US20040008269A1 - System and method for providing multi-sensor super-resolution - Google Patents

System and method for providing multi-sensor super-resolution Download PDF

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US20040008269A1
US20040008269A1 US10/307,265 US30726502A US2004008269A1 US 20040008269 A1 US20040008269 A1 US 20040008269A1 US 30726502 A US30726502 A US 30726502A US 2004008269 A1 US2004008269 A1 US 2004008269A1
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image
super
resolution enhanced
enhanced image
estimate
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Assaf Zomet
Shmuel Peleg
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Yissum Research Development Co of Hebrew University of Jerusalem
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Yissum Research Development Co of Hebrew University of Jerusalem
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Assigned to YISSUM RESEARCH DEVELOPMENT COMPANY OF THE HEBREW UNIVERSITY OF JERUSALEM reassignment YISSUM RESEARCH DEVELOPMENT COMPANY OF THE HEBREW UNIVERSITY OF JERUSALEM ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: PELEG, SHMUEL, ZOMET, ASSAF
Priority to US11/607,869 priority patent/US7373019B2/en
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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
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4053—Scaling of whole images or parts thereof, e.g. expanding or contracting based on super-resolution, i.e. the output image resolution being higher than the sensor resolution

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  • the invention is generally related to the field of image processing of images, and more particularly to systems for enhancing the resolution of images.
  • the invention is specifically directed to a system and method of generating an enhanced super-resolution image of a scene from a plurality of input images of the scene that may have been recorded with different image recording sensors.
  • An image of a scene as recorded by camera are recorded at a particular resolution, which depends on the particular image recording medium or sensor that is used to record the image.
  • a number of so-called “super resolution enhancement” methodologies an image of enhanced resolution can be generated from a plurality of input images of the scene.
  • super-resolution enhancement methodologies assume that the images are recorded by the same sensor.
  • images of a scene will typically be recorded using different image recording sensors. For example, a color image of a scene is recorded by an image recording medium that actually comprises three different sensors, one sensor for each of the red, blue and green primary colors.
  • the invention provides a new and improved system and method of generating a super-enhanced resolution image of a scene from a plurality of input images of a scene that may have been recorded with different image recording sensors.
  • the invention provides a super-resolution enhanced image generating system for generating a super-resolution-enhanced image from an image of a scene, identified as image g 0 , comprising a base image and at least one other image g i , the system comprising an initial super-resolution enhanced image generator, an image projector module and a super-resolution enhanced image estimate update generator module.
  • the initial super-resolution enhanced image generator module is configured to use the image go to generate a super-resolution enhanced image estimate.
  • the image projector module is configured to selectively use a warping, a blurring and/or a decimation operator associated with the image g, to generate a projected super-resolution enhanced image estimate.
  • the super-resolution enhanced image estimate update generator module is configured to use the input image g, and the super-resolution enhanced image estimate to generate an updated super-resolution enhanced image estimate.
  • FIG. 1 is a functional block diagram of a super-resolution enhanced image generating system for generating a super-enhanced resolution image of a scene from a plurality of input images of a scene that may have been recorded with different image recording sensors, constructed in accordance with the invention
  • FIG. 2 is a flow chart depicting operations performed by the super-resolution enhanced image generating system depicted in FIG. 1;
  • FIG. 3 is a flow chart depicting operations performed by the super-resolution enhanced image generating system in connection with a demosaicing operation.
  • FIG. 1 is a functional block diagram of a super-resolution enhanced image generating system 10 for generating a super-enhanced resolution image of a scene from a plurality of input images of a scene that may have been recorded with different image recording sensors, constructed in accordance with the invention.
  • the super-resolution enhanced image generating system 10 includes an initial super-resolution enhanced image estimate generator 11 , an super-resolution enhanced image estimate store 12 , an image projector 13 , an input image selector 14 , a virtual input image generator 15 , an error image generator 16 , and an super-resolution enhanced image update generator 17 , all under control of a control module 18 .
