WO2020037564A1 - Procédé, dispositif et appareil de traitement d'images et support d'informations - Google Patents

Procédé, dispositif et appareil de traitement d'images et support d'informations Download PDF

Info

Publication number
WO2020037564A1
WO2020037564A1 PCT/CN2018/101792 CN2018101792W WO2020037564A1 WO 2020037564 A1 WO2020037564 A1 WO 2020037564A1 CN 2018101792 W CN2018101792 W CN 2018101792W WO 2020037564 A1 WO2020037564 A1 WO 2020037564A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
sub
circuit
images
frame
Prior art date
Application number
PCT/CN2018/101792
Other languages
English (en)
Chinese (zh)
Inventor
高明明
李涛
杨康
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880042238.7A priority Critical patent/CN110800284B/zh
Priority to PCT/CN2018/101792 priority patent/WO2020037564A1/fr
Publication of WO2020037564A1 publication Critical patent/WO2020037564A1/fr

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • Embodiments of the present invention relate to the field of image processing, and in particular, to an image processing method, apparatus, device, and storage medium.
  • the shooting device can capture images with multiple different resolutions for processing by the image processing device, but the resolutions of the images that can be processed by different image processing devices are different.
  • the image processing device cannot process the image.
  • software programming is usually used to reduce the resolution of the image, but because the resolution of the image is large, software programming will take a long time.
  • Embodiments of the present invention provide an image processing method, device, device, and storage medium to improve the processing speed for larger resolution images.
  • a first aspect of an embodiment of the present invention is to provide an image processing apparatus, the image processing apparatus includes: an image receiving circuit, an image pre-processing circuit, and an image processing circuit;
  • the image receiving circuit is configured to receive at least one frame image captured by the photographing device
  • the image preprocessing circuit is configured to perform segmentation processing on each frame image in the at least one frame image to obtain multiple sub images corresponding to each frame image;
  • the image processing circuit is configured to perform image processing on a plurality of sub-images corresponding to each frame image
  • the image receiving circuit, the image pre-processing circuit, and the image processing circuit are circuits executed in parallel.
  • a second aspect of the embodiments of the present invention is to provide an image processing method, which is applied to an image processing apparatus.
  • the image processing apparatus includes: an image receiving circuit, an image preprocessing circuit, and an image processing circuit; the method includes:
  • the image receiving circuit receives at least one frame image captured by the photographing device
  • the image preprocessing circuit performs segmentation processing on each frame image in the at least one frame image to obtain multiple sub images corresponding to each frame image;
  • the image processing circuit performs image processing on a plurality of sub-images corresponding to each frame image
  • the image receiving circuit, the image pre-processing circuit, and the image processing circuit are circuits executed in parallel.
  • a third aspect of the embodiments of the present invention is to provide a photographing device, including:
  • a photographing device installed on the fuselage and used to collect image information
  • a fourth aspect of the embodiments of the present invention is to provide an image processing device, including:
  • An antenna mounted on the fuselage and used to communicate with a photographing device
  • a fifth aspect of the embodiments of the present invention is to provide a movable platform, including:
  • a power unit mounted on the fuselage and configured to provide power to the movable platform
  • a photographing device installed on the fuselage and used to collect image information
  • a sixth aspect of the embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the method according to the second aspect.
  • the image processing method, device, device, and storage medium provided in this embodiment include an image receiving circuit, an image preprocessing circuit, and an image processing circuit through the image processing device.
  • the image receiving circuit is configured to receive at least one frame of image captured by the photographing device.
  • the image preprocessing circuit is used to perform segmentation processing on each frame image in at least one frame image to obtain multiple sub-images corresponding to each frame image; the image processing circuit is used to perform image processing on multiple sub-images corresponding to each frame image, and receive images
  • Circuits, image pre-processing circuits, and image processing circuits are circuits that are executed in parallel. By parallel execution of image receiving circuits, image pre-processing circuits, and image processing circuits, the processing speed of larger resolution images can be improved.
