WO2019127005A1

WO2019127005A1 - Image processing method and device, and machine readable storage medium

Info

Publication number: WO2019127005A1
Application number: PCT/CN2017/118592
Authority: WO
Inventors: 孙旭斌
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-26
Filing date: 2017-12-26
Publication date: 2019-07-04
Also published as: CN109076157A; CN109076157B

Abstract

Provided in embodiments of the present invention are an image processing method and device, and a machine readable storage medium. In an embodiment of the present application, by means of controlling an imaging device to capture images under the premise of the jitter speed being approximately zero, limiting the exposure time of each captured image to be less than the jitter period, and merging the plurality of images so as to generate an output image, finally an output image may be generated that is clearer, has less noise and is nearly unaffected by the jitter of the imaging device. Thus, even though the imaging device jitters, the imaging device may also capture images that are clearer, have less noise and are nearly unaffected by the jitter. Also in the described method, it is not necessary to stop an imaging device from jittering by means of a hardware anti-jitter method, as the effect may be actualized by means of software, which compared to hardware anti-jittering, is capable of preventing defects that are caused by hardware anti-jittering, such as an increase in the volume, costs and energy consumption of the imaging device.

Description

Image processing method, device and machine readable storage medium

Technical field

Embodiments of the present invention relate to image processing techniques, and more particularly to image processing methods, apparatus, and machine readable storage media.

Background technique

An imaging device, such as a digital camera, a digital video camera, or the like, often blurs an image that is captured due to jitter when capturing an image. Here, there are many factors that cause the imaging device to shake, such as a carrier carrying the imaging device (for example, a drone), and the like.

At present, in order to ensure that the image captured by the imaging device is clear and free from jitter, the anti-shake method is often used to prevent the imaging device from shaking. However, hardware anti-shake methods typically require additional hardware, which increases the size, cost, and energy consumption of the imaging device.

Summary of the invention

Embodiments of the present invention disclose an image processing method, apparatus, and machine readable storage medium to generate a clear image that is not affected by jitter by means of multi-frame image fusion.

An aspect of an embodiment of the present invention provides an image processing method including: acquiring a jitter parameter; capturing a plurality of images according to the jitter parameter; fusing the plurality of images to generate an output image; the jitter parameter including at least the imaging device Jitter period, jitter speed.

An aspect of an embodiment of the present invention provides an imaging apparatus, including: a processor, configured to acquire a jitter parameter, and capture a plurality of images according to the jitter parameter; a memory for storing the plurality of images; And merging the plurality of images to generate an output image; the jitter parameter includes at least a jitter period and a jitter speed of the imaging device.

An aspect of an embodiment of the present invention provides a machine readable storage medium having stored thereon a plurality of computer instructions, the computer instructions being executed to perform processing of acquiring a jitter parameter according to the jitter parameter Taking a plurality of images; fusing the plurality of images to generate an output image; the jitter parameters including at least a jitter period and a jitter speed of the imaging device.

In summary, in the embodiment of the present invention, by controlling the imaging device to capture an image under the premise that the shaking speed is substantially zero, and limiting the exposure time of each image captured is smaller than the shaking period, and fusing the plurality of images to generate an output. The image, in the end, produces an output image that is sharper, less noisy, and hardly affected by the jitter of the imaging device. This allows the imaging device to capture sharper, less noisy, and less jitter-free even if the imaging device is shaken. The affected image, and the method does not need to prevent the imaging device from shaking by the hardware anti-shake method, and can be realized by software, and can avoid the defects caused by the hardware anti-shake, such as increasing the volume, cost and energy consumption of the imaging device, compared with the hardware anti-shake. Wait.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a flowchart of an image processing method according to Embodiment 1 of the present invention;

2 is a schematic diagram of a jitter curve according to an embodiment of the present invention;

3 is a flowchart of an image processing method according to Embodiment 2 of the present invention;

4 is a flowchart of an image processing method according to Embodiment 3 of the present invention;

FIG. 5 is a structural diagram of an image forming apparatus according to Embodiment 4 of the present invention; FIG.

6 is a detailed structural diagram of an image forming apparatus according to Embodiment 5 of the present invention;

FIG. 7 is a structural diagram of another imaging apparatus according to Embodiment 5 of the present invention; FIG.

