WO2012043063A1 - 画像処理装置 - Google Patents

画像処理装置 Download PDF

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Publication number
WO2012043063A1
WO2012043063A1 PCT/JP2011/068018 JP2011068018W WO2012043063A1 WO 2012043063 A1 WO2012043063 A1 WO 2012043063A1 JP 2011068018 W JP2011068018 W JP 2011068018W WO 2012043063 A1 WO2012043063 A1 WO 2012043063A1
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WO
WIPO (PCT)
Prior art keywords
image
control
processing apparatus
exposure
objects
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.)
Ceased
Application number
PCT/JP2011/068018
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English (en)
French (fr)
Japanese (ja)
Inventor
輝樹 高橋
裕史 大塚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Astemo Ltd
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Hitachi Automotive Systems Ltd
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Publication date
Application filed by Hitachi Automotive Systems Ltd filed Critical Hitachi Automotive Systems Ltd
Publication of WO2012043063A1 publication Critical patent/WO2012043063A1/ja
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/28—Circuitry to measure or to take account of the object contrast
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B7/00—Control of exposure by setting shutters, diaphragms or filters, separately or conjointly
    • G03B7/08—Control effected solely on the basis of the response, to the intensity of the light received by the camera, of a built-in light-sensitive device
    • G03B7/091—Digital circuits
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors

