WO2018113657A1 - Procédé et dispositif de traitement d'image - Google Patents

Procédé et dispositif de traitement d'image Download PDF

Info

Publication number
WO2018113657A1
WO2018113657A1 PCT/CN2017/117151 CN2017117151W WO2018113657A1 WO 2018113657 A1 WO2018113657 A1 WO 2018113657A1 CN 2017117151 W CN2017117151 W CN 2017117151W WO 2018113657 A1 WO2018113657 A1 WO 2018113657A1
Authority
WO
WIPO (PCT)
Prior art keywords
electronic device
target
target object
image
remaining
Prior art date
Application number
PCT/CN2017/117151
Other languages
English (en)
Chinese (zh)
Inventor
侯伟
Original Assignee
纳恩博（北京）科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 纳恩博（北京）科技有限公司 filed Critical 纳恩博（北京）科技有限公司
Publication of WO2018113657A1 publication Critical patent/WO2018113657A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors

Definitions

  • the present invention relates to the field of images, and in particular to an image processing method and apparatus.
  • the stereoscopic image can be recorded by placing the camera at a fixed position around it.
  • the stereoscopic image cannot be recorded and recorded in the above manner.
  • Embodiments of the present invention provide an image processing method and apparatus to solve at least the technical problem that a stereoscopic image of a moving object cannot be recorded in the prior art.
  • an image processing method applied to a target electronic device having a driving device the driving device being configured to provide a driving force to the target electronic device to enable the target electronic device to enable Moving according to the movement condition of the target object
  • the target electronic device further has an image acquisition unit
  • the target electronic device is any one of the plurality of electronic devices, and the target electronic device and the target object
  • the relative position of the electronic device remains unchanged, and the relative positions of the remaining electronic devices other than the target electronic device and the target object remain unchanged
  • the method comprising: The target electronic device acquires a plurality of first images obtained by the plurality of the electronic devices capturing the target object from different angles; the target electronic device synthesizes the plurality of the first images to obtain a stereoscopic image of the target object .
  • the plurality of the electronic devices are N the electronic devices
  • the target electronic device acquires, by the plurality of the electronic devices, the plurality of the first images obtained by capturing the target object from different angles, including:
  • the target electronic device identifies the target object according to its own image acquisition unit, and the target electronic device captures the target object at an angle of the target electronic device relative to the target object to obtain a first image;
  • the target electronic device Obtaining, according to the manner in which the plurality of the electronic devices communicate with each other by the group network, the N-1 first images obtained by the remaining electronic devices capturing the target object from different angles, wherein the i-th electronic device according to the The image acquisition unit identifies the target object, and the ith electronic device captures the target object at an ith angle to obtain the first image, wherein the ith angle is a relative position of the ith electronic device
  • the angle of the target object, wherein i takes 1 to N-1 in turn, and the N angles of the plurality of electronic devices with respect to the target object are N
  • the target electronic device synthesizes the plurality of the first images, and obtaining the stereoscopic image of the target object includes: acquiring, by the target electronic device, a shooting time of each of the first images; The electronic device combines the plurality of the first images having the same shooting time to obtain the stereoscopic image.
  • the target electronic device synthesizes the plurality of the first images with the same shooting time, and obtaining the stereoscopic image includes: removing, by the target electronic device, a background portion in the first image to obtain a background removal. a first image; the target electronic device synthesizes a plurality of background-removed first images with the same shooting time to obtain the stereo image.
  • the target electronic device before the target electronic device acquires the plurality of first images obtained by the plurality of the electronic devices from the different angles, the target electronic device further includes: the target electronic device according to the movement of the target object Generating a first motion trajectory, wherein the target electronic device moves according to the first motion trajectory; the target electronic device calculates each of the plurality of electronic devices other than the target electronic device a relative position of the device relative to the target electronic device; the target electronic device transmitting the relative position to the remaining electronic devices of the plurality of the electronic devices except the target electronic device; wherein the relative position is used
  • Each of the plurality of electronic devices except the target electronic device generates a motion trajectory in conjunction with the first motion trajectory, and performs motion according to the generated motion trajectory.
  • the method further includes: acquiring, by the target electronic device, a standard time; The target electronic device calibrates the time of each of the plurality of the electronic devices according to the standard time.
  • an image processing apparatus applied to a target electronic device having a driving device, the driving device being configured to provide a driving force to the target electronic device to enable the electronic device to enable the electronic device Moving according to the movement condition of the target object
  • the electronic device further has an image collection unit
  • the target electronic device is any one of the plurality of electronic devices, and between the target electronic device and the target object
  • the relative position of the remaining electronic devices of the plurality of electronic devices other than the target electronic device and the target object remain unchanged, and the device includes: first obtaining a unit, configured to acquire a plurality of first images obtained by capturing the target object from different angles by the plurality of electronic devices; and a first synthesizing unit configured to combine the plurality of the first images to obtain the target object Stereoscopic image.
  • the plurality of the electronic devices are N the electronic devices
  • the first acquiring unit comprises: a first shooting subunit, configured to identify the target object according to an image acquisition unit of the same, the target electronic device The device captures the target object at an angle of the target electronic device with respect to the target object, to obtain a first image, and the first acquiring subunit is configured to acquire according to the manner in which the plurality of the electronic devices communicate with each other by a group network
  • the remaining electronic device captures N-1 first images obtained by the target object from different angles
  • the i-th electronic device of the remaining electronic devices includes: an i-th identification sub-unit, which is disposed at the i-th station
  • the electronic device is configured to identify the target object according to the image capturing unit of the ith electronic device; the ith shooting subunit is disposed on the ith electronic device, and is configured to photograph the ith angle Target object, obtaining the first image, wherein the ith angle is an angle of the ith electronic device relative to the target object, wherein i is sequential
  • the first synthesizing unit includes: a second acquiring subunit configured to acquire a photographing time of each of the first images; and a first synthesizing subunit configured to set the plurality of the photographing times to be the same An image is synthesized to obtain the stereoscopic image.
  • the first synthesizing subunit includes: a first removing module configured to remove a background portion in the first image to obtain a first image after background removal; and a first synthesizing module configured to set a shooting time The same plurality of background-removed first images are combined to obtain the stereoscopic image.
  • the device further includes: a generating unit, configured to be disposed on the target electronic device of the plurality of the electronic devices, configured to generate a first motion trajectory according to a movement condition of the target object, where The target electronic device performs motion according to the first motion trajectory; and the calculating unit is disposed on the target electronic device, and is configured to calculate each of the plurality of electronic devices other than the target electronic device a first transmitting unit, disposed on the target electronic device, configured to send the relative position to a plurality of the electronic devices other than the target electronic device
  • An electronic device wherein each of the plurality of electronic devices other than the target electronic device is provided with a control unit, and each of the plurality of electronic devices except the target electronic device Relative position of the target electronic device is used by the control unit to generate a motion trajectory in conjunction with the first motion trajectory, and control Said plurality of electronic devices each electronic device other than the target electronic apparatus in accordance with the generated motion trajectory.
  • the device further includes: a second acquiring unit, configured to acquire a standard time before the first acquiring unit acquires a movement condition of the target object obtained by the electronic device detecting the target object; the first calibration unit, A time is set to calibrate each of the plurality of electronic devices according to the standard time.
  • a second acquiring unit configured to acquire a standard time before the first acquiring unit acquires a movement condition of the target object obtained by the electronic device detecting the target object
  • the first calibration unit A time is set to calibrate each of the plurality of electronic devices according to the standard time.
  • an image processing method which is applied to a remaining electronic device having a driving device, wherein the remaining electronic device is an electronic device other than the target electronic device among the plurality of electronic devices.
  • the driving device is configured to provide a driving force for the remaining electronic devices to enable the remaining electronic devices to move according to a movement condition of the target object, wherein the remaining electronic devices further have an image capturing unit, and the remaining electronic devices
  • the relative position with the target object remains unchanged, and the relative position between the target electronic device and the target object remains unchanged
  • the method comprising: the remaining electronic device with the remaining electronic device Capturing the target object with respect to an angle of the target object to obtain a first image; the remaining electronic device transmitting the obtained first image to the target electronic device such that the target electronic device is at least according to the The first image synthesizes a stereoscopic image of the target object.
  • the remaining electronic device capturing the target object at an angle of the remaining electronic device relative to the target object to obtain the first image includes: the remaining electronic device receiving the first motion trajectory, wherein The first motion trajectory is generated by the target electronic device according to the movement condition of the target object; the remaining electronic device receives the relative position of the remaining electronic device sent by the target electronic device relative to the target electronic device The remaining electronic device generates a motion trajectory according to the first motion trajectory and the relative position; and in a case where the remaining electronic device performs motion according to the generated motion trajectory, the remaining electronic device is relative to the target The angle of the object captures the target object to obtain a first image.
  • the method further includes: the remaining electronic device recording the shooting time of the remaining electronic device to capture the target object at an angle of the remaining electronic device relative to the target object, wherein the shooting time A stereoscopic image for the target electronic device to synthesize the target object.