  • FIG. 1 is a structural diagram of an image processing apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an application scenario provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of image segmentation according to an embodiment of the present invention.
  • FIG. 4 is a structural diagram of another image processing apparatus according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another image segmentation according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of an image processing method according to an embodiment of the present invention.
  • FIG. 7 is a structural diagram of a photographing device according to an embodiment of the present invention.
  • FIG. 8 is a structural diagram of an image processing apparatus according to an embodiment of the present invention.
  • 700 shooting equipment; 701: fuselage; 702: shooting device;
  • 703 image processing device
  • 800 image processing equipment
  • 801 fuselage; 802: antenna; 803: image processing device.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • FIG. 1 is a structural diagram of an image processing apparatus according to an embodiment of the present invention.
  • the image processing apparatus 10 includes an image receiving circuit 11, an image pre-processing circuit 12, and an image processing circuit 13.
  • the image receiving circuit 11 is configured to receive at least one frame of image captured by the shooting device;
  • the image preprocessing circuit 12 is configured to perform segmentation processing on each frame of the at least one frame of image to obtain multiple sub-images corresponding to each frame of image;
  • the image processing circuit 13 is configured to perform image processing on a plurality of sub-images corresponding to each frame of the image.
  • the image receiving circuit, the image pre-processing circuit, and the image processing circuit are circuits executed in parallel.
  • the image receiving circuit 11, the image pre-processing circuit 12, and the image processing circuit 13 may be mutually coordinated IPs.
  • the image receiving circuit 11 may be described as IP_A
  • the image pre-processing circuit 12 may be described as IP_B
  • the image processing circuit 13 may be Recorded as IP_C.
  • the process of receiving the image by the image receiving circuit 11, the process of pre-processing the image by the image pre-processing circuit 12, such as the process of segmentation, and the process of the image processing by the image processing circuit 13 of the divided sub-images may be performed in parallel.
  • the parallel execution may be that the image receiving circuit 11 receives the image at time T1, the image preprocessing circuit 12 performs the preprocessing of the image received by the image receiving circuit 11 at the time T2, and the image receiving circuit 11 receives the new image at the time T2, and so on. It can be understood that the foregoing embodiment is only a case of parallel execution, and other parallel execution methods may also be used.
  • the image processing apparatus 10 and the photographing apparatus may be integrated in the same device.
  • the image processing apparatus 10 and the photographing apparatus are integrated in a photographing apparatus at the same time, and the photographing apparatus may be a camera, a video camera, or another Functional devices such as smart terminals.
  • the shooting device may be a handheld shooting device or a shooting device mounted on a movable platform such as a drone.
  • the image processing device 10 and the photographing device are integrated in different devices.
  • the image processing device 10 is integrated in a remote controller, and the photographing device is integrated in the photographing device.
  • the remote controller can perform control.
  • the photographing device 21 is mounted on the drone 20 through the gimbal 22, and the remote controller 24 can control the photographing device 21.
  • the remote controller 24 may be a dedicated controller corresponding to the drone, or may be another terminal device installed with a control program, such as a smart phone or a tablet computer.
  • the remote controller 24 and the photographing device 21 can perform wired communication or wireless communication.
  • the drone 20 includes a communication interface 23, and the remote controller 24 includes a communication interface 25.
  • the communication interface 23 and the communication interface 25 can communicate with each other.
  • the shooting device 21 may send the image information captured by the shooting device 21 to the remote controller 24 through the communication interface 23.
  • the remote controller 24 and the photographing device 21 can perform wireless communication.
  • the communication interface 23 and the communication interface 25 are wireless communication interfaces.
  • the remote controller 24 further includes an antenna 26.
  • the antenna 26 is coupled to the communication interface 25.
  • the antenna 26 is configured to receive and / or send wireless signals.