Definitions

  • the present invention relates to an exposure control unit of an image processing apparatus that detects an object using an image captured by an image sensor.
  • Patent Document 1 a plurality of types of exposure control maps (exposure representing a luminance-image density conversion relationship with respect to exposure time / gain settings) are used as a conversion map from the luminance of an object to be imaged to an image density that is a signal output level of a captured image. Control output characteristics), the brightness of the object to be imaged is obtained based on the current image density and the number of the exposure control map currently in use, and the exposure control map is such that the brightness is the image density of the control target level. By obtaining this, the exposure control is optimized.
  • th image density at an exposure control map - to luminance conversion obtains the current value x t of the target luminance.
  • the most appropriate exposure control map number n t such that the output image density becomes the control target value y ref with respect to the luminance x t obtained in FIG. 2 (a).
  • the optimum map for obtaining +1 is selected.
  • the 10th exposure control map is most suitable, and 10 is the next value n t + 1 of the exposure control map number, and the exposure time and gain corresponding to the exposure control map number are set.
  • Patent Document 2 a conversion table of image density and road surface brightness at camera aperture amount and shutter speed is prepared in advance, and the road surface brightness obtained from the aperture amount, shutter speed and image density of the camera currently in use is prepared. Based on the difference between the image density and the target, a conversion table for determining the camera aperture and shutter speed is set in advance, and this table is used to determine the next aperture of the camera. The exposure control is optimized by obtaining the amount and the shutter speed.
  • Patent Documents 1 and 2 since the exposure control means of Patent Documents 1 and 2 is intended to set the exposure conditions so that the image density of the control target is set to a single target such as a vehicle or a road surface, a plurality of types are different.
  • detection targets hereinafter referred to as multiple targets
  • the number of images and cameras to be increased increases, and the cost and processing time increase.
  • An object of the present invention is to provide an image processing apparatus capable of preventing an increase in cost due to an increase in cameras and an increase in processing time due to an increase in the number of images even when a plurality of objects exist simultaneously.
  • a nonlinear exposure control output showing the conversion relationship between the luminance of the object imaged by the vehicle-mounted image sensor and the image density detected from the imaged image.
  • a plurality of storage images stored in association with a plurality of types of control factors, current values of control factors determined in advance, and images of a plurality of objects detected from images captured by an in-vehicle image sensor Based on the current density value and the plurality of exposure control output characteristics stored in the storage means, the image density brightness converting means for outputting the current brightness values of the plurality of objects, and the image density brightness converting means Based on the output current values of the brightness of the plurality of objects, target values of image densities of the plurality of objects determined in advance, and the plurality of exposure control output characteristics stored in the storage means Detected from images taken with Image densities of a plurality of target object is a control factor output means for outputting a plurality of types of control elements so as to coincide with the target value of image density
  • the present invention can provide an image processing apparatus capable of preventing an increase in cost due to an increase in cameras and an increase in processing time due to an increase in the number of images even when a plurality of objects exist simultaneously.
  • the exposure control means of the image processing apparatus of the present invention will be described.
  • the means for acquiring the image density to be detected has been described in the background art, and will be omitted.
  • FIG. 1 shows a processing flow of the present invention.
  • the exposure control map is an exposure control output characteristic indicating a conversion relationship between luminance and image density with respect to setting of control factors such as exposure time, gain, knee point, and gamma coefficient. Details of the knee point and gamma coefficient settings will be described later.
  • control factors such as exposure time, gain, knee point, and gamma coefficient. Details of the knee point and gamma coefficient settings will be described later.
  • the features of the present invention are stored in a storage means, current values of predetermined control factors, current values of image densities of a plurality of objects detected from images captured by a camera that is an in-vehicle image sensor, and Based on a plurality of exposure control output characteristics, image density luminance conversion means for outputting current values of the luminance values of the plurality of objects, and current values of luminance values of the plurality of objects outputted from the image density luminance conversion means And the image density of the plurality of objects detected from the image picked up by the vehicle-mounted image sensor based on the predetermined target value of the image density of the plurality of objects and the exposure control output characteristic, Control factor output means for outputting the plurality of types of control factors that coincide with the target value. Furthermore, it has control factor update means for updating the control factor.
  • the exposure control map number is an index for centralizing and managing the values of the control factors, there are as many combinations of the values of the control factors.
  • Fig. 4 shows the value of each exposure factor for the exposure control map number.
  • the values of the respective control factors are set so that the image density of the output image increases with respect to the luminance of the subject as the exposure control map number increases as shown in FIG. Arrange in ascending order.
  • FIG. 3 shows details of the operation from the current map selection 1 to the image density-luminance conversion 2 and the operation from the luminance-image density conversion 3 to the optimum map selection 4 in FIG.
  • the current map is the current exposure control map
  • the optimal map is the optimal exposure control map.
  • the operation of FIG. 3A from the current map selection 1 to the image density-luminance conversion 2 aims to derive the luminance X of a plurality of objects from the current image.
  • the value of the control factor are set to the image obtained at the current time t corresponds to the current exposure control map number n t.
  • the current map is selected from the current exposure control map number n t by the current map selection 1 and the current image density ⁇ y t, 1 , yt , 2 , yt , 3 , y t, 4 ⁇ is input to the current map to derive the current brightness ⁇ x t, 1 , x t, 2 , x t, 3 , yt , 4 ⁇ for each current object.
  • Expression (1) shows the conversion relationship between the current luminance of the object and the image density.
  • lane mark detection and headlight / taillight detection are correctly performed using an image acquired at the current time t.
  • the road surface area and the lane mark area such as white line, yellow line, and botsdots are obtained from the result of the lane mark detection, and the area determined as the headlight or the taillight from the result of the headlight / taillight detection is determined.
  • the image density ⁇ road surface: yt , 1 , lane mark: yt , 2 , tail light: yt , 3 , headlight: yt , 4 ⁇ is obtained.
  • an average value of pixel values in the target region may be obtained, or a target image density may be obtained from a histogram of pixel values in the target region.
  • FIG. 3 (b) luminance-image density conversion to optimum map selection are performed so that the image density of the plurality of objects is set to the control target level at the next exposure from the current plurality of object luminances obtained in FIG.
  • the purpose is to derive an optimal exposure control map to be stored.
  • There are various methods for selecting the optimum map but the simplest method is to obtain the exposure control map number n that becomes the minimum in the following equation (2) as a round-robin method.
  • the estimated next-time image density is obtained by converting the luminance of each target using equation (1) in a certain exposure control map number n.
  • the image density ⁇ road surface: y ref, 1 , lane mark: y ref, 2 , tail light: y ref, 3 , headlight: y ref, 4 ⁇ that is the respective control target n An operation to find out is required.
  • the next value of the optimum map number is obtained, the next value of each control factor previously associated with the exposure control map number is obtained. That is, from the table of FIG. 4, three types of exposure time / gain as exposure control signals, knee points as image correction signals, and next values of gamma coefficients are determined.
  • One exposure control process is completed by directly transmitting the two types of signals to the image sensor and the DSP (Digital Signal Processor).
  • FIG. 5 is a configuration diagram of an entire embodiment of an automobile which is an image processing system of the present invention.
  • the image processing apparatus 101 includes a camera 102 that is an imaging element that captures the traveling direction of the vehicle, and an image analysis unit 103 that performs analysis processing on the captured image.
  • the camera 102 which is an image sensor, is installed in the vicinity of the rearview mirror so as to catch a road surface in the traveling direction of the vehicle and an object such as a vehicle.
  • the image analysis unit 103 may be installed integrally with the camera, or may be installed alone in another place.
  • the image captured by the camera 102 is input to the image analysis unit 103, which performs image analysis processing, and the analysis processing result is sent to the alarm device 104, the headlight control device 106, the brake via the vehicle LAN 105. It is output to the control device 108.
  • the alarm device 104 has a built-in speaker, and outputs an alarm signal output by the image processing apparatus 101 upon detection of a lane mark or the like as sound.