  • the method further includes: the remaining electronic device acquiring the standard time; The remaining electronic devices calibrate the time of the remaining electronic devices according to the standard time.
  • the sending, by the remaining electronic device, the obtained first image to the target electronic device includes: removing, by the remaining electronic device, a background portion in the obtained first image, and obtaining a background removed An image; the remaining electronic device transmits the first image after the background removal to the target electronic device.
  • an image processing method for use in a system including a plurality of electronic devices having a driving device, the driving device being configured to provide driving power for a plurality of the electronic devices
  • the plurality of the electronic devices further have an image acquisition unit
  • the plurality of the electronic devices include: target electronic devices and The remaining electronic device, the target electronic device is any one of the plurality of the electronic devices, the relative position between the plurality of target electronic devices and the target object remains unchanged, and the method includes : the target electronic device photographs the target object at an angle of the target electronic device relative to the target object to obtain a first image; and the remaining electronic devices are photographed at an angle of the remaining electronic device relative to the target object
  • the target object obtains a first image
  • the remaining electronic device captures the target object to obtain the first image
  • the image is sent to the target electronic device; the target electronic device combines a plurality of first
  • the method further includes: The target electronic device records a shooting time of the target object at an angle of the target electronic device relative to the target object; the remaining electronic device records the target object at an angle of the remaining electronic device relative to the target object a plurality of first images obtained by capturing the target object from different angles by the plurality of electronic devices, and obtaining a stereoscopic image of the target object includes: the target electronic device A plurality of the first images of the same time are captured by the plurality of electronic devices to be combined to obtain a stereoscopic image of the target object.
  • the target electronic device and the remaining electronic device respectively remove the background portion in the respective first images to obtain the first image after the background removal, or the target electronic device removes the plurality of the electronic devices to take the image.
  • a background image in the first image obtaining a first image after the background is removed;
  • the target electronic device synthesizing a plurality of first images of the same time of the electronic device to obtain a stereoscopic image of the target object
  • the method includes: the target electronic device synthesizes a plurality of background-removed first images with the same shooting time to obtain the stereoscopic image.
  • the target electronic device photographs the target object at an angle of the target electronic device relative to the target object to obtain a first image
  • the remaining electronic devices are opposite to the remaining electronic device
  • the method further includes: the target electronic device generating a first motion trajectory according to the movement condition of the target object, wherein the target electronic device follows the first motion The trajectory is moved; the target electronic device calculates a relative position of each of the plurality of electronic devices other than the target electronic device relative to the target electronic device; the target electronic device The relative position is sent to the remaining electronic devices other than the target electronic device among the plurality of electronic devices; each of the plurality of electronic devices except the target electronic device is according to the first motion track And generating a motion trajectory with respect to the relative position of the target electronic device, and following the generated motion trajectory Line movement.
  • the target electronic device photographs the target object at an angle of the target electronic device relative to the target object to obtain a first image
  • the remaining electronic devices are opposite to the remaining electronic device
  • the method further includes: the target electronic device and/or the remaining electronic device acquiring standard time; the target electronic device and/or the remaining electronic device according to the The standard time is used to calibrate the time of each of the plurality of electronic devices.
  • an image processing apparatus for use in a remaining electronic device having a driving device, wherein the remaining electronic device is an electronic device other than the target electronic device among the plurality of electronic devices.
  • the driving device is configured to provide a driving force for the remaining electronic devices to enable the remaining electronic devices to move according to a movement condition of the target object, wherein the remaining electronic devices further have an image capturing unit, and the remaining electronic devices are The relative position between the target objects remains unchanged, the relative position between the target electronic device and the target object remains unchanged, and the apparatus includes: a photographing unit configured to be opposite to the remaining electronic devices Shooting the target object at an angle of the target object to obtain a first image; the second sending unit is configured to send the obtained first image to the target electronic device, so that the target electronic device is at least according to the The first image synthesizes a stereoscopic image of the target object.
  • the shooting unit includes: a first receiving module configured to receive a first motion trajectory, wherein the first motion trajectory is generated by the target electronic device according to a movement condition of the target object; a receiving module, configured to receive a relative position of the remaining electronic device sent by the target electronic device with respect to the target electronic device; and a generating module configured to generate a motion according to the first motion trajectory and the relative position a trajectory; a photographing module configured to photograph the target object at an angle of the remaining electronic device relative to the target object to obtain a first image in a motion according to the generated motion trajectory.
  • the device further includes: a recording unit configured to record a shooting time of the remaining electronic device to capture the target object at an angle of the remaining electronic device with respect to the target object, wherein the shooting time A stereoscopic image for the target electronic device to synthesize the target object.
  • a recording unit configured to record a shooting time of the remaining electronic device to capture the target object at an angle of the remaining electronic device with respect to the target object, wherein the shooting time A stereoscopic image for the target electronic device to synthesize the target object.
  • the method further includes: a third acquiring unit, configured to acquire a standard Time; a second calibration unit configured to calibrate the time of the remaining electronic devices according to the standard time.
  • the second sending unit includes: a second removing module, configured to remove the obtained background portion in the first image to obtain a first image after background removal; and a sending module, configured to remove the background The first image is sent to the target electronic device.
  • an image processing system including a plurality of electronic devices having a driving device, the driving device being configured to provide driving power to a plurality of the electronic devices to cause a plurality of the devices
  • the electronic device can be moved according to the moving condition of the target object, wherein the plurality of the electronic devices further have an image collecting unit, and the plurality of the electronic devices include: the target electronic device and the remaining electronic devices except the target electronic device.
  • the target electronic device is any one of the plurality of the electronic devices, and a relative position between the plurality of target electronic devices and the target object remains unchanged, wherein the target electronic device is set to Taking the target object at an angle of the target electronic device relative to the target object to obtain a first image; the remaining electronic device is configured to capture the target at an angle of the remaining electronic device relative to the target object Obtaining a first image, and the remaining electronic device photographing the target object to send the first image to The target electronic device is further configured to combine a plurality of first images obtained by capturing the target object from different angles by the plurality of electronic devices to obtain a stereoscopic image of the target object.
  • the target electronic device is further configured to synthesize a plurality of first images obtained by capturing, by the target electronic device, the plurality of the electronic devices from different angles to obtain the target object, to obtain the target object. Recording a shooting time of the target object at an angle of the target electronic device relative to the target object before the stereoscopic image; the remaining electronic device recording the target at an angle of the remaining electronic device relative to the target object a shooting time of the object; the target electronic device is further configured to combine a plurality of first images obtained by capturing the target object from different angles by the plurality of electronic devices, and obtaining a stereoscopic image of the target object includes: The target electronic device combines a plurality of first images of the same time of the electronic device to obtain a stereoscopic image of the target object.
  • the target electronic device and the remaining electronic device are further configured to respectively remove the background portion in the respective first images to obtain a first image after the background removal, or the target electronic device is further configured to And removing a background portion in the first image captured by the plurality of electronic devices to obtain a first image after the background removal; the target electronic device is further configured to: the plurality of the electronic devices are photographed at the same time.
  • the image is synthesized, and obtaining the stereoscopic image of the target object includes: the target electronic device synthesizing the first image after removing the plurality of backgrounds with the same shooting time to obtain the stereoscopic image.
  • the target electronic device is further configured to: at the target electronic device, photograph the target object at an angle of the target electronic device relative to the target object, to obtain a first image, and the remaining electronic device Before the remaining electronic device photographs the target object with respect to an angle of the target object to obtain a first image, generating a first motion trajectory according to the movement condition of the target object, wherein the target electronic device follows the first Moving the trajectory; the target electronic device is further configured to calculate a relative position of each of the plurality of electronic devices other than the target electronic device relative to the target electronic device; The target electronic device is further configured to send the relative position to the remaining electronic devices other than the target electronic device among the plurality of the electronic devices; each of the plurality of the electronic devices except the target electronic device The electronic device is further configured to generate a position according to the first motion trajectory and itself relative to the target electronic device Trajectory, and in accordance with the generated motion trajectory.
  • the target electronic device and/or the remaining electronic device are further configured to: at the target electronic device, capture the target object at an angle of the target electronic device relative to the target object, to obtain a first image. And acquiring, by the remaining electronic device, a standard time before the first electronic image is captured by the remaining electronic device at an angle relative to the target object; the target electronic device and/or the remaining electronic device, It is further arranged to calibrate the time of each of the plurality of electronic devices according to the standard time.
