JP5875248B2 - Image processing apparatus, image processing method, and program - Google Patents

Description

  The present invention relates to a technique for reducing the influence of distortion caused by tilting when combining a plurality of image data.

  Many techniques have been proposed for electronic image stabilization processing. For example, Patent Document 1 discloses a technique for changing a composition ratio in accordance with a difference in pixel values in order to reduce the influence of a moving body at the time of composition of image data.

JP 2009-164857 A

  However, in the technique disclosed in Patent Document 1, when a camera shake occurs during hand-held shooting, the subject image is deformed into a trapezoid, and particularly in the peripheral portion of the image data, the alignment accuracy is reduced, and after the synthesis. There is a problem that the image quality of the image data deteriorates.

  FIG. 9 is a diagram schematically illustrating the positional relationship between the camera and the subject when no tilt occurs and when the tilt occurs. FIG. 9A shows a case where no tilt is generated, and FIG. 9B shows a case where the tilt is generated. In FIG. 9B, a tilt angle of θ is actually generated in the camera. However, since the optical axis of the camera is combined with FIG. 9A, the tilt angle θ is relatively generated in the subject. It is expressed as

  FIG. 10 is a diagram illustrating image data captured when no tilt occurs, image data captured when a tilt occurs, and composite image data thereof. That is, FIG. 10A shows image data captured when no tilt has occurred. FIG. 10B shows image data that is captured when a tilt has occurred. FIG. 10C shows composite image data of the image data shown in FIGS. 10A and 10B. As shown in FIG. 10C, when the subject is tilted, the alignment accuracy is lowered particularly in the peripheral portion of the image data, and the image quality of the composite image data is deteriorated.

  Therefore, an object of the present invention is to suppress the influence of distortion caused by tilting and to suppress image quality deterioration during the synthesis of image data.

An image processing apparatus according to the present invention includes an input unit that inputs a plurality of image data, an alignment unit that aligns the plurality of image data, a detection unit that detects a tilt angle between the plurality of image data, Based on the tilt angle, a calculation value that calculates the degree of distortion of the image data caused by the tilt is calculated, and a calculation unit that calculates a composite ratio of the plurality of image data according to the evaluation value, and the alignment unit positioning said plurality of image data, and having a synthesizing means for synthesizing in accordance with the combining ratio calculated by the calculation means.

  According to the present invention, it is possible to suppress the influence of distortion due to tilting and to suppress deterioration in image quality when combining image data.

It is a figure which shows the structure of the image processing apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process of the image processing apparatus which concerns on embodiment of this invention. It is a figure which shows the state divided | segmented into the small area | region of reference | standard image data and comparative image data. It is a figure for demonstrating the method to calculate the deviation | shift amount between the reference image data for every small area | region, and comparison image data. It is a flowchart which shows the calculation process of the parameter of an affine transformation. It is a figure for demonstrating the method to select the deviation | shift amount used when calculating the parameter of an affine transformation. It is a figure for demonstrating a tilt angle. It is a figure for demonstrating the determination method of a synthetic | combination ratio. It is a figure which shows typically the positional relationship of a camera and a to-be-photographed object when a tilt has arisen. It is a figure which shows the image data image | photographed when the tilt has not arisen, the image data image | photographed when the tilt has occurred, and those synthesized image data.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments to which the invention is applied will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram showing a configuration of an image processing apparatus according to an embodiment of the present invention. As shown in FIG. 1, the image processing apparatus according to the present embodiment includes an imaging unit 101, a signal processing unit 102, a memory 103, a deformation amount calculation unit 104, an image correction unit 105, a tilt angle detection unit 106, and a composition ratio calculation unit. 107, an image composition unit 108, a composition end determination unit 109, and a memory 110.

  FIG. 2 is a flowchart showing processing of the image processing apparatus according to the present embodiment. Hereinafter, processing of the image processing apparatus according to the present embodiment will be described with reference to FIGS. 1 and 2.

  Image data generated by shooting processing in the imaging unit 101 is converted into a digital signal and output to the signal processing unit 102. The signal processing unit 102 processes the image data input from the imaging unit 101. Image data processed by the signal processing unit 102 is stored in the memory 103. Hereinafter, the image data stored in the memory 103 from the signal processing unit 102 is referred to as input image data. In addition, the input image data is image data captured with an exposure time in which camera shake is a predetermined amount or less.

  In step S21, the deformation amount calculation unit 104 reads a plurality of input image data from the memory 103, sets input image data serving as a reference for obtaining the deformation amount as reference image data, and sets other input image data as comparison image data. In the present embodiment, of the N pieces of input image data obtained by continuous shooting, the first input image data is set as reference image data, and the other input image data is set as comparison image data.