  • the alarm device 104 may be directly connected to the image processing device 101 without going through the vehicle LAN as long as it only generates sound (ON / OFF operation).
  • the headlight control device 106 calculates the voltage to be applied to the high beam and the low beam of the headlight 107 from the position information of the oncoming vehicle headlight and the preceding vehicle taillight output from the image processing device 101, and calculates the calculated voltage to the headlight 107. Supply.
  • the headlight control device 106 controls the irradiation distance of the headlight 107 from the distance to the vehicle ahead.
  • the headlight 107 is configured to operate the filament or reflector portion of the headlight 107, and an optical axis angle control signal is transmitted from the headlight control device 106 to the headlight 107. It may be controlled by changing the optical axis.
  • the brake control device 108 receives the presence / absence and position information of the lane mark output from the image processing device 101, the presence / absence and position information of the preceding vehicle and the oncoming vehicle, and controls the front and rear brakes 109.
  • FIG. 6 is a diagram showing an internal configuration of the camera 102 and the image analysis unit 103 which are image pickup devices.
  • the image sensor 201 performs photoelectric conversion for converting an optical image into an electrical signal, sequentially reads out signal charges generated in each pixel of the image array, and transfers the signal charges to the DSP 202 as signal processing means.
  • the DSP 202 performs various signal processing such as scratch defect correction, HDR image generation, gamma correction, and color matrix conversion. Details of processing of the image sensor 201 and the DSP 202 will be described later.
  • the processing result of the DSP 202 is output as an RGB or YUV digital image signal and transferred to the image input I / F 203 of the image analysis unit 103.
  • the image signal is transmitted continuously, the vertical / horizontal synchronization signal is also transmitted. Therefore, the image input I / F 203 can determine a frame or line break, and does not impair the positional relationship between pixels. You can capture images.
  • the image captured by the image input I / F 203 is written in the memory 204 and processed or analyzed by the image processing unit 205. A series of processing is executed according to the program 206 written in the FROM.
  • a series of processes means image capturing control at the image input I / F 203, image processing control at the image processing unit 205, and capturing of vehicle information used for target detection at the external input / output I / F 208. , Control of the output of the result of object detection, and further control of transfer of an exposure control signal for appropriately setting the exposure condition of the image sensor performed by the CPU 207 and correction of the signal in the DSP 202. Control of the image correction signal for this purpose, and various calculation processes required for this.
  • the calculation processing for performing exposure control in this embodiment is all executed by the CPU 207.
  • FIG. 7 is a detailed view of the camera 102 as an image sensor, and shows the internal configuration of the image sensor 201 and the DSP 202.
  • the image sensor 201 has a control register 309 for performing exposure control.
  • Exposure control refers to the appropriate exposure time and gain that can be a control factor for controlling the exposure amount in order to improve and stabilize the detection performance of object detection in the image against changes in the brightness of the subject that is the sensor input. It is considered to be controlled.
  • the target is to keep the image density of the target area in the image signal that is the final output signal constant, and the HDR is classified as image correction in the DSP 202 rather than exposure control.
  • Variables used for knee correction and gamma correction at the time of image generation are treated as control factors as well as exposure time and gain.
  • the exposure time set in the control register 309 is transferred to the drive control unit 301, and the pixel array 302 is set by the image array 302 performing signal charge reading and reset operations according to the drive timing generated by the drive control unit 301. Images can be taken with the exposure time set. Similarly, the set gain is transferred to the AMP 303 and reflected by amplifying the signal charge accumulated for the exposure time according to a set value. Since both the exposure time and the gain are related to the amplification factor of the output level of the image signal, only the slope of the output characteristic changes as shown in FIG.
  • the exposure time and gain are handled in combination, and both can be changed in 16 steps.
  • the signal charge amplified by the AMP 303 is converted into a digital image signal (digital RAW data) by the ADC 304 and transmitted to the DSP 202.
  • three types of image signals having different exposure time and gain settings are transmitted to the DSP 202 in one frame period.
  • There is a method of outputting signal charges at different exposure times a method of reading signal charges multiple times at different timings in one frame period without resetting in time division, and sequentially reading out the signal charges
  • a plurality of image signals having different exposure times and gain settings can be acquired. Any of the above methods may be used basically.
  • the data to which the data has been transmitted is subjected to correction processing such as a flaw defect in the pre-processing unit 305 and then sent to the HDR image generation unit 306, and three types of digital image signals are combined into one based on the knee points.
  • the knee point is a signal output level at which the generation source image is switched as shown in FIG.
  • By adjusting the knee point as shown in FIG. 9B it is possible to generate image signals having different output characteristics even when the image signals of the three types of exposure conditions are the same combination. A total of 20 level setting patterns for two knee points were prepared.
  • the knee slope can be changed as shown in FIG. 9C by changing the three types of exposure conditions. Adjustment in the process of generating the HDR image is called knee correction.
  • the signal output characteristic (photoelectric conversion characteristic) with respect to the optical input is linear
  • the gradation of the signal output is 12 bits
  • the dynamic range of the optical input is from the three digital RAW data corresponding to 72 dB. Produces an image equivalent to 18 bits (108 dB).
  • the generated image signal is sent to the gamma correction unit 307, and the signal level is corrected according to the gamma coefficient as shown in FIG.
  • the gamma correction may be set using a lookup table. In this case, it is possible to set more finely, but in the present embodiment, the change was made using the gamma coefficient, and 13 steps of change of ⁇ : 0.25 to 4.0 were made possible.
  • the corrected image signal is sent to the color conversion unit 308, converted from digital RAW data to digital YUV data or digital RGB data, and transmitted to the image analysis unit 103.
  • the DSP 202 includes a control register 310 for performing various corrections on the image signal, and can set a knee point level in the HDR image generation unit and a gamma coefficient in the gamma correction unit.
  • the exposure control signal and the image correction signal can be rewritten from the CPU 207, and the rewritten exposure time is reflected in the exposure of the next frame, and the next frame is applied to the transfer period. Therefore, the rewritten exposure time is reflected.
  • the image can be used again by the CPU 207 after the memory transfer of the image signal is completed, and three frames after the previous exposure time is rewritten.
  • the gain setting and various image correction settings are also updated in accordance with the exposure time setting, the next set exposure time, gain, knee point, and gamma coefficient are calculated and rewritten every three frames.
  • the exposure control period is 3 frame periods.
  • the exposure control period is 100 ms.
  • a method of synthesizing an HDR image using a DSP from a plurality of image signals having different exposure conditions is used, but the HDR image generation means is limited to this. Instead, there are various methods such as a method for improving the basic characteristics to increase the saturation level and the noise level, and a method for providing a logarithmic characteristic to the photodiode that performs photoelectric conversion.
  • HDR image generation is performed using an image sensor that transfers three image signals to the DSP in one frame (33 ms). For example, one image signal is transferred in one frame. Even if a general image sensor is used, one HDR image can be generated from three image signals in three frames (100 ms), and the exposure control timing is also a cycle of three frames (100 ms). Therefore, it can be realized without failure.
  • the DSP 202 may be built in the image analysis unit 103 instead of the camera side, or the DSP 202 may not exist and the image processing unit 205 may supplement the processing of the DSP 202.
  • the image processing apparatus of the present invention can be expected to have a great effect in a scene having a plurality of objects with greatly different luminances.
  • the lane mark or road surface is controlled.
  • the image density changes variously on the captured image, and stable detection is difficult. For this reason, it is necessary to prepare a lane mark detection camera or image and a headlight / taillight detection camera or image separately.
  • the brightness change of the brightness with high brightness is maintained while keeping the image density of the low brightness lane mark and the road surface constant and maintaining a high contrast between the two. Since the image density of a large headlight and taillight can be controlled to be constant, it is possible to prevent an increase in cost due to an increase in cameras and an increase in processing time due to an increase in the number of images.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)
  • Exposure Control For Cameras (AREA)
PCT/JP2011/068018 2010-09-30 2011-08-08 画像処理装置 Ceased WO2012043063A1 (ja)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019196879A1 (en) * 2018-04-11 2019-10-17 Zhejiang Dahua Technology Co., Ltd. Systems and methods for determining exposure parameters