  • a storage medium including a stored program, wherein, when the program is running, controlling a device in which the storage medium is located performs any of the above Image processing method.
  • a processor for executing a program, wherein the program is executed to perform the image processing method according to any one of the above.
  • an image processing method includes: acquiring a movement condition of the target object obtained by detecting an object by an electronic device, wherein the plurality of the electronic devices move according to the target object Moving to maintain a relative position between each of the plurality of electronic devices and the target object; acquiring a first image obtained by capturing the target object from different angles by the plurality of electronic devices, and obtaining a plurality of images The first image; synthesizing a plurality of the first images to obtain a stereoscopic image of the target object.
  • the plurality of the electronic devices are the N electronic devices, and the plurality of the electronic devices acquire the first image obtained by capturing the target object from different angles, and obtaining the plurality of the first images includes: The i-stage electronic device identifies the target object according to its own image acquisition unit; the i-th electronic device captures the target object at an ith angle to obtain the first image, wherein the ith angle is the The angle of the i-th electronic device with respect to the target object, wherein i takes 1 to N in order, the first angle to the Nth angle are N mutually different angles, and N is an integer greater than 1.
  • combining the plurality of the first images to obtain a stereoscopic image of the target object includes: acquiring a shooting time of each of the first images; and performing a plurality of the first images with the same shooting time Synthesize to obtain the stereoscopic image.
  • combining the plurality of the first images with the same shooting time to obtain the stereoscopic image includes: removing a background portion in the first image to obtain a first image after the background removal; and taking the same shooting time The plurality of background-removed first images are combined to obtain the stereoscopic image.
  • the acquiring, by the electronic device, the movement of the target object obtained by detecting the target object comprises: generating, by the target electronic device, the first motion trajectory according to the movement condition of the target object, wherein the The target electronic device moves according to the first motion trajectory; the target electronic device calculates a relative state of each of the plurality of electronic devices other than the target electronic device relative to the target electronic device a location; the target electronic device transmits the relative location to a remaining one of the plurality of electronic devices other than the target electronic device; each of the plurality of the electronic devices except the target electronic device The electronic device generates a motion trajectory according to the first motion trajectory and its relative position with respect to the target electronic device, and performs motion according to the generated motion trajectory.
  • the method before acquiring the movement condition of the target object obtained by the electronic device detecting the target object, the method further includes: acquiring a standard time; and calibrating each of the plurality of the electronic devices according to the standard time The time of the device.
  • an image processing apparatus including: a fourth acquiring unit, configured to acquire a movement condition of the target object obtained by detecting an object by an electronic device, where The electronic device moves according to the movement condition of the target object to keep the relative positions of the plurality of the electronic devices and the target object unchanged; the fifth obtaining unit is configured to acquire the plurality of the electronic devices from Shooting the first image obtained by the target object at different angles to obtain a plurality of the first images; and the second combining unit is configured to combine the plurality of the first images to obtain a stereoscopic image of the target object.
  • the plurality of the electronic devices are the N electronic devices
  • the fifth obtaining unit includes: an i-th identification sub-unit, disposed on the i-th electronic device, and configured to be according to the i-th electronic device
  • the image capturing unit of the device identifies the target object;
  • the ith shooting subunit is disposed on the ith electronic device, and is configured to capture the target object at an ith angle to obtain the first image, wherein
  • the i-th angle is an angle of the i-th electronic device with respect to the target object, wherein i is taken from 1 to N in sequence, and the first to N-th angles are N different angles, and N is greater than 1. Integer.
  • the second synthesizing unit includes: a third acquiring subunit configured to acquire a photographing time of each of the first images; and a second synthesizing subunit configured to set the plurality of photographs with the same photographing time An image is synthesized to obtain the stereoscopic image.
  • the second synthesizing subunit includes: a third removing module configured to remove a background portion in the first image to obtain a first image after background removal; and a second synthesizing module configured to set a shooting time The same plurality of background-removed first images are combined to obtain the stereoscopic image.
  • the fourth acquiring unit includes: a generating subunit, configured on the target electronic device in the plurality of the electronic devices, configured to generate a first motion track according to the moving condition of the target object, where The target electronic device performs motion according to the first motion trajectory; and the calculation subunit is disposed on the target electronic device, and is configured to calculate each of the plurality of the electronic devices except the target electronic device.
  • a relative position of the electronic device relative to the target electronic device a transmitting subunit disposed on the target electronic device, configured to transmit the relative position to the plurality of the electronic devices other than the target electronic device a remaining electronic device, a control subunit, disposed on each of the plurality of the electronic devices except the target electronic device, configured to be according to the first motion trajectory and the plurality of electronic devices Generating a motion trajectory of each electronic device other than the target electronic device with respect to the relative position of the target electronic device, and controlling a plurality of stations Each electronic device in the electronic device other than the target electronic apparatus in accordance with the generated motion trajectory.
  • the device further includes: a sixth acquiring unit, configured to acquire a standard time before the first acquiring unit acquires a movement condition of the target object obtained by the electronic device detecting the target object; and a third calibration unit, A time is set to calibrate each of the plurality of electronic devices according to the standard time.
  • a sixth acquiring unit configured to acquire a standard time before the first acquiring unit acquires a movement condition of the target object obtained by the electronic device detecting the target object
  • a time is set to calibrate each of the plurality of electronic devices according to the standard time.
  • the target object is in a moving state
  • the plurality of electronic devices detect the motion of the target object to obtain the motion of the target object, and adjust the motion state of the target object according to the motion condition of the target object, so that the target object remains relatively stationary with the target object.
  • Each electronic device captures a target object from different angles, obtains multiple images, and combines the multiple images to obtain a stereoscopic image of the target object, thereby achieving the technical effect of recording a stereoscopic image of the moving object, thereby solving the existing The technical problem of the stereoscopic image of a moving object cannot be recorded in the technology.
  • FIG. 1 is a flow chart of an image processing method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing positions of a plurality of electronic devices and a target object according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of motion trajectories of a plurality of electronic devices and a target object according to an embodiment of the present invention
  • FIG. 4 is a flowchart of an image processing method based on a target electronic device according to an embodiment of the present invention
  • FIG. 5 is a structural block diagram of an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • FIG. 6 is a structural block diagram of a first acquiring unit 52 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention
  • FIG. 7 is a structural block diagram of a first synthesizing unit 54 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention
  • FIG. 8 is a structural block diagram of a first synthesizing subunit 74 in a first synthesizing unit 54 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention
  • FIG. 9 is a block diagram 1 of a preferred structure of an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • FIG. 10 is a block diagram 2 of a preferred structure of an image processing apparatus on a target electronic device side according to an embodiment of the present invention
  • FIG. 11 is a flowchart of an image processing method based on remaining electronic devices according to an embodiment of the present invention.
  • FIG. 12 is a block diagram showing the structure of an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention.
  • FIG. 13 is a block diagram showing a preferred configuration of a photographing unit 122 in an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention
  • FIG. 14 is a block diagram 1 showing a preferred structure of an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention
  • 15 is a block diagram 2 of a preferred structure of an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention
  • 16 is a block diagram showing a preferred configuration of a second transmitting unit 124 in an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention
  • FIG. 17 is a flowchart of an image processing method of a system based on a target electronic device and remaining electronic devices, according to an embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
  • 19 is a preferred schematic diagram of an image processing apparatus in accordance with an embodiment of the present invention.
  • an embodiment of an image processing method is provided, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system such as a set of computer executable instructions, and, although The logical order is shown in the flowcharts, but in some cases the steps shown or described may be performed in a different order than the ones described herein.
  • FIG. 1 is a flow chart of an image processing method in accordance with an embodiment of the present invention.
  • the image processing method is applied to an electronic device having a driving device configured to provide a driving force for the electronic device to enable the electronic device to move, and the electronic device further has an image capturing unit.
  • the method includes the following steps:
  • Step S102 Acquire a movement condition of the target object obtained by the electronic device detecting the target object, wherein the plurality of electronic devices perform motion according to the movement condition of the target object to keep the relative positions between the plurality of electronic devices and the target object unchanged.
  • Step S104 Acquire a first image obtained by capturing, by a plurality of electronic devices, a target object from different angles to obtain a plurality of first images.
  • step S106 a plurality of first images are combined to obtain a stereoscopic image of the target object.
  • the target object is a moving object that can move freely within a certain range.
  • the electronic device can be a robot.
  • the electronic device can have a binocular camera that is set to shoot.
  • the plurality of electronic devices move according to the movement of the target object to keep the relative positions of the plurality of electronic devices and the target object unchanged, that is, each of the electronic devices is stationary with respect to the target object.
