storing a plurality of portions of the current image in a corresponding plurality of sectors of the cache memory 103a, wherein each sector comprises a subset of the plurality of pixels stored in the main memory 101.
- the local cache memory 103 can be implemented as a component of the WARP unit 103.
- the processing circuitry i.e. WARP unit 103 comprises several components, whose function will be described in more detail in the following.
- An “Input image Pixel coordinate calculator” 103c can be configured to provide sub-integer pixel positions/coordinates in the distortion-compensated image on the basis of full-integer pixel positions/coordinates 103b in the current image making use of or providing pixel
- a refill engine 103e and a pixels kernel fetch unit 103f can be configured to manage the accesses to the main memory, in particular DRAM 101 and/or the local cache memory 103a, in particular to check whether any required pixels are available in the local cache memory 103a or have to be requested from the main memory 101.
- a pixel interpolator 103g can be configured to provide the pixel values of full-integer pixels in the current image on the basis of the data retrieved from the local cache memory 103a and/or the main memory 101 for providing the final output image 103h, which can be further processed by an ISP pipe 105.
- the processing circuitry 103 is further configured to determine on the basis of the image distortion model one or more positions of one or more pixels of the first set of support pixels and/or one or more pixels of the second set of support pixels in the current image and to select the plurality of portions of the current image for storing in the corresponding plurality of sectors of the cache memory 103a on the basis of the one or more positions of the one or more pixels of the first set of support pixels and/or the one or more pixels of the second set of support pixels in the current image.
- each of the plurality of horizontal rows of pixels defined by the grid of first or second support pixels in the distortion-compensated image defines a respective substantially horizontal, but possibly curved line of pixels in the current image.
- the exemplary grid of support pixels shown in figure 3 could have, for instance, 27x21 grid nodes, wherein each grid node is associated with a dx and dy displacement, i.e. a mapping from its position in the current image to its position in the distortion-compensated image, as illustrated in figure 3.
- this exemplary support grid may require at least (27x21x8x120) multiplications/s and (27x21x2x120) additions/s just for the application of the rotation/projection matrix.
- the full support grid can be computed by the processing circuitry 103 of the image processing device 100 for each new frame or new stripe of frame (when the image is too big and processed in several stripes) whatever the transformation changes are.
- the deformation caused by the lens grid (21x27) is not modified from frame to frame.
- FIG 4 is a schematic diagram illustrating a further embodiment of the image processing device 100.
- the image processing device 100 comprises in addition to the DRAM 101 and the processing circuitry 103 already shown in figure 1 a camera sensor (or short camera) 401 configured to provide the current image(s) to be distortion-compensated, a serial interface 405 connecting the camera sensor 401 with the processing circuitry 103, an ISP controller 407 configured to manage the ISP, an application processor 409 configured to execute an application triggering the capturing of the current image and a DRAM controller 41 1 configured to schedule the accesses of the processing circuitry 103 to the DRAM 101.
- a camera sensor or short camera
- serial interface 405 connecting the camera sensor 401 with the processing circuitry 103
- an ISP controller 407 configured to manage the ISP
- an application processor 409 configured to execute an application triggering the capturing of the current image
- a DRAM controller 41 1 configured to schedule the accesses of the processing circuitry 103 to the DRAM 101.
- FIG 5 is a schematic diagram illustrating further details of several processing steps implemented by the image processing device 100 according to an embodiment of the invention.
- the image processing device 100 is configured to compensate image distortions by successively applying the first mapping and the second mapping. This allows to minimize the grid composition calculation by the processing circuitry 103 as well as how often it is necessary to reload the support grids at each image stripe processing from the DRAM 101.
- each support grid defines a mapping, which transforms the current pixel coordinate of the distortion-compensated (output) image (coordinate from the pixel generator or from the precedent grid output) into the coordinate of the pixel in the current (input) image (which can be considered as a kind of back tracking process) or vice versa.
- the different support grids corresponding to the different mappings e.g. the first mapping and the second mapping, can be applied in the same order as the transformations of the image in the image processing.
- the first transformation i.e. mapping is for compensating the camera motion caused by the non-static hand of the user.
- the rotation support grid and the translation are going to be applied on the image coordinates first.
- the grid combination process consists in transforming an input pixel coordinate into an output pixel coordinate and each input pixel coordinate is either the output of the pixel generator for the first grid application or the output of the precedent grid.
- the nodes of the grid contain the node displacements.
- the application of a grid on an input pixel can comprise interpolating a pixel displacement from the surrounding nodes of the grid, as will be described in more detail in the following.