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6390512B2 (ja) * 2015-05-21 2018-09-19 株式会社デンソー 車載カメラ装置
US20230102607A1 (en) * 2020-02-03 2023-03-30 Sony Semiconductor Solutions Corporation Electronic device
WO2022014361A1 (ja) 2020-07-15 2022-01-20 ソニーグループ株式会社 情報処理装置、情報処理方法、及び、プログラム

Citations (2)

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Publication number Priority date Publication date Assignee Title
JPH11205663A (ja) * 1998-01-20 1999-07-30 Nissan Motor Co Ltd 車両用撮像装置の露光量制御装置
JP2009157087A (ja) * 2007-12-26 2009-07-16 Denso Corp 露出制御装置及び露出制御プログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11205663A (ja) * 1998-01-20 1999-07-30 Nissan Motor Co Ltd 車両用撮像装置の露光量制御装置
JP2009157087A (ja) * 2007-12-26 2009-07-16 Denso Corp 露出制御装置及び露出制御プログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019196879A1 (en) * 2018-04-11 2019-10-17 Zhejiang Dahua Technology Co., Ltd. Systems and methods for determining exposure parameters
US11431914B2 (en) 2018-04-11 2022-08-30 Zhejiang Dahua Technology Co., Ltd. Systems and methods for determining exposure parameters

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