  • each electronic device captures the target object to obtain a first image, and multiple electronic devices obtain a plurality of first images in total. Each first image records the image of the target object from different angles.
  • a stereoscopic image of the target object By synthesizing a plurality of first images, a stereoscopic image of the target object can be obtained, and the stereoscopic image includes information on the omnidirectional object.
  • the target object is in a moving state
  • the plurality of electronic devices detect the motion of the target object to obtain the motion of the target object, and adjust the motion state of the target object according to the motion condition of the target object, so that the target object remains relatively stationary with the target object.
  • Each electronic device captures a target object from different angles, obtains multiple images, and combines the multiple images to obtain a stereoscopic image of the target object, thereby solving the technical problem that the stereoscopic image of the moving object cannot be recorded in the prior art.
  • the technical effect of recording a stereoscopic image of a moving object is achieved.
  • the plurality of electronic devices are N electronic devices
  • the first image obtained by the plurality of electronic devices capturing the target object from different angles is obtained, and obtaining the plurality of first images includes: the i-th electronic device according to its own image acquisition unit Identifying the target object; the i-th electronic device photographs the target object at the ith angle to obtain a first image, wherein the i-th angle is an angle of the i-th electronic device relative to the target object, wherein i takes 1 to N in turn, first The angle to the Nth angle is N different angles, and N is an integer greater than 1.
  • FIG. 2 shows three electronic devices, which are an electronic device E1, an electronic device E2, and an electronic device E3, respectively, and A is a target object.
  • the target object A is moving, and the electronic device E1, the electronic device E2, and the electronic device E3 adjust their own motion according to the motion of the target object A to keep the relative position between itself and the target object A unchanged.
  • the angles and orientations of the electronic device E1, the electronic device E2, and the electronic device E3 are different with respect to the target object, and the three electronic devices respectively capture the target object to obtain three first images.
  • the three first images record the image of the target object from different angles, and combine the three first images to obtain a stereoscopic image of the target object A.
  • combining the plurality of first images to obtain a stereoscopic image of the target object includes: acquiring a shooting time of each of the first images; and synthesizing the plurality of first images having the same shooting time to obtain a stereoscopic image.
  • Each electronic device will capture multiple first images, which may be taken at different times.
  • the recording time is recorded. By reading the shooting time, it is possible to know when the electronic device takes an image.
  • a plurality of first images of the same shooting time taken by different electronic devices are combined to obtain a stereoscopic image of the target object.
  • the electronic device E1 shown in FIG. 2 captures the first image P11 at time T1, the first image P12 at time T2, and the first image P13 at time T3.
  • the electronic device E2 captures the first image P21 at time T1, captures the first image P22 at time T2, and captures the first image P23 at time T3.
  • the electronic device E3 captures the first image P31 at time T1, captures the first image P32 at time T2, and captures the first image P33 at time T3.
  • the first image P11, the first image P21, and the first image P31 at the time T1 are combined to obtain a stereoscopic image of the target object at time T1.
  • the first image P12, the first image P22, and the first image P32 at the time T2 are combined to obtain a stereoscopic image of the target object at time T2.
  • the first image P13, the first image P23, and the first image P33 at the time T3 are combined to obtain a stereoscopic image of the target object at time T3.
  • the method before acquiring the movement condition of the target object obtained by the electronic device detecting the target object, the method further includes: acquiring a standard time; and calibrating the time of each of the plurality of electronic devices according to the standard time.
  • the time in an electronic device may or may not be accurate. If the time in the plurality of electronic devices is not synchronized, in the process of synthesizing a plurality of first images having the same shooting time to obtain a stereoscopic image, an error occurs, that is, a plurality of first images having different actual shooting times The image is synthesized to get the wrong image.
  • the time of each of the plurality of electronic devices is calibrated using standard time, so that the time in the plurality of electronic devices is synchronized.
  • combining the plurality of first images with the same shooting time to obtain the stereoscopic image includes: removing the background portion in the first image to obtain the first image after the background removal; and removing the plurality of backgrounds with the same shooting time
  • the first image is synthesized to obtain a stereoscopic image.
  • the background portions in the plurality of first images may be removed first, and then the plurality of first images are combined to remove the interference of the background, thereby obtaining a clearer and more prominent A stereoscopic image of the target object.
  • the subject target object
  • the background is removed from the current 3D image, and the subject is cut out.
  • the method by which multiple electronic devices generate their own motion trajectory can be any of the following:
  • Multiple electronic devices can detect the motion of the target object in real time, and then generate their own motion trajectory in real time according to the motion condition of the target object and the position of the target object relative to the target object, so that the target object is relatively stationary.
  • an electronic device E1, an electronic device E2, and an electronic device E3 there are three electronic devices, namely, an electronic device E1, an electronic device E2, and an electronic device E3, and A is a target object.
  • the target object A is moving, and the electronic device E1, the electronic device E2, and the electronic device E3 move according to the motion of the target object A to keep the relative position between itself and the target object A unchanged.
  • the electronic device E1, the electronic device E2, and the electronic device E3 detect the motion of the target object A in real time, and generate its own motion trajectory according to the motion of the target object A, so that itself and the target object A remain relatively stationary.
  • the trajectory G0 shows the motion trajectory of the target object A;
  • the trajectory G1 shows the motion trajectory of the electronic device E1;
  • the trajectory G2 shows the motion trajectory of the electronic device E2;
  • the trajectory G3 shows the motion trajectory of the electronic device E3.
  • the target electronic device in the plurality of electronic devices generates a first motion trajectory according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion trajectory; and the target electronic device calculates other than the target electronic device among the plurality of electronic devices
  • the relative position of each electronic device relative to the target electronic device the target electronic device transmits the relative position to the remaining electronic devices of the plurality of electronic devices except the target electronic device; each of the plurality of electronic devices except the target electronic device
  • the device generates a motion trajectory according to the first motion trajectory and its relative position with respect to the target electronic device, and performs motion according to the generated motion trajectory.
  • the plurality of electronic devices have communication capability, and one of the electronic devices (target electronic devices) can generate a first motion trajectory according to the movement condition of the target object, and when the target electronic device performs motion according to the first motion trajectory, the target electronic device The relative position to the target object does not change.
  • Each electronic device of the plurality of electronic devices except the target electronic device generates a motion trajectory according to the first motion trajectory and its relative position with respect to the target electronic device, and performs motion according to the generated motion trajectory to make itself and the target object The relative position is unchanged.
  • the target electronic device may be any one of a plurality of electronic devices, or may be the one with the strongest computing power among the plurality of electronic devices.
  • the target electronic device needs to detect the movement of the target object, and the other electronic devices do not need to detect the movement of the target object, so that the workload of the electronic device is much less.
  • each electronic device Since each electronic device is stationary relative to the target object, any two electronic devices are relatively stationary, that is, the relative positions of any two electronic devices at any one time remain unchanged.
  • the target electronic device calculates the relative position of each of the remaining electronic devices relative to the target electronic device, which may be detected or calculated in real time, or may be detected or calculated at any time during the motion, or may be started at the target object. Previously detected and calculated, it can also be input by the user.
  • Each of the plurality of electronic devices except the target electronic device generates a motion trajectory according to the first motion trajectory and its relative position with respect to the target electronic device, and performs motion according to the generated motion trajectory.
  • each of the plurality of electronic devices except the target electronic device is stationary with respect to the target electronic device, the target electronic device is stationary with respect to the target object, and therefore, each of the plurality of electronic devices is stationary with respect to the target object.
  • a plurality of electronic devices are self-organized to communicate with each other to realize coordinated motion, and the 3D images are cooperatively followed to form a full-scale 3D image.
  • the target electronic device an electronic device for synthesizing a stereoscopic image
  • the remaining image for assisting the target electronic device to synthesize the stereoscopic image are included in the role involved in the image processing method of the present application.
  • the operations performed by the respective characters in the image processing method of the present application clearer are separately described below.
  • FIG. 4 is a flowchart of an image processing method based on a target electronic device according to an embodiment of the present invention.
  • the image processing method is applied to a target electronic device having a driving device, and the driving device is configured as a target electronic device.
  • the target electronic device Providing a driving force to enable the target electronic device to move according to the movement condition of the target object, wherein the target electronic device further has an image capturing unit, the target electronic device is any one of the plurality of electronic devices, the target electronic device and the target object The relative position between them remains unchanged, and the relative positions of the remaining electronic devices of the plurality of electronic devices except the target electronic device and the target object remain unchanged, and the method includes the following steps:
  • Step S402 the target electronic device acquires a plurality of first images obtained by the plurality of electronic devices capturing the target object from different angles;
  • Step S402 the target electronic device combines the plurality of first images to obtain a stereoscopic image of the target object.
  • the target object is in a moving state
  • the target electronic device can be moved according to the movement condition of the target object
  • the plurality of electronic devices including the target electronic device and the remaining electronic devices adjust the motion of the target object according to the movement condition of the target object.