  • the super-resolution enhanced image estimate generator 11 receives a base input image “g o ” of a scene and generates an initial estimate for the super-resolution enhanced image to be generated, which it stores in the super-resolution enhanced image estimate store 12 .
  • the control module 18 enables the image projector 13 to generate a projected image of the super-resolution enhanced image estimate image in the super-resolution enhanced image estimate store, in this case using the imaging model for the image recording sensor that had been used to record the selected input image g i .
  • the projected super-resolution enhanced image estimate and the selected input image are both coupled to the virtual input image generator 15 .
  • the virtual input image generator 15 receives the projected super-resolution enhanced image estimate as generated by the image projector 13 and the selected input image g i , i ⁇ 1, and performs two operations.
  • the virtual input image generator 15 For each pixel in corresponding locations in the projected image estimate and the selected input image, the virtual input image generator 15 generates a normalized cross-correlation value in a neighborhood of the respective pixel, and determines whether the normalized cross-correlation value is above a selected threshold value.
  • the normalized cross-correlation value is an indication of the affine similarity between the intensity of the projected image and the intensity of the selected input image, that is, the degree to which a feature, such as an edge, that appears near the particular location in the projected image images is also near the same location in the selected input image.
  • the virtual input image generator If the normalized cross-correlation value is above the threshold, the virtual input image generator generates affine parameters using a least-squares estimate for the affine similarity in the window, and uses those affine parameters, along with the pixel value (which represents the intensity) at the location in the selected input image to generate a pixel value for the location in the virtual input image.
  • the virtual input image generator 15 assigns the location in the virtual input image the pixel value at that location in the projected image. The virtual input image generator 15 performs these operations for each of the pixels in the projected image as generated by the image projector 13 and the selected input image g i , i ⁇ 1, thereby to generate the virtual input image.
  • the error image generator 16 receives the projected image as generated by the image projector 13 and the virtual input image as generated by the virtual input image generator 15 and generates an error image that reflects the difference in pixel values as between the two images.
  • the super-resolution enhanced image estimate update generator 17 receives the error image as generated by the error image generator 16 and the super-resolution enhanced image estimate store 12 and generates an updated super-resolution enhanced image estimate, which is stored in the super-resolution enhanced image estimate store 12 .
  • control module 18 can terminate processing, at which point the image in the super-resolution enhanced image estimate store 12 will comprise the super-resolution enhanced image.
  • the imaging model which models the various recorded images g i , usually includes one or more of a plurality of components, the components including a geometric warp, camera blur, decimation, and added noise.
  • the goal is to find a high-resolution image f that, when imaged into the lattice of the input images according to the imaging model, provides a good prediction for the low-resolution images g i . If ⁇ circumflex over (f) ⁇ is an estimate of the unknown image f, a prediction error image “d i ” for the estimate ⁇ circumflex over (f) ⁇ is given by
  • W i is an operator that represents geometric warping as between the “i-th” input image g i and the estimate ⁇ circumflex over (f) ⁇ of the unknown image f
  • B i is an operator that represents the blurring as between the “i-th” input image g i and the estimate ⁇ circumflex over (f) ⁇ of the unknown image f
  • ⁇ represents decimation, that is, the reduction in resolution of the estimate ⁇ circumflex over (f) ⁇ of the unknown image f to the resolution of the “i-th” input image g i .
  • the blurring operator “B i ” represents all of the possible sources of blurring, including blurring that may be due to the camera's optical properties, blurring that may be due to the camera's image recording sensor, and blurring that may be due to motion of the camera and/or objects in the scene while the camera's shutter is open.
  • the warping operator “W i ” represents the displacement or motion of points in the scene as between the respective “i-th” input image “g i ” and the estimate ⁇ circumflex over (f) ⁇ .