FIG. 8 is a structural diagram of another imaging device according to an embodiment of the present invention; FIG.

FIG. 9 is a structural diagram of a drone equipped with an image forming apparatus according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention.

However, the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it can be directly on another component or

There can be a centered component. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

Unless otherwise defined, all technical and scientific terms used herein and those skilled in the art of the invention

Members usually understand the same meaning. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the case of no conflict, the following implementation

The features in the examples and embodiments may be combined with each other.

Embodiment 1:

Embodiments of the present invention provide an image processing method. Referring to FIG. 1, FIG. 1 is an image processing method according to an embodiment of the present invention.

Flow chart. This process is applied to an imaging device. As an embodiment, the imaging devices herein include, but are not limited to, digital cameras, digital cameras, and the like.

As shown in FIG. 1, the method in this embodiment may include the following steps:

In step 101, a jitter parameter is obtained.

In the application, whether the carrier carrying the imaging device, such as a drone, causes the imaging device to shake, or other factors such as the shaking of the imaging device by the user operating the imaging device, the jitter of the imaging device can be represented by a jitter curve. . Fig. 2 shows a schematic diagram of a jitter curve of an image forming apparatus. Based on the jitter curve shown in FIG. 2, it can be known that the maximum jitter amplitude (ie, the peak, such as point a in FIG. 2) and the minimum jitter amplitude (ie, the valley, such as point b in FIG. 2) of the imaging device at each jitter. The jitter speed is the smallest, and the image captured by the imaging device is almost unaffected by the jitter at the minimum jitter speed, and the image taken at this time is clear. Based on this, in the embodiment of the present invention, a clear image is captured on the premise that the imaging device is shaken, and the jitter is obtained when the jitter speed of each jitter is minimized, so that the jitter parameter acquired in the step 101 can at least include: the imaging device. Jitter period, jitter speed. Thereafter, the imaging device can capture an image based on the acquired jitter parameters (including at least the jitter period of the imaging device, the jitter speed), as described in step 102 below.

Step 102: Capture a plurality of images according to the jitter parameter.

The capturing of the plurality of images according to the shaking parameters may include: capturing at least one of the plurality of images when the obtained shaking speed is substantially zero, in the step 102. An image.

In an example, the above-mentioned jitter speed is substantially zero, which means that the error between the obtained jitter speed and zero is less than the set value, and the set value here can be specifically set according to actual needs.

The exposure time also affects the sharpness of the image captured by the imaging device on the premise that the imaging device is shaken. Here, the exposure time is a time for the light to be projected onto the photosensitive surface of the photosensitive material of the image forming apparatus, and the shutter is to be opened. In order to realize a clear image of the imaging device under the premise that the imaging device is shaken, a preferred implementation manner is to set the exposure time of at least one of the plurality of images captured by the imaging device to be smaller than the acquired jitter period. This image is sharper when the exposure time of the image is less than the jitter period and the image is taken at a jitter speed of approximately zero. The following is an example in which the exposure time in each of the captured images is smaller than the obtained jitter period.

Step 103, fusing the plurality of images to generate an output image.

As described in the above step 102, although the plurality of images are taken by the imaging device on the premise that the shaking speed is substantially zero, and the exposure time of each of the captured images is smaller than the jitter period, the image is relatively clear and the noise is relatively small, however, In one example, the step 103 combines the plurality of images by means of multi-frame fusion to finally generate a clearer, less noisy output image. Here, the exposure time of the finally generated output image corresponds to the sum of the exposure times of the plurality of images. In addition, based on the description that the plurality of images are taken when the imaging device is at a substantially zero jitter speed, in the embodiment of the present invention, the output image generated in step 103 is also equivalent to that the imaging device captures when the jitter speed is substantially zero. .

It can be seen from the above steps 101 to 103 that in the present application, by controlling the imaging device to take an image under the premise that the shaking speed is substantially zero, and limiting the exposure time of each image captured is smaller than the shaking period, and merging the said Multiple images are used to generate an output image, which ultimately produces an output image that is sharper, less noisy, and hardly affected by imaging device shake. This allows the imaging device to capture sharper, more noisy images even if the imaging device is shaken. Small, almost unaffected image, and the method does not need to prevent the imaging device from shaking by the hardware anti-shake method. It can be realized by software. Compared with hardware anti-shake, it can avoid defects caused by hardware anti-shake, such as increasing the imaging device. Volume, cost and energy consumption.