  • the state keeps itself and the target object relatively stationary, each electronic device shoots the target object from different angles, obtains multiple images, and the target electronic device combines the multiple images to obtain a stereoscopic image of the target object, and solves the problem.
  • the technical problem of the stereoscopic image of the moving object cannot be recorded, and the technical effect of recording the stereoscopic image of the moving object is achieved.
  • the plurality of electronic devices are N electronic devices
  • the target electronic device acquires the plurality of first images obtained by capturing the target objects from different angles by the plurality of electronic devices, including: the target electronic device not only needs to be at an angle relative to the target object The target object is photographed, and the first image obtained by taking the target object with respect to the angle of the target object relative to the target object is also acquired as follows:
  • the target electronic device identifies the target object according to its own image acquisition unit, and the target electronic device captures the target object with the target electronic device at an angle relative to the target object to obtain a first image; the target electronic device acquires according to the manner of multiple electronic devices self-organizing network communication.
  • the remaining electronic devices capture N-1 first images obtained from the target object from different angles, wherein the i-th electronic device recognizes the target object according to the image acquisition unit of the same, and the i-th electronic device captures the target object at the ith angle, a first image, wherein the ith angle is an angle of the i-th electronic device relative to the target object, wherein i sequentially takes 1 to N-1, and the N angles of the plurality of electronic devices relative to the target object are N different from each other. Angle, N is an integer greater than one.
  • the target electronic device may acquire each of the first images.
  • the shooting time after that, the target electronic device synthesizes a plurality of first images of the same shooting time to obtain a stereoscopic image.
  • the synthesized stereoscopic images are unified in time.
  • the target electronic device when the target electronic device combines the plurality of first images having the same shooting time to obtain a stereoscopic image, the background portion in the first image may be removed by the target electronic device.
  • the first image after the background removal is obtained; after that, the target electronic device combines the first images after the background removal with the same shooting time to obtain a stereoscopic image.
  • the method may be implemented in multiple manners: the plurality of electronic devices including the target electronic device and the remaining electronic devices are according to the target The movement of the object moves.
  • multiple electronic devices can respectively obtain the movement of the target object according to the detection of the target object, and then move according to the movement of the target object obtained by itself; or multiple electronic devices
  • An electronic device (target electronic device) in the device determines the movement of the target object according to the detection of the target object by the target electronic device, and then determines the remaining electrons according to the relative position between the target electronic device and the remaining electronic device.
  • the movement trajectory of the device which is then moved by other electronic devices in accordance with the determined movement trajectory.
  • the second method since only the target electronic device needs to detect the motion of the target object, other electronic devices do not need to detect the motion of the target object, so that the workload of the electronic device is greatly increased. less.
  • the foregoing second method may be configured as follows: the target electronic device generates a first motion trajectory according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion trajectory; and the target electronic device calculates multiple electronic devices. a relative position of each of the electronic devices other than the target electronic device relative to the target electronic device; the target electronic device transmits the relative position to the remaining electronic devices of the plurality of electronic devices other than the target electronic device; wherein, the relative position is used for Each of the plurality of electronic devices except the target electronic device generates a motion trajectory in conjunction with the first motion trajectory, and moves according to the generated motion trajectory.
  • the time in an electronic device may or may not be accurate. If the time in the plurality of electronic devices is not synchronized, in the process of synthesizing a plurality of first images having the same shooting time to obtain a stereoscopic image, an error occurs, that is, a plurality of first images having different actual shooting times The image is synthesized to get the wrong image.
  • the target electronic device may acquire the standard time before the target electronic device acquires the plurality of first images obtained by the plurality of electronic devices capturing the target object from different angles; after that, the target electronic device calibrates the plurality of the plurality of units according to the standard time.
  • the time of each electronic device in multiple electronic devices is calibrated using standard time, so that the time in multiple electronic devices is synchronized.
  • FIG. 5 is a structural block diagram of an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • the image processing apparatus is applied to a target electronic device having a driving device, and the driving device is configured as a target electronic device.
  • the target electronic device is any one of the plurality of electronic devices, and between the target electronic device and the target object
  • the relative position of the electronic device remains unchanged from the target electronic device, and the device includes: the first obtaining unit 52 and the first synthesizing unit 54. The device will be described below.
  • the first obtaining unit 52 is configured to acquire a plurality of first images obtained by the plurality of electronic devices capturing the target object from different angles; the first synthesizing unit 54 is connected to the first acquiring unit 52, and is configured to set the plurality of first images The synthesis is performed to obtain a stereoscopic image of the target object.
  • FIG. 6 is a structural block diagram of a first acquiring unit 52 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • the first acquiring unit 52 includes a first shooting subunit 62 and a first acquiring unit.
  • the subunit 64 wherein the plurality of electronic devices are N electronic devices, the first obtaining unit 52 will be described below.
  • the first photographing sub-unit 62 is configured to recognize the target object according to the image acquisition unit of the object, and the target electronic device photographs the target object at an angle of the target electronic device with respect to the target object to obtain a first image;
  • the first acquisition sub-unit 64 is configured according to The plurality of electronic devices are configured to communicate with each other by the network, and obtain the N-1 first images obtained by the remaining electronic devices from the different angles, wherein the i-th electronic device in the remaining electronic devices includes: the i-th recognition sub-unit And being disposed on the i-th electronic device, configured to identify the target object according to the image capturing unit of the i-th electronic device; the i-th shooting sub-unit is disposed on the i-th electronic device, and is set to photograph the target object at the ith angle Obtaining a first image, wherein the ith angle is an angle of the i-th electronic device relative to the target object, wherein i takes 1 to N-1 in sequence, and the N angles of the plurality of electronic devices relative to
  • FIG. 7 is a structural block diagram of a first synthesizing unit 54 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • the first synthesizing unit 54 includes: a second acquiring subunit 72 and a first The synthesis subunit 74 will be described below with respect to the first synthesis unit 54.
  • the second obtaining sub-unit 72 is configured to acquire a shooting time of each first image; the first combining sub-unit 74 is connected to the second acquiring sub-unit 72, and is configured to synthesize the plurality of first images with the same shooting time , to get a stereo image.
  • FIG. 8 is a structural block diagram of a first synthesizing subunit 74 in a first synthesizing unit 54 in an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • the first synthesizing subunit 74 includes: A removal module 82 and a first synthesis module 84 are described below for the first synthesis subunit 74.
  • the first removing module 82 is configured to remove the background portion in the first image to obtain a first image after the background removal; the first combining module 84 is connected to the first removing module 82, and is configured to set a plurality of times with the same shooting time. The first image after the background removal is combined to obtain a stereoscopic image.
  • FIG. 9 is a block diagram of a preferred structure of an image processing apparatus on a target electronic device side according to an embodiment of the present invention.
  • the apparatus includes, in addition to all the structures shown in FIG. 5, a generating unit 92, which is calculated.
  • Unit 94 and first transmitting unit 96, the preferred structure will be described below.
  • the generating unit 92 is disposed on the target electronic device in the plurality of electronic devices, and is configured to generate a first motion track according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion track; and the calculating unit 94 is configured to be
  • the target electronic device is configured to calculate a relative position of each of the plurality of electronic devices except the target electronic device with respect to the target electronic device;
  • the first sending unit 96 is connected to the generating unit 92, the calculating unit 94, and
  • the first obtaining unit 52 is disposed on the target electronic device, and is configured to send the relative position to the remaining electronic devices of the plurality of electronic devices except the target electronic device, wherein each of the plurality of electronic devices except the target electronic device
  • the control unit is provided on the electronic device, and the relative positions of each of the plurality of electronic devices except the target electronic device relative to the target electronic device are used by the control unit to generate a motion track in combination with the first motion track, and control multiple electronic devices.
  • FIG. 10 is a block diagram of a preferred structure of an image processing apparatus on a target electronic device side according to an embodiment of the present invention. As shown in FIG. 10, the apparatus includes: second acquisition unit 102, in addition to all the structures shown in FIG. And the first calibration unit 104, the preferred structure will be described below.
  • the second obtaining unit 102 is configured to acquire a standard time before the first acquiring unit acquires the moving condition of the target object obtained by the electronic device detecting the target object; the first calibration unit 104 is connected to the second acquiring unit 102, and is configured to be configured according to Standard time to calibrate each electronic device in multiple electronic devices.
  • FIG. 11 is a flowchart of an image processing method based on remaining electronic devices according to an embodiment of the present invention.
  • the image processing method is applied to other electronic devices having a driving device, and the remaining electronic devices are multiple electronic devices.
  • the driving device is configured to provide a driving force for the remaining electronic devices to enable the remaining electronic devices to move according to the moving condition of the target object, wherein the remaining electronic devices further have an image capturing unit, and the remaining electronic devices
  • the relative position with the target object remains unchanged, and the relative position between the target electronic device and the target object remains unchanged.
  • the method includes:
  • Step S1102 the remaining electronic devices photograph the target object at an angle of the remaining electronic device with respect to the target object to obtain a first image
  • Step S1104 The remaining electronic device sends the obtained first image to the target electronic device, so that the target electronic device synthesizes the stereoscopic image of the target object according to at least the first image, so that the target electronic device synthesizes the stereoscopic target object according to at least the first image. image.
  • the stereoscopic image of the target electronic device at least according to the first image synthesis target object refers to the first image captured by the target electronic device according to the first electronic image transmitted by the target electronic device.
  • the image is synthesized into a stereoscopic image of the target object, for example, the first image is used by the target electronic device to combine the first image obtained by capturing the target object with an angle between each of the plurality of electronic devices except the remaining electronic devices and the target object.
  • a stereoscopic image of a synthetic target object A stereoscopic image of a synthetic target object.
  • each of the plurality of electronic devices respectively maintains a relative position unchanged from the target object, and the remaining electronic devices capture the target object at an angle of the remaining electronic device with respect to the target object to obtain the first image
  • the remaining electronic devices receive the relative positions of the remaining electronic devices sent by the target electronic device with respect to the target electronic device;
  • the remaining electronic devices generate a motion trajectory according to the first motion trajectory and the relative position; and in the case that the remaining electronic devices move according to the generated motion trajectory, the target image is captured by the remaining electronic device at an angle relative to the target object to obtain a first image.
  • the shooting time of the shooting target object may be recorded by the remaining electronic devices, for example, the remaining electronic devices record the remaining electronic devices to shoot at the angle of the remaining electronic devices relative to the target object.
  • the shooting time of the target object wherein the shooting time is used for the stereoscopic image of the target electronic device to synthesize the target object.
  • the time of each of the remaining electronic devices is synchronized before the remaining electronic devices capture the target object, for example, when the remaining electronic devices shoot the target object at an angle relative to the target object of the remaining electronic devices.
  • the remaining electronic devices acquire the standard time; the remaining electronic devices calibrate the time of the remaining electronic devices according to the standard time.
  • the remaining electronic device transmits the obtained first image to the target electronic device: the background portion in the obtained first image is removed by the remaining electronic device, The first image after the background is removed; after that, the first image after the background removal is sent by the remaining electronic devices to the target electronic device.
  • FIG. 12 is a structural block diagram of an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention.
  • the image processing apparatus is applied to other electronic devices having a driving device, and the remaining electronic devices are multiple electronic devices.
  • An electronic device other than the target electronic device in the device, the driving device is configured to provide a driving force for the remaining electronic device to enable the remaining electronic device to move according to the moving condition of the target object, wherein the remaining electronic device further has an image collecting unit, and the remaining electronic
  • the relative position between the device and the target object remains unchanged, and the relative position between the target electronic device and the target object remains unchanged.
  • the device includes a photographing unit 122 and a second transmitting unit 124, which will be described below.
  • the photographing unit 122 is configured to photograph the target object with the angle of the remaining electronic device relative to the target object to obtain a first image; the second sending unit 124 is connected to the photographing unit 122, and is configured to send the obtained first image to the target electronic device. So that the target electronic device synthesizes the stereoscopic image of the target object based on at least the first image.
  • FIG. 13 is a block diagram showing a preferred structure of a photographing unit 122 in an image processing apparatus based on the remaining electronic devices.
  • the photographing unit 122 includes a first receiving module 132 and a second receiving module 134.
  • the generating module 136 and the photographing module 138 are described below, and the photographing unit 122 will be described below.
  • the first receiving module 132 is configured to receive the first motion trajectory, wherein the first motion trajectory is generated by the target electronic device according to the movement condition of the target object;
  • the second receiving module 134 is connected to the first receiving module 132, and is configured.
  • a generating module 136 connected to the second receiving module 134, configured to generate a motion trajectory according to the first motion trajectory and the relative position;
  • the shooting module 138 is configured to receive the relative position of the remaining electronic device sent by the target electronic device relative to the target electronic device; And connected to the generating module 136, configured to capture the target object at an angle of the remaining electronic device relative to the target object to obtain the first image in the case of moving according to the generated motion trajectory.
  • FIG. 14 is a block diagram showing a preferred structure of an image processing apparatus based on the remaining electronic devices according to an embodiment of the present invention.
  • the preferred structure includes: a recording unit 142 in addition to all the structures shown in FIG.
  • the recording unit 142 will be described below.
  • the recording unit 142 is configured to record the shooting time of the remaining electronic device to capture the target object at an angle of the remaining electronic device with respect to the target object, wherein the shooting time is used for the target electronic device to synthesize the stereoscopic image of the target object.
  • FIG. 15 is a block diagram of a preferred structure of an image processing apparatus based on remaining electronic devices according to an embodiment of the present invention. As shown in FIG. 15, the preferred structure includes: a third acquisition unit in addition to all the structures shown in FIG. 152 and second calibration unit 154, the preferred results are described below.
  • the third obtaining unit 152 is configured to acquire a standard time before the remaining electronic device photographs the target object at an angle relative to the target object to obtain the first image; the second calibration unit 154 is connected to the third acquiring unit 152 and The photographing unit 122 is configured to calibrate the time of the remaining electronic devices according to the standard time.
  • the second transmitting unit 124 includes: a second removing module 162 and a transmitting module, according to an embodiment of the present invention. 164.
  • the second transmitting unit 124 will be described below.
  • the second removing module 162 is configured to remove the background portion in the obtained first image to obtain a first image after the background removal, and the sending module 164 is connected to the second removing module 162 for removing the background. The image is sent to the target electronic device.
  • FIG. 17 is a flowchart of an image processing method of a system based on a target electronic device and remaining electronic devices, as shown in FIG. 17, which is applied to a system including a plurality of electronic devices having a driving device, according to an embodiment of the present invention
  • the driving device is configured to provide a driving force for the plurality of electronic devices to enable the plurality of electronic devices to move according to the movement condition of the target object, wherein the plurality of electronic devices further have an image capturing unit, and the plurality of electronic devices include: the target electronic device and the The remaining electronic devices other than the target electronic device, the target electronic device is any one of the plurality of electronic devices, and the relative positions between the plurality of target electronic devices and the target object remain unchanged, and the method includes:
  • Step S1702 The target electronic device photographs the target object at an angle of the target electronic device with respect to the target object to obtain a first image.
  • Step S1704 the remaining electronic devices capture the target object with the angle of the remaining electronic device relative to the target object to obtain the first image, and send the first electronic image of the remaining electronic device to obtain the first image to the target electronic device;
  • Step S1706 The target electronic device combines the plurality of first images obtained by capturing the target objects from different angles by the plurality of electronic devices to obtain a stereoscopic image of the target object.
  • the method further includes: the target electronic device records the target electronic device relative to the target The angle of the object captures the shooting time of the target object; the remaining electronic devices record the shooting time of the target object with the angle of the remaining electronic device relative to the target object; the target electronic device takes multiple electronic devices to capture the target object from different angles.
  • the image is synthesized, and the stereoscopic image of the target object is obtained: the target electronic device combines the plurality of first images with the same shooting time of the plurality of electronic devices to obtain a stereoscopic image of the target object.
  • the target electronic device and the remaining electronic devices respectively remove the background portion in the respective first images to obtain the first image after the background removal, or the target electronic device removes the background portion in the first image captured by the plurality of electronic devices.
  • Obtaining a first image after the background is removed; the target electronic device synthesizes the plurality of first images with the same shooting time of the plurality of electronic devices, and obtaining the stereoscopic image of the target object comprises: removing, by the target electronic device, the plurality of backgrounds with the same shooting time The subsequent first image is synthesized to obtain a stereoscopic image.
  • the target electronic device photographs the target object at an angle of the target electronic device relative to the target object to obtain a first image
  • the remaining electronic device photographs the target object at an angle relative to the target object with respect to the target object to obtain the first image
  • the target electronic device generates a first motion trajectory according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion trajectory; and the target electronic device calculates each of the plurality of electronic devices except the target electronic device.
  • the target electronic device Relative to the target electronic device; the target electronic device transmits the relative position to the remaining electronic devices of the plurality of electronic devices except the target electronic device; each of the plurality of electronic devices except the target electronic device is according to the first
  • the motion trajectory and its relative position relative to the target electronic device generate motion trajectories and move according to the generated motion trajectory.
  • the target electronic device photographs the target object at an angle of the target electronic device relative to the target object to obtain a first image
  • the remaining electronic device photographs the target object at an angle relative to the target object with respect to the target object to obtain the first image
  • the method includes: the target electronic device and/or the remaining electronic device acquires a standard time; and the target electronic device and/or the remaining electronic device calibrate the time of each of the plurality of electronic devices according to the standard time.