  • An example of the motion that is represented by the warping function “W i ” is the displacement of a projection of a point in the scene from a pixel having coordinates (x i ,y i ) in an image g i to a pixel having coordinates (x i ′,y i ′) in the estimate ⁇ circumflex over (f) ⁇ .
  • the information defining the respective input images are in the form of arrays, as are various operators. It will also be appreciated that the arrays comprising the various operators will generally be different for each of the “i” input images g i .
  • super-resolution image generating systems determine the estimate ⁇ circumflex over (f) ⁇ of the unknown image f by minimizing the norm of the prediction error image d, (equation (1)) as among all of the input images g i .
  • the super-resolution enhanced image generating system 10 can generate an initial estimate from the base image g 0 using any of a number of methodologies as will be apparent to those skilled in the art; one methodology that is useful in connection with one particular application will be described below.
  • the super-resolution enhanced image generating system makes use of an observation that aligned images as recorded by different image recording sensors are often statistically related.
  • a virtual input image ⁇ i can be defined as
  • ⁇ circumflex over (f) ⁇ is the current estimate of the super-resolution enhanced image, and, as described above, “B i ,” “W i ” and “ ⁇ ” represent the blurring, warping and decimation operators, respectively, for the respective “i-th” input image, i ⁇ 1.
  • a virtual prediction error image “v i ” can be generated as
  • the super-resolution enhanced image generating system uses the virtual prediction error image “v i ” from equation (3) in generating the super-resolution enhanced image in a manner similar to that described above in connection with equation (1), but using the virtual prediction error image v i instead of the prediction error image d i
  • ⁇ overscore (p i ) ⁇ (x,y), ⁇ overscore (g i ) ⁇ (x,y), ⁇ overscore (p i g i ) ⁇ (x,y), ⁇ overscore (p i 2 ) ⁇ (x,y), and ⁇ overscore (g i 2 ) ⁇ (x,y) are weighted averages around the pixel at coordinates (x,y) in the respective image p i or g i .
  • w(u,v) is a weighting kernel.
  • the values selected for the weighting kernel decrease with increasing absolute values of “u” and “v,” so that less weight will be given in the weighted sums to values of pixels in the window with increasing distance from the pixel at location (x,y), thereby to provide for a reduction in spacial discontinuities in the affine parameters “a” and “b” (equation (4)).
  • FIG. 2 depicts a flow chart outlining operations that are performed by the super-resolution enhanced image generating system 10 as described above in connection with FIG. 1 and equations (2) through (9) in connection with generating and updating the a super-resolution enhanced image estimate ⁇ circumflex over (f) ⁇ .
  • the operations will be apparent to those skilled in the art with reference to the above discussion, and so the various steps outlined in the flow chart will not be described in detail herein
  • the super-resolution enhanced image generating system 10 is used in connection with demosaicing images that are associated with respective color channels of a CCD (charge coupled device) array that may be used in, for example a digital camera.
  • a CCD array has a plurality of individual light sensor elements that are arranged in a plurality of rows and columns, with each light sensor element detecting the intensity of light of a particular color incident over the respective element's surface.
  • Each sensor element is associated with a pixel in the image, and identifies the degree of brightness of the color associated with that pixel.
  • the sensor element performs the operation of integrating the intensity of light incident over the sensor element's area over a particular period of time, as described above.
  • each two-by-two block of four light sensor elements comprises light sensor elements that are to sense light of all three primary colors, namely, green red and blue.
  • two light sensor elements are provided to sense light of color green
  • one light sensor element is provided to sense light of color red
  • one light sensor element is provided to sense light of color blue.
  • the two light sensor elements that are to be used to sense light of color green are along a diagonal of the two-by-two block and the other two light sensor elements are along the diagonal orthogonal thereto.
  • the green light sensor elements are at the upper right and lower left of the block, the red light sensor element is at the upper left and the blue light sensor element is at the lower right. It will be appreciated that the collection of sensor elements of each color provides an image of the respective color, with the additional proviso that the two green sensor elements in the respective blocks define two separate input images.