The first embodiment shown in FIG. 1 has been described above.

Embodiment 2:

On the basis of the first embodiment shown in FIG. 1, the second embodiment of the present invention provides another image processing method. FIG. 3 is a flowchart of an image processing method according to Embodiment 2 of the present invention. As shown in FIG. 3, on the basis of the first embodiment shown in FIG. 1, the method in the second embodiment may include the following steps:

In step 301, a jitter parameter is obtained.

This step 301 is similar to step 101 and will not be described again.

Step 302: Capture a plurality of images according to the jitter parameter.

This step 302 is similar to step 102 and will not be described again.

Step 303, intercepting overlapping portions of the plurality of images to generate the output image.

This step 303 is an embodiment specifically implemented in the foregoing step 103.

Specifically, in this step 303, the intercepting the overlapping portion of the multiple images to generate the output image may include: determining the same content from the multiple images, where the same content may be specifically The intersection of the images. Thereafter, the determined content (ie, the intersection portion described above) is intercepted from the plurality of images; the content extracted from the plurality of images is superimposed to generate the output image.

In one example, the superimposing the content extracted from the plurality of images to generate the output image may be: superimposing the content extracted from the plurality of images in order to generate the output. image. The order here may be a sequence of shooting times of the plurality of images.

In another example, the superimposing the content extracted from the plurality of images to generate the output image may be: randomly superimposing the content truncated from the plurality of images to generate the output. image.

Finally, the exposure time of the output image generated in step 303 corresponds to the sum of the exposure times of the plurality of images. It should be noted that, in the embodiment of the present invention, it is further required to further include: receiving a set exposure time. Based on this, in the present invention, after generating the output image, step 303 further includes: comparing the exposure time of the output image with the received set exposure time.

In one example, the exposure time of the output image is equal to the received set exposure time, that is, the exposure time is set to be the sum of the exposure times of the plurality of images.

In another example, the exposure time of the output image is less than the set exposure time received. When the exposure time of the output image is less than the received set exposure time, it indicates that the output image at this time is relatively dark. Based on this, as an embodiment, in order to improve the sharpness of the output image, the embodiment of the present invention can improve the output image. Sensitivity (ISO). Increasing the ISO of the output image enables the output image to be darkened without being exposed for less than the set exposure time. In the embodiment of the present invention, the ISO of the output image is not blindly increased unconditionally. In one example, how many times the exposure time of the output image is shortened compared to the set exposure time is compared, and the ISO of the output image is correspondingly increased by a factor of two.

It should be noted that, in the embodiment of the present invention, the number of the plurality of images (denoted as N) is not unlimited. As an embodiment, the number N of the plurality of images may be set according to a set exposure time. The predetermined exposure time is generally the sum of the exposure times of the N images when the imaging device does not shake, in an ideal state, and based on this, in the embodiment of the present invention, although the N images are images, the imaging device is photographed at a jitter speed of substantially zero. And the exposure time of each image taken is less than the jitter period, but the sum of the exposure times of the finally taken N images (ie, the exposure time of the output image) is less than or equal to the set exposure time, that is, the output image does not appear. The exposure time is greater than the case of the received exposure time. Therefore, the embodiment of the present invention will not be described in detail.

The second embodiment shown in FIG. 3 has been described above.

Embodiment 3:

On the basis of the first embodiment shown in FIG. 1 or the second embodiment shown in FIG. 3, the third embodiment of the present invention provides an image processing method. 4 is a flowchart of an image processing method according to Embodiment 3 of the present invention. As shown in FIG. 4, on the basis of the first embodiment shown in FIG. 1 or the second embodiment shown in FIG. 3, the method in the third embodiment may include the following steps:

Step 401, the present imaging device is provided with an attitude sensor for sensing the posture of the imaging device.

In one example, the attitude sensor can be placed on an imaging device that is relatively heavily affected by jitter. As an embodiment, the component herein may be a lens of an imaging device or an image sensor of the imaging device.