  • the image processing system 180 includes a plurality of electronic devices including a driving device, and the driving device is configured to provide driving power for a plurality of electronic devices.
  • the plurality of electronic devices including: the target electronic device 182 and the remaining electronic devices 184 other than the target electronic, the target The electronic device is any one of the plurality of electronic devices, and the relative position between the plurality of target electronic devices and the target object remains unchanged, wherein the target electronic device is set to shoot at an angle of the target electronic device relative to the target object.
  • the target object obtains the first image;
  • the remaining electronic device is configured to take the first image by taking the target object at an angle of the remaining electronic device relative to the target object, and send the first electronic image to the target electronic device by the remaining electronic device;
  • Target electronic device also set to never use multiple electronic devices
  • the plurality of first images obtained by shooting the target object at the same angle are combined to obtain a stereoscopic image of the target object.
  • the target electronic device is further configured to combine the plurality of first images obtained by the target electronic device to capture the target object from different angles to obtain a stereoscopic image of the target object, and record the target electronic device relative to the target electronic device.
  • the angle of the target object captures the shooting time of the target object; the remaining electronic devices record the shooting time of the target object with the angle of the remaining electronic device relative to the target object; the target electronic device is also set to capture the target object from different angles of the electronic device.
  • the plurality of first images are combined to obtain a stereoscopic image of the target object, and the target electronic device combines the plurality of first images of the plurality of electronic devices with the same shooting time to obtain a stereoscopic image of the target object.
  • the target electronic device and the remaining electronic devices are further configured to respectively remove the background portion in the respective first images to obtain the first image after the background removal, or the target electronic device is further configured to remove multiple electronic devices.
  • the background image in the first image is obtained as a first image after the background is removed; the target electronic device is further configured to combine the plurality of first images with the same shooting time of the plurality of electronic devices, and obtaining the stereoscopic image of the target object includes: The target electronic device combines the first images after the plurality of backgrounds with the same shooting time to obtain a stereoscopic image.
  • the target electronic device is further configured to: at the target electronic device, photograph the target object at an angle of the target electronic device relative to the target object to obtain a first image, and the remaining electronic device photographs the target object at an angle of the remaining electronic device relative to the target object.
  • the first motion trajectory is generated according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion trajectory; and the target electronic device is further configured to calculate a plurality of electronic devices other than the target electronic device.
  • the relative position of each of the remaining electronic devices relative to the target electronic device; the target electronic device is further configured to transmit the relative position to the remaining electronic devices other than the target electronic device among the plurality of electronic devices; and the target electronic device among the plurality of electronic devices
  • Each of the electronic devices other than the electronic device is further configured to generate a motion trajectory according to the first motion trajectory and its relative position with respect to the target electronic device, and perform motion according to the generated motion trajectory.
  • the target electronic device and/or the remaining electronic device are further configured to: at the target electronic device, capture the target object at an angle of the target electronic device relative to the target object, to obtain a first image, and the remaining electronic devices with respect to the remaining electronic device The angle of the object is taken before the first object is obtained to obtain the standard time; the target electronic device and/or the remaining electronic device are also set to calibrate the time of each of the plurality of electronic devices according to the standard time.
  • a storage medium is further provided, where the storage medium includes a stored program, wherein the device in which the storage medium is located controls the image processing method of any one of the above items when the program is running.
  • Also provided in the embodiment of the present invention is a processor for running a program, wherein the image processing method of any one of the above is executed when the program is running.
  • Positioning and adjusting orientations include, but are not limited to, the use of vision, ultrasound, microwave, and the like.
  • User triggering or any other means allows the robot combination to turn on full 3D image recording.
  • the robot visually recognizes the subject through binocular vision and communicates with each other in conjunction with its own position to confirm the subject and confirm the relative position of the subject and the robot.
  • each robot visually recognizes the subject from the current binocular, removes the background, and retains information such as recording time.
  • the object movement is sensed by binocular vision, and the positional change between the object and the robot is calculated.
  • the robot keeps the relative position with the subject as much as possible by autonomous movement.
  • Multiple robots calibrate the captured images by recording time and synthesize a full range of 3D images (stereo images).
  • a plurality of robots are connected to each other through a network or other means to exchange information, and signaling is transmitted between the robots so that they can work together to generate a full 3D image at different angles at the same time.
  • the azimuth image realizes multi-robot collaborative omnidirectional dynamic 3D image recording.
  • an image processing apparatus is also provided.
  • the image processing apparatus can execute the image processing method described above, and the image processing method can be implemented by the image processing apparatus.
  • the image processing apparatus should be provided as an electronic device having a driving device configured to provide a driving force for the electronic device to enable the electronic device to move, and the electronic device further has an image capturing unit.
  • the apparatus includes: a fourth acquisition unit 10, a fifth acquisition unit 20, and a second synthesis unit 30.
  • the fourth acquiring unit 10 is configured to acquire a movement condition of the target object obtained by the electronic device detecting the target object, wherein the plurality of electronic devices perform motion according to the movement condition of the target object to maintain the relationship between each of the plurality of electronic devices and the target object. The relative position is unchanged.
  • the fifth obtaining unit 20 is configured to acquire a first image obtained by capturing, by the plurality of electronic devices, the target object from different angles, to obtain a plurality of first images.
  • the second synthesizing unit 30 is configured to combine the plurality of first images to obtain a stereoscopic image of the target object.
  • the plurality of electronic devices are N electronic devices
  • the fifth obtaining unit 20 includes N identification subunits and N shooting subunits.
  • the N identification subunits are the first identification subunit to the Nth identification subunit, respectively.
  • the N shooting subunits are the first to Nth shooting subunits, respectively.
  • the i-th recognition sub-unit is disposed on the i-th electronic device and configured to recognize the target object according to the image acquisition unit of the i-th electronic device.
  • the i-th shooting sub-unit is disposed on the i-th electronic device, and is configured to photograph the target object at the ith angle to obtain a first image, wherein the ith angle is an angle of the i-th electronic device relative to the target object, wherein, i Taking 1 to N in order, the first angle to the Nth angle are N different angles, and N is an integer greater than 1.
  • the second synthesizing unit 30 includes: a third acquiring subunit and a second synthesizing subunit.
  • the third acquisition subunit is configured to acquire a shooting time of each of the first images.
  • the second synthesizing subunit is configured to synthesize a plurality of first images having the same shooting time to obtain a stereoscopic image.
  • the second synthesis subunit includes: a third removal module and a second synthesis module.
  • the third removing module is configured to remove the background portion in the first image to obtain a first image after the background is removed.
  • the second synthesizing module is configured to synthesize the first images after the plurality of backgrounds with the same shooting time are combined to obtain a stereoscopic image.
  • the fourth obtaining unit includes: a generating subunit, a calculating subunit, a sending subunit, and a control subunit.
  • the generating subunit is disposed on the target electronic device in the plurality of electronic devices, and is configured to generate a first motion trajectory according to the movement condition of the target object, wherein the target electronic device performs motion according to the first motion trajectory.
  • the calculating subunit is disposed on the target electronic device and configured to calculate a relative position of each of the plurality of electronic devices except the target electronic device with respect to the target electronic device.
  • the transmitting subunit is set on the target electronic device and is set to transmit the relative position to the remaining electronic devices of the plurality of electronic devices except the target electronic device.
  • control subunit configured on each of the plurality of electronic devices except the target electronic device, configured to be based on the first motion trajectory and each of the plurality of electronic devices except the target electronic device relative to the target electronic device
  • the relative position of the device generates a motion trajectory, and controls each electronic device of the plurality of electronic devices except the target electronic device to move according to the generated motion trajectory.
  • the device further includes: a sixth obtaining unit and a third calibration unit.
  • the sixth obtaining unit is configured to acquire the standard time before the fourth acquiring unit 10 acquires the movement condition of the target object obtained by the electronic device detecting the target object.
  • the third calibration unit is configured to calibrate the time of each of the plurality of electronic devices according to the standard time.
  • the disclosed technical contents may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit may be a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Image Processing (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de traitement d'image. Le procédé consiste à : obtenir une condition de mouvement d'un objet cible, obtenue lorsque des dispositifs électroniques détectent un objet cible, la pluralité de dispositifs électroniques se déplaçant selon la condition de mouvement de l'objet cible, de sorte que les positions relatives entre la pluralité de dispositifs électroniques et l'objet cible ne changent pas ; obtenir des premières images obtenues lorsque la pluralité de dispositifs électroniques capture l'objet cible selon différents angles, de sorte à obtenir une pluralité de premières images ; et fusionner la pluralité de premières images afin d'obtenir une image stéréo de l'objet cible. La présente invention résout le problème technique lié, dans l'état de la technique, à l'impossibilité d'enregistrer une image stéréo d'un objet en mouvement.
PCT/CN2017/117151 2016-12-19 2017-12-19 Procédé et dispositif de traitement d'image WO2018113657A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611178830.9A CN108616702B (zh) 2016-12-19 2016-12-19 图像处理方法和装置
CN201611178830.9 2016-12-19