  • the super-resolution enhanced image generating system generates a super-resolution enhanced image associated with each color channel, using information from the image that is associated with the respective color channel as well as the images that are associated with the other colors as input images.
  • the collection of light sensor elements of the CCD array that is associated with each of the colors is a respective “image recording sensor” for purposes of the super-resolution enhanced image generating system, so that there will be four image recording sensors and four input images, with one input image being associated with each of the image recording sensors.
  • the super-resolution enhanced image that is generated by the super-resolution enhanced image generating system for each of the color channels will have a resolution of m-by-n.
  • the super-resolution enhanced images generated for the various color channels by the super-resolution enhanced image generating arrangement can then be used in generating a composite color image of higher resolution than the original image provided by the CCD array.
  • the super-resolution enhanced image generating system actually generates four super-resolution enhanced images, one super-resolution enhanced image for each of the red and blue color channels, and two for the green color channel.
  • [0048] will be provided by the collection of light sensor elements in the respective blocks that are associated with the red and blue channels. Similarly with base image and other input images associated with each of the other color channels.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system receives the four input images, it first uses the input images associated with the respective color channels to generate, for each color channel, an initial estimate ⁇ circumflex over (f) ⁇ of the super-resolution enhanced image f for the respective color channel. Accordingly, the super-resolution enhanced image generating system uses the input image that is associated with the one of the green channels as the base image from which it generates the initial estimate ⁇ circumflex over (f) ⁇ of the super-resolution enhanced image f that is associated with that green color channel, and similarly for the other color channels.
  • the super-resolution enhanced image generating system uses a linear interpolation as between points for the respective color channel in the array to provide initial pixel values for the array positions that are not provided by the CCD array.
  • the CCD array in each two-by-two block of light sensor elements, one red light sensor element is provided at the upper left of the block.
  • the red light sensor element in each block will provide the red channel pixel value that is associated with that pixel in the image that is associated with the red light sensor element.
  • the super-resolution enhanced image generating system will generate red channel pixel values for the pixels that are associated with other three points in the block for which red light sensor elements are not provided by interpolating between the pixel values provided by red light sensor elements in neighboring blocks.
  • the super-resolution enhanced image generating system generates the blue channel pixel values and the other blue channel pixel values for the pixels that are associated with the three points in the block for which blue light sensor elements are not provided in a similar manner.
  • the super-resolution enhanced image generating system also uses a linear interpolation for the points in the block for which green light sensor elements are not provided. However, in this case, the super-resolution enhanced image generating system will select one of the green light sensor elements in each block, and perform a linear interpolation between pixel values provided by the selected green light sensor element and one of the green light sensor elements in adjacent blocks.
  • the super-resolution enhanced image generating system makes use of the green light sensor element at the upper right of a block
  • the super-resolution enhanced image generating system in generating the pixel value for the point associated with the upper left of the same block, makes use of the pixel value generated by the green light sensor elements of that block and of the block to the left.
  • the super-resolution enhanced image generating system in generating the pixel value for the point associated with the lower right of the same block, makes use of the pixel value generated by the green light sensor elements of that block and of the adjacent block down the array.
  • the super-resolution enhanced image generating system will not use the pixel value generated by the other green light sensor element in the block, in this example, the green light sensor element at the lower left corner of the block.
  • Generating the initial estimate ⁇ circumflex over (f) ⁇ for the green channel in this manner results in a smooth initial estimate with satisfactory properties in connection with convergence to a result associated with the green color channel having desirable characteristics.
  • the result associated with the green color channel may maintain some of the artifacts from the initial estimate ⁇ circumflex over (f) ⁇ .
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has generated the initial estimate ⁇ circumflex over (f) ⁇ for the respective color channels, it will project the initial estimate ⁇ circumflex over (f) ⁇ that had been generated for the respective color channel back onto the input image for that color channel, thereby to generate the projected estimate image p 0 for the respective color channel.