In one example, the attitude sensor referred to in the embodiments of the present invention may include at least one of a gyroscope, an accelerometer, or an inertial measurement unit. The following describes the attitude sensor as an example. In the embodiment of the present invention, the attitude sensor is mainly used to sense the posture of the imaging device. As an embodiment, the posture herein mainly includes: a jitter parameter of the imaging device, an angle when the imaging device captures an image, such as a pitch angle, a roll angle, And yaw angles, etc. The embodiment of the invention mainly relates to the jitter parameter of the imaging device. For details, see step 402 below.

Step 402: Acquire a jitter parameter from an attitude sensor provided in the imaging device.

The attitude sensor based on the above description is mainly used to sense the posture of the imaging device, and the posture here mainly includes: a jitter parameter of the imaging device, an angle when the imaging device takes an image, such as a pitch angle, a roll angle, and a yaw angle. Based on this, in this step 402, it is easy to acquire the jitter parameter from the attitude sensor provided in the present imaging apparatus.

In practical applications, the angular jitter of the imaging device (characterized by angular velocity) has the greatest influence on the sharpness of the image captured by the imaging device. Therefore, in one embodiment, in this step 402, the attitude sensor provided from the imaging device is provided. The obtaining the jitter parameter may specifically include: acquiring an angular velocity of the imaging device from the posture sensor provided in the imaging device, and calculating the jitter parameter according to the angular velocity.

In one example, the jitter parameter calculated according to the angular velocity includes at least: a jitter speed and a jitter period of the present imaging device. In the embodiment of the invention, the angular velocity here is the jitter speed.

Wherein, when the amplitude of the jitter of the imaging device is close to a peak or a trough, the acceleration of the imaging device is maximized, and the angular velocity (ie, the jitter velocity) of the imaging device is substantially zero, that is, the jitter speed of the imaging device is calculated according to the angular velocity of the imaging device. In one example, the acceleration of the imaging device can be measured by an accelerometer or other component used to measure acceleration.

Also, when the acceleration of the imaging device is maximum and the angular velocity of the imaging device is close to zero, it means that the amplitude of the jitter of the imaging device is close to a peak or a trough, which is equivalent to 1/4 cycle, and thus, the time from the minimum to the maximum angular velocity 4 times as a jitter period, that is, calculation of the jitter period of the imaging device according to the angular velocity of the imaging device is achieved. So far, the manner of obtaining the jitter parameter in the first embodiment or the second embodiment is implemented through steps 401 to 402.

In another example, the jitter period of the imaging device is no longer included in the jitter parameter calculated based on the angular velocity. Wherein, the jitter period can be calculated according to the jitter frequency of the imaging device. For example, if the jitter frequency of the imaging device is 10 times of jitter within 1 minute, the imaging device may have a jitter period of 6 seconds. So far, the method of obtaining the jitter parameter according to the jitter frequency of the imaging device and the obtaining the jitter speed of the imaging device in combination with the steps 401 to 402 can also implement the manner of obtaining the jitter parameter in the first embodiment or the second embodiment.

Step 403, taking multiple images according to the jitter parameter.

This step 403 is similar to the foregoing step 102, and can be specifically implemented by the foregoing step 303.

Step 404, fusing the plurality of images to generate an output image.

This step 404 is similar to the above step 103 and will not be described again.

The third embodiment shown in FIG. 4 has been described above.

Embodiment 4:

The fourth embodiment provides a structural view of the image forming apparatus. FIG. 5 is a structural diagram of an image forming apparatus according to Embodiment 4 of the present invention. This device corresponds to the method flow shown in FIG. As shown in FIG. 5, the apparatus can include a processor 501 and a memory 502.

The processor 501 is configured to acquire a jitter parameter, and capture multiple images according to the jitter parameter. Here, as an embodiment, the jitter parameter includes at least a jitter period and a jitter speed of the imaging device. The memory 502 is configured to store the plurality of images. The processor 501 is further configured to fuse the plurality of images to generate an output image.

In the embodiment of the present invention, the processor 501 is specifically configured to: when the jitter speed is substantially zero, capture at least one image of the plurality of images.

In one example, at least one of the plurality of images has an exposure time that is less than the jitter period.