  In step S22, the deformation amount calculation unit 104 divides the reference image data and one piece of comparison image data into a plurality of small areas, as shown in FIG. 3, and the reference image data and the comparison image data for each small area. Find the amount of misalignment. Note that the small area in the comparative image data has a larger area than the small area in the reference image data. FIG. 4 is a diagram for explaining a method of calculating a shift amount between the reference image data and the comparison image data for each small area. FIG. 4A shows the positional relationship between the initial position of the small area of the reference image data and the small area of the comparison image data. FIG. 4B shows a movement vector (deviation amount) from the initial position to the position of the small area of the reference image data where the correlation value between the reference image data and the comparative image data is the smallest in the small area of the comparative image data. ). In the present embodiment, as shown in FIG. 4B, the correlation value between the reference image data and the comparison image data is obtained while moving the small region of the reference image data within the small region of the comparison image data. The motion vector from the initial position to the position having the smallest correlation value is defined as the amount of deviation. As the correlation value, for example, a sum of absolute differences (SAD) can be used.

  In step S23, the deformation amount calculation unit 104 calculates a parameter indicating the deformation of the subject image based on the shift amount of each small region calculated in step S22. In this embodiment, since affine transformation is used for deformation of the subject image, affine transformation parameters are used as parameters indicating the deformation of the subject image.

  FIG. 5 is a flowchart showing a process for calculating affine transformation parameters. In step S231, the deformation amount calculation unit 104 selects a shift amount used when calculating the affine transformation parameters from the shift amounts of the small regions calculated in step S22. FIG. 6 is a diagram for explaining a method of selecting a deviation amount used when calculating affine transformation parameters. In FIG. 6, the arrows indicate vectors of deviation amounts of the small areas. In step S231, a vector deviation amount that matches the overall vector tendency of the deviation amount is selected. That is, in the example of FIG. 6, vector deviation amounts other than 601 and 602 are selected. This is to eliminate the influence of the vector of the misdetected deviation amount due to the influence of the moving body or the like. In addition, when selecting the amount of deviation, assuming that the affine transformation is only parallel movement, rotational movement, and enlargement / reduction, the parameters of the affine transformation can be calculated by selecting two deviation amounts. However, three or more deviation amounts may be selected in order to calculate a more accurate affine transformation parameter. In the present embodiment, three or more shift amounts are selected.

  In step S232, the deformation amount calculation unit 104 estimates an affine transformation parameter from the selected shift amount. The affine transformation is expressed as the following Expression 1, assuming only parallel movement, rotational movement, and enlargement / reduction.

  Here, A, B, C, and D are affine transformation parameters, (x, y) are coordinates of input image data, and (x ′, y ′) are coordinates of output image data described later. Since the deviation amount can be considered as a combination of the coordinates of the input image data and the coordinates of the output image data, as described above, if at least two deviation amounts are selected, the equation 4 is obtained for four unknowns. Therefore, the affine transformation parameters can be determined.

  In the estimation of affine transformation parameters, in the present embodiment, three or more deviation amounts are used in order to estimate the affine transformation parameters more accurately. At this time, the least square method is used when estimating the parameters of the affine transformation.

  In step S24, the image correction unit 105 performs affine transformation on the comparison image data based on the affine transformation parameters calculated in step S23. The comparison image data is transformed (aligned) into a shape that overlaps the reference image data by affine transformation.

In step S25, the tilt angle detector 106 detects the tilt angle between the exposure of the reference image data and the comparison image data. FIG. 7 is a view for explaining the tilt angle, and is a view of the camera as viewed from the front. As shown in FIG. 7, the tilt angle here refers to the direction of rotation about two axes perpendicular to the optical axis, and the tilt angle θ _P in the pitch direction and the tilt angle θ _{Y in the} yaw direction, respectively. It expresses. As a specific method for detecting the tilt angle, the output of the gyro sensor mounted on the camera is used. Since the output of the gyro sensor is an angular velocity, integration is performed at time intervals that are detection targets. In the present embodiment, the time interval is an exposure interval between the reference image data and the comparison image data.

In step S26, the composition ratio calculation unit 107 calculates an evaluation value for determining the composition ratio from the tilt angle detected in step S25. An example of the evaluation value calculation method will be described below. Here, as the evaluation value, a value representing the amount of change in the x and y coordinates caused by tilting, that is, the degree of distortion of the image data is used. Pitch direction with respect to the reference image data, if the comparison image data when only tilt occurs, respectively θ _P ,, θ _Y in the yaw direction is tilt image data, corresponding to the coordinates (x, y) on the reference image data The coordinates (x ′, y ′) on the tilted image data are expressed by the following equations 2 and 3.

  In Expressions 2 and 3, f is the focal length of the imaging system, and L is the pixel pitch of the imaging element. Here, the pixel pitch means a length per pixel on the image sensor. As the evaluation value, coordinate change amounts dx and dy are used, which are expressed as Expression 4 and Expression 5, respectively, and the sum of dx and dy is used as the evaluation value.