Publications (1)

Publication Number Publication Date
WO2018113657A1 true WO2018113657A1 (fr) 2018-06-28

Family

ID=62624532

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/117151 WO2018113657A1 (fr) 2016-12-19 2017-12-19 Procédé et dispositif de traitement d'image

Country Status (2)

Country Link
CN (1) CN108616702B (fr)
WO (1) WO2018113657A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022127609A1 (fr) * 2020-12-15 2022-06-23 华为技术有限公司 Procédé de traitement d'image et dispositif électronique

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1647114A (zh) * 2002-02-27 2005-07-27 杰奥·莱有限公司 用于显示立体图像的方法和系统
CN102289145A (zh) * 2011-06-30 2011-12-21 浙江工业大学 基于3d全景视觉的智能三维立体摄像设备
CN102665087A (zh) * 2012-04-24 2012-09-12 浙江工业大学 3d立体摄像设备的拍摄参数自动调整系统
CN102903090A (zh) * 2012-01-20 2013-01-30 李文松 全景立体图像合成方法、装置、系统和浏览装置
CN106162150A (zh) * 2016-09-30 2016-11-23 维沃移动通信有限公司 一种拍照方法及移动终端

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100445799B1 (ko) * 2001-10-30 2004-08-25 거래주식회사 영상의 디스플레이 방법 및 장치
CN100551048C (zh) * 2006-12-15 2009-10-14 上海元朔信息科技有限公司 基于立体视频动态跟踪的多摄像机监控系统及其跟踪方法
CN104751164A (zh) * 2013-12-30 2015-07-01 鸿富锦精密工业(武汉)有限公司 物体运动轨迹捕捉方法及系统
CN105245846A (zh) * 2015-10-12 2016-01-13 西安斯凯智能科技有限公司 一种多无人机协同跟踪的拍摄系统及拍摄方法
CN105892668B (zh) * 2016-04-01 2019-04-02 纳恩博（北京）科技有限公司 设备控制方法和装置
CN105915784A (zh) * 2016-04-01 2016-08-31 纳恩博（北京）科技有限公司 信息处理方法和装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1647114A (zh) * 2002-02-27 2005-07-27 杰奥·莱有限公司 用于显示立体图像的方法和系统
CN102289145A (zh) * 2011-06-30 2011-12-21 浙江工业大学 基于3d全景视觉的智能三维立体摄像设备
CN102903090A (zh) * 2012-01-20 2013-01-30 李文松 全景立体图像合成方法、装置、系统和浏览装置
CN102665087A (zh) * 2012-04-24 2012-09-12 浙江工业大学 3d立体摄像设备的拍摄参数自动调整系统
CN106162150A (zh) * 2016-09-30 2016-11-23 维沃移动通信有限公司 一种拍照方法及移动终端

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022127609A1 (fr) * 2020-12-15 2022-06-23 华为技术有限公司 Procédé de traitement d'image et dispositif électronique

Also Published As

Publication number Publication date
CN108616702A (zh) 2018-10-02
CN108616702B (zh) 2021-02-12

Similar Documents

Publication Publication Date Title
JP4160572B2 (ja) 画像処理装置及び画像処理方法
CN114527872B (zh) 虚拟现实交互系统、方法及计算机存储介质
KR102105189B1 (ko) 관심 객체 추적을 위한 다중 카메라 동적 선택 장치 및 방법
CN107471218B (zh) 一种基于多目视觉的双臂机器人手眼协调方法
CN110849367A (zh) 基于融合uwb的视觉slam的室内定位与导航的方法
WO2017057054A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations et programme
WO2017166725A1 (fr) Procédé de commande photographique, dispositif, et système
WO2017087398A1 (fr) Facilitation de positionnement de robot
CN110728739B (zh) 一种基于视频流的虚拟人控制与交互方法
JP3732335B2 (ja) 画像入力装置及び画像入力方法
CN103686131A (zh) 使用图像的3d信息的监控设备和系统以及监控方法
KR20160020065A (ko) 트랙킹 시스템 및 이를 이용한 트랙킹 방법
JP2021513175A (ja) データ処理方法及び装置、電子機器並びに記憶媒体
KR102084252B1 (ko) 단일 카메라 영상을 이용하여 초기 3차원 궤적 및 속도를 동시에 복원하는 시스템 및 그 방법
JP2007319938A (ja) ロボット装置及び物体の三次元形状の取得方法
KR20160077684A (ko) 객체 추적 장치 및 방법
CN110991306B (zh) 自适应的宽视场高分辨率智能传感方法和系统
CN110751685A (zh) 深度信息确定方法、确定装置、电子装置和车辆
WO2018113657A1 (fr) Procédé et dispositif de traitement d'image
JP2018038087A5 (fr)
Nguyen et al. Real-time obstacle detection for an autonomous wheelchair using stereoscopic cameras
Checka et al. Person tracking using audio-video sensor fusion
CN112291701B (zh) 定位验证方法、装置、机器人、外部设备和存储介质
WO2017166081A1 (fr) Procédé et dispositif d'enregistrement d'image pour terminal, et terminal
KR20140134505A (ko) 영상 객체 추적 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17884813

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17884813

Country of ref document: EP

Kind code of ref document: A1