In the embodiment of the present invention, although the plurality of images are taken by the imaging device on the premise that the shaking speed is substantially zero, and the exposure time of each of the captured images is smaller than the jitter period, the image is relatively clear and the noise is relatively small. In one example, the processor 501 can also fuse the plurality of images by multi-frame fusion to finally generate a clearer, less noisy output image. Here, the exposure time of the finally generated output image corresponds to the sum of the exposure times of the plurality of images. In addition, based on the description that the plurality of images are taken when the imaging device is at a substantially zero jitter speed, in the embodiment of the present invention, the output image generated by the processor 501 is also equivalent to that the imaging device shoots when the jitter speed is substantially zero. of.

It can be seen that, in the present application, the processor 501 captures an image under the premise that the shaking speed is substantially zero, and limits the exposure time of each of the captured images to be smaller than the shaking period, and fuses the plurality of images to generate an output image. Finally, it is possible to generate an output image that is clearer, less noisy, and hardly affected by the jitter of the imaging device. This enables the imaging device to capture sharper, less noisy, and almost immune to jitter even if the imaging device is shaken. The image, and the method does not need to prevent the imaging device from shaking by the hardware anti-shake method, and can be realized by software. Compared with hardware anti-shake, it can avoid defects caused by hardware anti-shake, such as increasing the size, cost and energy consumption of the imaging device. .

The fourth embodiment has been described above.

On the basis of the foregoing embodiment 4, corresponding to the second embodiment, the processor 501 fuses the multiple images to generate an output image, which may be: intercepting overlapping portions of the multiple images to generate the output image. Specifically, the processor 501 determines the same content from the plurality of images, where the same content may specifically be an intersection of the plurality of images. Thereafter, the determined content (ie, the intersection portion described above) is intercepted from the plurality of images; the content extracted from the plurality of images is superimposed to generate the output image.

In one example, the processor 501 superimposing the content truncated from the plurality of images to generate the output image may be: superimposing the content extracted from the plurality of images in order to generate a The output image is described. The order here may be a sequence of shooting times of the plurality of images.

In another example, the processor 501 superimposing the content truncated from the plurality of images to generate the output image may be: randomly superimposing the content truncated from the plurality of images to generate a The output image is described.

Finally, the exposure time of the output image generated by the processor 501 is equivalent to the sum of the exposure times of the plurality of images. It should be noted that, in the embodiment of the present invention, it is further required to further include: receiving a set exposure time. Based on this, in the present invention, after generating the output image, the processor 501 further includes: comparing the exposure time of the output image with the received set exposure time.

In another example, the exposure time of the output image is less than the set exposure time received. When the exposure time of the output image is less than the received set exposure time, it indicates that the output image at this time is relatively dark. Based on this, as an embodiment, in order to improve the sharpness of the output image, the embodiment of the present invention can improve the output image. Sensitivity (ISO). Increasing the ISO of the output image enables the output image to be darkened without being exposed for less than the set exposure time. In the embodiment of the present invention, the ISO of the output image is not blindly increased unconditionally. In one example, how many times the exposure time of the output image is shortened compared to the set exposure time is increased, and the ISO of the output image is increased by a factor of two.

It should be noted that, in the embodiment of the present invention, the case where the exposure time of the output image is less than the received exposure time is less likely to occur, and therefore, the embodiment of the present invention will not be described in detail.

Embodiment 5:

On the basis of the fourth embodiment, the imaging device provided in the fifth embodiment further includes: an attitude sensor 503. Specifically, as shown in Figure 6.

In one example, the attitude sensor 503 can include at least one of a gyroscope, an accelerometer, or an inertial measurement unit. In the embodiment of the present invention, the attitude sensor 503 is mainly used to sense the posture of the imaging device. As an embodiment, the posture herein mainly includes: a jitter parameter of the imaging device, and an angle of the imaging device when the image is captured, such as a pitch angle and a roll angle. And yaw angles, etc.

The posture of the imaging device perceived based on the attitude sensor 503 described above includes the jitter parameter of the imaging device, and the processor 501 can easily acquire the jitter parameter from the posture sensor 503.