  • the super-resolution enhanced image generating system performs that operation, by convolving the initial estimate ⁇ circumflex over (f) ⁇ with the PSF function for the CCD array that generated the input image for the respective color channel.
  • the super-resolution enhanced image generating system can then, for each color channel, use the projected image for the respective color channel, and the input images associated with the other channels to update the initial estimate ⁇ circumflex over (f) ⁇ so as to provide the final super-resolution enhanced image for the respective color channel.
  • the following description will be of operations that are performed by the super-resolution enhanced image generating system to generate a super-resolution enhanced image for one of the color channels. It will be appreciated that the super-resolution enhanced image generating system can generate a super-resolution enhanced image for each of the color channels in the same way. It will further be appreciated that the super-resolution enhanced image generating system can perform the operations to generate a super-resolution enhanced image for each color channel consecutively, or it can perform the individual steps for the various color channels on an overlapped basis.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has projected the initial estimate ⁇ circumflex over (f) ⁇ generated for a color channel back onto the input image for that color channel, thereby to generate a projected estimate image p 0 for the color channel, it will select one of the other color channels whose input image g i will be used to update the initial estimate ⁇ circumflex over (f) ⁇ . For example, if the super-resolution enhanced image generating system is generating a super-resolution enhanced image for the green color channel, it will select one of the red or blue color channel whose associated the input image will be used in updating the initial estimate ⁇ circumflex over (f) ⁇ for the green color channel.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has updated the initial estimate using the input image associated with the color channel that it first selected, it will select the other of the red or blue color channel, whose input image will be used in further updating the updated estimate ⁇ circumflex over (f) ⁇ , thereby to generate the final super-resolution enhanced image. For example, if the super-resolution enhanced image generating system first selects the red channel, after it has updated the initial estimate ⁇ circumflex over (f) ⁇ using the input image associated with the red channel, it will select the blue channel and use its input image to further update the estimate, thereby to generate the final super-resolution enhanced image.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has selected a color channel whose input image g i will be used to update the initial estimate ⁇ circumflex over (f) ⁇ , it will generate and initialize an array data structure that will be used to receive values defining for the virtual error image v i .
  • the super-resolution enhanced image generating system will initialize the array data structure to have number of array elements organized in rows and columns, the array having the same structure as the arrays for the various input images and the super-resolution enhanced image.
  • the super-resolution enhanced image generating system initializes the values of the array elements to a predetermined number, which, in one embodiment, is selected to be zero.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has generated the various sub-images p ij and g ij , it will, for each pixel at location (x,y) in the respective sub-image, generate the weighted averages ⁇ overscore (p ij ) ⁇ (x, y), ⁇ overscore (g ij ) ⁇ (x, y), ⁇ overscore (p ij g ij ) ⁇ (x,y), ⁇ overscore (p ij 2 ) ⁇ (x,y), and ⁇ overscore (g ij 2 ) ⁇ (x, y) in a manner described above in connection with equation (7).
  • the super-resolution enhanced image generating system generates the centralized and normalized cross-correlation c ij (x,y) and determines whether the value of c ij (x,y) is greater than the threshold value T. If the super-resolution enhanced image generating system determines that the value of c ij (x,y) is greater than the threshold value T, it will generate values for “a” and “b” as described above in connection with equation (8) and set the value of the element at location (2x+i,2y+j) of the data structure established for the error image to
  • v (2 x+i, 2 y+j ) ag ij ( x,y )+ b ⁇ p ij ( x,y ) (10).
  • equation (16) “ag ij (x,y)+b” corresponds to the pixel value of the pixel at location (x,y) of the virtual input image g as described above in connection with equation (4) and so equation (16) corresponds to equation (3) above.