- a current full-integer pixel in the current image lies within a global cell defined by a plurality of, in particular four current pixels of the first set of support pixels or the second set of support pixels in the current image and the processing circuitry 103, in particular the“Input image Pixel coordinate calculator” 103c shown in figure 1 is configured to generate the corresponding current sub-integer pixel in the distortion- compensated image on the basis of the plurality of portions of the current image stored in the corresponding plurality of sectors of the cache memory 103a by the following steps: (i) determining the respective positions of the four current pixels of the first set of support pixels or the second set of support pixels in the current image, which are generally sub integer positions;
- the current sub-integer pixel in the distortion-compensated image is assigned the same pixel value as the corresponding full-integer pixel in the current image.
- the processing circuitry 103 is configured to repeat this process for all full-integer pixels of the current image.
- the processing circuitry 103 in particular the pixel interpolator 103g shown in figure 1 is further configured to determine the pixel value of a current full- integer pixel in the distortion-compensated image on the basis of the plurality of portions of the current image stored in the corresponding plurality of sectors of the cache memory 103a by:
- Figure 6 is a schematic diagram illustrating a mapping, i.e. the first or second mapping for compensating image distortions caused by an image rotation as implemented by the image processing device 100 according to an embodiment of the invention.
- the grid of support pixels which often due to camera motions will change from frame to frame, can be defined by the first or second set of support pixels comprising only 4 pixels, i.e. displacements nodes.
- the exemplary support grid shown in figure 6 also enables to compensate projections by controlling the displacement at each node.
- the rotation center can be defined by positioning the rotation grid using a grid offset that locates the output image, i.e. the distortion-compensated image in the transformation grid referentially.
- the output image, i.e. the distortion-compensated image can be a crop of the current input image to make sure that all the pixels obtained by rotation are fetched from the current input image.
- the position of the crop can be defined by a parameter l_offset (offset of the output image in the input image), as illustrated in figure 6.
- the parameter l_offset can also be used to compensate image distortions caused by a translation of the camera (VSTAB).
- Figure 7 is a schematic diagram illustrating a mapping, i.e. the first or second mapping for compensating image distortions caused by the rolling shutter effect as implemented by the image processing device 100 according to an embodiment of the invention.
- the grid of support pixels can be defined by a first or second set of support pixels comprising 16 pixels, i.e. displacement nodes.
- FIG. 8 is a flow diagram illustrating a corresponding image processing method 800 according to an embodiment of the invention.
- the image processing method 800 comprises the steps of: providing 801 a current image, wherein the current image comprises a plurality of pixels, including a first set of support pixels and a second set of support pixels; and generating 803 a distortion-compensated image on the basis of the current image using an image distortion model, wherein the image distortion model defines for each pixel of the first set of support pixels a first mapping between its position in the current image and its position in the distortion-compensated image and for each pixel of the second set of support pixels a second mapping between its position in the current image and its position in the current image and wherein the second mapping is applied subsequently to, i.e. after the first mapping for generating the distortion-compensated image.
- embodiments of the invention provide in particular the following advantages: complex SW computations and data reloading are avoided as much as possible; the needs of CPU computation are decreased; complex transformation is not computed by software to program a distortion-compensation function each time an elementary transformation parameter is changing; the distortion-compensation function implemented by the processing circuitry 103 of the image processing device 100 can be controlled by a small CPU without L2 cache and being far from the DRAM 101 ; the need to transfer parameters from the DRAM to the distortion-compensation function implemented by the processing circuitry 103 is decreased; the support grid, which can change from grid to grid, preferably comprises only a couple of nodes, i.e. support pixels.
- the image processing device 100 allows compensating complex image distortions by applying elementary transformations, i.e. mappings sequentially. Each elementary transformation can be provided separately to the distortion-compensation function implemented by the processing circuitry 103 of the image processing device 100 with only the required parameters as signal overhead.
- An offset can be defined to compensate the camera translation, which increases the stability of the implementation.
- Rotation or projection can be defined by just 4 pixels.
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Abstract
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Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/EP2019/063900 WO2020239212A1 (en) | 2019-05-29 | 2019-05-29 | Image processing device and method |
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EP3970111A1 true EP3970111A1 (en) | 2022-03-23 |
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EP19728376.5A Pending EP3970111A1 (en) | 2019-05-29 | 2019-05-29 | Image processing device and method |
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WO (1) | WO2020239212A1 (en) |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1395952B1 (en) * | 2001-06-12 | 2007-10-10 | Silicon Optix Inc. | Method and system for processing a non-linear two dimensional spatial transformation |
US9280810B2 (en) * | 2012-07-03 | 2016-03-08 | Fotonation Limited | Method and system for correcting a distorted input image |
US10275863B2 (en) * | 2015-04-03 | 2019-04-30 | Cognex Corporation | Homography rectification |
-
2019
- 2019-05-29 WO PCT/EP2019/063900 patent/WO2020239212A1/en unknown
- 2019-05-29 EP EP19728376.5A patent/EP3970111A1/en active Pending
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