In an actual application, the angle jitter of the imaging device (represented by the angular velocity) has the greatest influence on the sharpness of the image captured by the imaging device. Therefore, in one embodiment, the processor 501 acquiring the jitter parameter from the posture sensor 503 may specifically include: The angular velocity of the imaging device is acquired from the attitude sensor 503, and the jitter parameter is calculated based on the angular velocity. Here, the jitter parameter calculated according to the angular velocity includes at least: a jitter speed and a jitter period of the present imaging device. In the embodiment of the present invention, how to calculate the jitter speed and the jitter period according to the angular velocity, as described in the fourth embodiment.

In another example, the jitter period of the imaging device is no longer included in the jitter parameter calculated based on the angular velocity. Wherein, the jitter period can be calculated according to the jitter frequency of the imaging device. For example, if the jitter frequency of the imaging device is 10 times of jitter within 1 minute, the imaging device may have a jitter period of 6 seconds.

On the basis of the above, in the embodiment, the imaging device further includes: a lens 504 and an image sensor 505, as shown in FIG. 7 . In one example, the attitude sensor 503 is disposed on the lens 504, and FIG. 7 is exemplified by the attitude sensor 503 being disposed on the lens 504. In another example, attitude sensor 503 is provided on image sensor 504. FIG. 8 is exemplified by the posture sensor 503 being provided on the image sensor 504.

The fifth embodiment has been described above.

It should be noted that, in the embodiment of the present invention, the image forming apparatus shown in FIGS. 5 to 7 can be mounted on a drone. Fig. 9 shows a drone equipped with an image forming apparatus. As shown in Fig. 9, the drone includes a body 901, a power system 902, and an imaging device (labeled 903) as described above.

A power system 902 is mounted to the fuselage for providing flight power. The powertrain 902 includes at least one of the following: a motor 904, a propeller 905, and an electronic governor 906.

The specific principles and implementations of the imaging device are similar to the above embodiments, and are not described herein again.

In addition, as shown in FIG. 9, the drone further includes: a support device 907. The support device 907 may specifically be a pan/tilt head and is equipped with the imaging device 903 as described above.

Example 6:

The sixth embodiment provides a machine readable storage medium on which a plurality of computer instructions are stored, and when the computer instructions are executed, the following processing is performed:

Obtain jitter parameters;

Taking a plurality of images according to the jitter parameter;

Combining the plurality of images to generate an output image;

The jitter parameter includes at least a jitter period and a jitter speed of the imaging device.

In one embodiment, the computer instructions are executed to process at least one of the plurality of images when the dithering speed is substantially zero.

In one embodiment, the exposure time of at least one of the plurality of images is less than the jitter period.

In one embodiment, the computer instructions are executed as follows when executed:

An attitude sensor for sensing the attitude of the imaging device is provided from the imaging device to acquire the jitter parameter.

Obtaining an angular velocity of the imaging device from the attitude sensor;

The jitter parameter is calculated based on the angular velocity.

In one embodiment, the attitude sensor comprises at least one of a gyroscope, an accelerometer, or an inertial measurement unit.

In one embodiment, the attitude sensor is provided on a lens of the imaging device or on an image sensor of the imaging device.

In one embodiment, the computer instructions are also processed as follows when executed:

The jitter period is calculated according to the jitter frequency of the imaging device.

An overlapping portion of the plurality of images is intercepted to generate the output image.

Receiving the set exposure time;

The set exposure time is equal to the sum of exposure times of the plurality of images.

In the embodiment of the present invention, the machine readable storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. A variety of media that can store program code.

The sixth embodiment has been described above.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above. The principles and implementations of the present invention are described in the specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, there will be changes in the specific embodiments and the scope of application according to the idea of the present invention, and the contents of the present specification should not be construed as limiting the present invention. .

Claims

An image processing method is applied to an imaging device, wherein the method comprises:

Obtain jitter parameters;

Taking a plurality of images according to the jitter parameter;

Combining the plurality of images to generate an output image;

The jitter parameter includes at least a jitter period and a jitter speed of the imaging device.
The method according to claim 1, wherein the capturing a plurality of images according to the jitter parameter comprises:

At least one of the plurality of images is captured when the jitter speed is substantially zero.
The method of claim 1 wherein the exposure time of at least one of the plurality of images is less than the jitter period.
The method according to claim 1, wherein said imaging device is provided with an attitude sensor for sensing a posture of said imaging device;

The acquiring jitter parameters includes:

The jitter parameter is obtained from the attitude sensor.
The method according to claim 4, wherein the obtaining the jitter parameter from the attitude sensor comprises:

Obtaining an angular velocity of the imaging device from the attitude sensor;

The jitter parameter is calculated based on the angular velocity.
The method of claim 4 wherein the attitude sensor comprises at least one of a gyroscope, an accelerometer, or an inertial measurement unit.
The method according to claim 4, wherein the attitude sensor is provided on a lens of the imaging device or on an image sensor of the imaging device.
The method of claim 1 further comprising:

The jitter period is calculated according to the jitter frequency of the imaging device.
The method of claim 1 wherein said fusing said plurality of images to generate an output image comprises:

An overlapping portion of the plurality of images is intercepted to generate the output image.
The method of claim 1 further comprising:

Receiving the set exposure time;

The set exposure time is equal to the sum of exposure times of the plurality of images.
An imaging device, characterized in that the imaging device comprises:

a processor, configured to acquire a jitter parameter, and take multiple images according to the jitter parameter;

a memory for storing the plurality of images;

The processor is further configured to fuse the plurality of images to generate an output image;

The jitter parameter includes at least a jitter period and a jitter speed of the imaging device.
The imaging apparatus according to claim 11, wherein the processor is specifically configured to capture at least one of the plurality of images when the shaking speed is substantially zero.
The image forming apparatus according to claim 11, wherein an exposure time of at least one of the plurality of images is smaller than the jitter period.
The image forming apparatus according to claim 11, wherein the image forming apparatus further comprises:

An attitude sensor for sensing a posture of the imaging device;

The processor is specifically configured to:

The jitter parameter is obtained from the attitude sensor.
The image forming apparatus according to claim 14, wherein the processor is specifically configured to:

Obtaining an angular velocity of the imaging device from the attitude sensor;

The jitter parameter is calculated based on the angular velocity.
The imaging apparatus according to claim 14, wherein the attitude sensor comprises at least one of a gyroscope, an accelerometer, or an inertial measurement unit.
The imaging device according to claim 14, wherein the imaging device further comprises: a lens, an image sensor;

The attitude sensor is disposed on the lens or on the image sensor.
The imaging apparatus according to claim 11, wherein said processor is further configured to calculate said jitter period based on a jitter frequency of said imaging device.
The image forming apparatus according to claim 11, wherein the processor is specifically configured to:

An overlapping portion of the plurality of images is intercepted to generate the output image.
The image forming apparatus according to claim 11, wherein said memory is further configured to store the received set exposure time;

The set exposure time is equal to the sum of exposure times of the plurality of images.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

Obtain jitter parameters;

Taking a plurality of images according to the jitter parameter;

Combining the plurality of images to generate an output image;

The jitter parameter includes at least a jitter period and a jitter speed of the imaging device.
A machine-readable storage medium according to claim 21, wherein said computer instructions are executed to: process at least one of said plurality of images when said shaking speed is substantially zero .
The machine readable storage medium of claim 21, wherein an exposure time of at least one of the plurality of images is less than the jitter period.
A machine readable storage medium according to claim 21, wherein said computer instructions are executed as follows:

An attitude sensor for sensing the attitude of the imaging device is provided from the imaging device to acquire the jitter parameter.
A machine-readable storage medium according to claim 24, wherein said computer instructions are executed as follows:

Obtaining an angular velocity of the imaging device from the attitude sensor;

The jitter parameter is calculated based on the angular velocity.
The machine readable storage medium of claim 24, wherein the attitude sensor comprises at least one of a gyroscope, an accelerometer, or an inertial measurement unit.
A machine-readable storage medium according to claim 24, wherein the attitude sensor is provided on a lens of the imaging device or on an image sensor of the imaging device.
A machine-readable storage medium according to claim 21, wherein said computer instructions are further processed as follows when executed:

The jitter period is calculated according to the jitter frequency of the imaging device.
A machine readable storage medium according to claim 21, wherein said computer instructions are executed as follows:

An overlapping portion of the plurality of images is intercepted to generate the output image.
A machine-readable storage medium according to claim 21, wherein said computer instructions are further processed as follows when executed:

Receiving the set exposure time;

The set exposure time is equal to the sum of exposure times of the plurality of images.