  • the super-resolution enhanced image generating system makes use of equation (16) only if the value of the cross-correlation c ij is greater than the threshold value, for those locations for which the value of the cross-correlation is not greater than the threshold value, the value in the element of the data structure for established for the error image will remain zero, which is the desired result since, as noted above, if the value of the cross-correlation c ij for particular location (x,y) is less than or equal to the threshold value, the pixel at that location in the virtual input image is assigned the value of the pixel of the projected image at that location.
  • the super-resolution enhanced image generating system performs the operations described above for all of the pixels at locations (x,y) of the all of the respective sub-images p ij and g ij to populate the array provided for the error image v. Thereafter, the super-resolution enhanced image generating system uses the pixel values comprising the array for the error image v to update the initial estimate ⁇ circumflex over (f) ⁇ . In that operation, the super-resolution enhanced image generating system initially performs a convolution operation to convolve the error image v with the PSF function.
  • the super-resolution enhanced image generating system can multiply the convolved error image with a sharpness parameter, and will add the result to the initial estimate ⁇ circumflex over (f) ⁇ , thereby to provide the estimate as updated for the selected color channel.
  • the value of the sharpness parameter is selected to be between “one” and “two,” although it will be appreciated that other values may be selected.
  • the super-resolution enhanced image generating system After the super-resolution enhanced image generating system has generated the estimate as updated for the selected color channel, it can select the other color channel and perform the operations described above to further update the estimate and provide the final super-resolution enhanced image. As noted above, the super-resolution enhanced image generating system can also perform the same operations to generate a super-resolution enhanced image for each of the color channels.
  • FIG. 3 depicts a flow chart outlining operations that are performed by the super-resolution enhanced image generating arrangement as described above in connection with performing a demosaicing operation. The operations will be apparent to those skilled in the art with reference to the above discussion, and so the various steps outlined in the flow chart will not be described in detail herein.
  • the invention provides a number of advantages.
  • the invention provides a system that generates an super-resolution enhanced image of a scene from a plurality of input images of the scene, which input images may have been recorded using two or more image recording sensors.
  • the system may be used for a number of applications, including but not limited to the demosaicing application described herein.
  • the super-resolution enhanced image generating system can be used in connection with a demosaicing operation to generate demosaiced images that were provided using image recording sensors for different colors than those described above, or that are sensitive to different parts of the electromagnetic spectrum.
  • the super-resolution enhanced image generating system can be used in connection with a demosaicing operation to generate demosaiced images that were provided using image recording sensors having different patterns of light sensing elements.
  • the projected image p i B i (W i ( ⁇ circumflex over (f) ⁇ )) ⁇ may be generated using the warping operator W i , followed by the blurring operator B i , it will be appreciated that the projected image p i may be generated using the blurring operator B i followed by the warping operator W i , or by selected one or more of the respective warping, blurring and/or decimation operators.
  • demosaicing operation has been described in connection with a CCD sensor array, it will be appreciated that the operation can be performed in connection with any sensor arrays, including but not limited to a CMOS array.
  • the super-resolution enhanced image generating system has been described as generating a super-resolution enhanced image in the case in which the relation among the intensities of the various input images is affine, it will be appreciated that similar operations can be performed if the intensities have other relations, including but not limited to logarithmic, trigonometric, and so forth, with an appropriate adaptation of the normalized cross-correlation as a measure of fit.
  • a system in accordance with the invention can be constructed in whole or in part from special purpose hardware or a general purpose computer system, or any combination thereof, any portion of which may be controlled by a suitable program.
  • Any program may in whole or in part comprise part of or be stored on the system in a conventional manner, or it may in whole or in part be provided in to the system over a network or other mechanism for transferring information in a conventional manner.
  • the system may be operated and/or otherwise controlled by means of information provided by an operator using operator input elements (not shown) which may be connected directly to the system or which may transfer the information to the system over a network or other mechanism for transferring information in a conventional manner.

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US7373019B2 (en) 2008-05-13
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