In step S27, the composition ratio calculation unit 107 determines a composition ratio from the evaluation value calculated in step S26. As a method for determining the composition ratio, as shown in FIG. 8, a certain threshold value 1 (small value) and threshold value 2 (large value) are set for the evaluation value, and the evaluation value is greater than or equal to threshold value 2, that is, distortion due to tilt. In the region where the image quality is considered to deteriorate at the time of composition, the composition ratio rn _{(x, y) is set} to zero. The evaluation value is the threshold 1 or less, that is, small influence of distortion due to tilt, in the region that can be synthesized without the degradation image quality, synthesis ratio calculation unit 107, the synthesis ratio r _n a _{(x, y),} the final The input image data is set to a value that is equally weighted with respect to the correct synthesis result. For example, when combining two pieces of image data, each input image data is set to a value weighted by 1/2. When combining three pieces of image data, each input image data is set to a value weighted by 1/3. Is done. Further, when the evaluation value is not less than the threshold value 1 and not more than the threshold value 2, it is obtained by linearly complementing the synthesis ratio.

In step S28, the image composition unit 108 compares the comparison image data subjected to affine transformation in step S24 and the n (2 ≦ n ≦ N−1) sheets based on the composition ratio determined in step S27. Composite image data with input image data is generated. When n = 1, the image composition unit 108 generates composite image data of the comparison image data subjected to affine transformation in step S24 and the reference image data. The composition is expressed as the following Expression 6, using the composition ratio rn _{(x, y)} (0 ≦ r _{n (x, y)} ≦ 1) obtained in step S27.

Here, _{An (x, y)} is a pixel value at a position (x, y) on the composite image data of the input image data up to the n-th sheet. B _{n (x, y)} is a pixel value at the position (x, y) on the (n + 1) th comparison image data.

  By performing the above processing, the area that is affected by distortion due to tilt and deteriorates the image quality of the composite image data is not combined, and the area that is not affected by distortion due to tilt and can be combined without problems. Makes it possible to perform processing such as synthesis.

  Finally, in step S29, the composition end determination unit 109 determines whether a predetermined number of pieces of input image data have been combined. When the input image data of a predetermined number is combined, the final output image data is stored in the memory 110. On the other hand, when the composition of the predetermined number of input image data has not been completed, the process returns to step S22.

  According to the present embodiment, it is possible to reduce image quality degradation of composite image data due to trapezoidal distortion of a subject image when camera shake in the tilt direction occurs during electronic camera shake correction that combines a plurality of image data. It becomes.

  The present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and a computer (or CPU, MPU, or the like) of the system or apparatus reads the program. It is a process to be executed.

  101: imaging unit, 102: signal processing unit, 103, 110: memory, 104: deformation amount calculation unit, 105: image correction unit, 106: tilt angle detection unit, 107: synthesis ratio calculation unit, 108: image synthesis unit, 109: Composition end determination unit

Claims (7)

Input means for inputting a plurality of image data;
Alignment means for aligning the plurality of image data;
Detecting means for detecting a tilt angle between the plurality of image data;
A calculation means for calculating an evaluation value representing a degree of distortion of image data caused by tilting based on the tilt angle, and calculating a composite ratio of the plurality of image data according to the evaluation value ;
The image processing apparatus characterized by having a synthesizing means for synthesizing the plurality of image data aligned in accordance with the combining ratio calculated by the calculation means by said positioning means. The image processing apparatus according to claim 1, wherein the calculation unit calculates the value of the combination ratio with a smaller value as the value of the evaluation value is larger . Wherein the plurality of image data, the image processing apparatus according to claim 1 or 2 shake is characterized Oh Rukoto image data photographed with an exposure time equal to or less than a predetermined amount. The detecting device, according to any one of claims 1 to 3, wherein that you detect the tilt angle based on the output of the gyro sensor mounted to the imaging apparatus photographs the plurality of image data Image processing apparatus. An image processing method executed by an image processing apparatus,
An input step for inputting a plurality of image data;
An alignment step for aligning the plurality of image data;
A detection step of detecting a tilt angle between the plurality of image data;
A calculation step of calculating an evaluation value representing a degree of distortion of the image data caused by the tilt based on the tilt angle, and calculating a composite ratio of the plurality of image data according to the evaluation value;
An image processing method comprising: a combining step of combining the plurality of image data aligned in the alignment step according to the combining ratio calculated in the calculating step. An input step of inputting image data of multiple,
An alignment step for aligning the plurality of image data;
A detection step of detecting a tilt angle between the plurality of image data;
A calculation step of calculating an evaluation value representing a degree of distortion of the image data caused by the tilt based on the tilt angle, and calculating a composite ratio of the plurality of image data according to the evaluation value ;
Program for executing the plurality of image data aligned by the alignment step, and a synthesis step of synthesizing in accordance with the combining ratio calculated by the calculating step to the computer. Input means for inputting a plurality of image data;
Alignment means for aligning the plurality of image data;
Calculating means for calculating a composition ratio of the plurality of image data so as to suppress image quality deterioration in image composition due to distortion of the image data caused by tilting between the plurality of image data;
The image processing apparatus characterized by having a synthesizing means for synthesizing the plurality of image data aligned in accordance with the combining ratio calculated by the calculation means by said positioning means.

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