  • the shooting device can collect image information in real time and send the captured image information to the image receiving circuit 11 through a corresponding image transmission protocol.
  • the image collected by the shooting device is not limited to one frame. There may be multiple frames.
  • the image receiving circuit 11 receives at least one frame of image sent by the photographing device.
  • the shooting device can capture images with multiple resolutions.
  • the shooting device can capture images with a resolution of Video Graphics Array (VGA), 720p, 1080p.
  • VGA Video Graphics Array
  • the image processing circuit 13 is used to perform image processing on the image received by the image receiving circuit 11. However, the image processing circuit 13 can only process images with a resolution lower than VGA and VGA.
  • the image pre-processing circuit 12 is used to perform segmentation processing on the image received by the image receiving circuit 11 with a resolution greater than VGA, so that The image is divided into a resolution that the image processing circuit 13 can process.
  • the image pre-processing circuit 12 divides an image with a resolution greater than VGA into sub-images with a resolution equal to or less than VGA, so that the image processing circuit 13 can perform a normal image on the sub-image obtained after the image pre-processing circuit 12 divides. deal with.
  • an image 30 represents a frame of image received by the image receiving circuit 11, and the image is any one of a plurality of frames of images captured by the photographing device.
  • the resolution of the image 30 is greater than VGA, and the image preprocessing circuit 12 performs segmentation processing on the image 30 to obtain multiple sub-images corresponding to the image 30, such as the sub-image 31, the sub-image 32, the sub-image 33, and the sub-image 34.
  • the resolution of the sub-image 31, sub-image 32, sub-image 33, and sub-image 34 is equal to or less than VGA.
  • the image processing circuit 13 can perform image processing on the sub-image 31, sub-image 32, sub-image 33, and sub-image 34.
  • the image receiving circuit is further configured to: after receiving at least one frame image captured by the camera, store the at least one frame image in a memory.
  • the image processing apparatus 10 further includes a memory, and the memory may specifically be a double-rate synchronous dynamic random access memory (Double Data Rate).
  • the image receiving circuit 11 may store the at least one frame of image in the memory.
  • the image receiving circuit 11 receives an image 30 as shown in FIG. 3, the image receiving circuit 11 stores the image 30 into the memory. Accordingly, the image pre-processing circuit 12 obtains image data from the memory.
  • the method for the image preprocessing circuit 12 to obtain image data from the memory may include the following feasible implementation manners:
  • a feasible implementation manner is that the image receiving circuit sends identification information to the image preprocessing circuit, where the identification information is used to identify a storage address of the at least one frame of image in the memory and the at least one The resolution of the frame image.
  • the image receiving circuit 11 After the image receiving circuit 11 stores the image 30 in the memory, the image receiving circuit 11 generates an identification information according to the storage address of the image 30 in the memory and the resolution of the image 30, and sends the identification information to the image Pre-processing circuit 12.
  • the identification information is used to identify a storage address of the image 30 in the memory and a resolution of the image 30.
  • the image pre-processing circuit 12 may determine the storage address of the image 30 in the memory and the resolution of the image 30 according to the identification information, and further read from the memory according to the storage address of the image 30 in the memory. Take this image 30.
  • Another feasible implementation manner is that the image receiving circuit sends the storage address of the at least one frame of image in the memory and the resolution of the at least one frame of image to the image preprocessing circuit.
  • the image receiving circuit 11 directly sends the storage address of the image 30 in the memory and the resolution of the image 30 to the image pre-processing circuit 12 so that the image The pre-processing circuit 12 reads the image 30 from the memory according to the storage address of the image 30 in the memory.
  • the image pre-processing circuit obtains the at least one frame of image from the memory according to the storage address of the at least one frame of image in the memory; the image pre-processing circuit When performing segmentation processing on each frame of the image to obtain multiple sub-images corresponding to each frame of the image, the method is specifically used to: according to the resolution of each frame of the at least one frame of image and the resolution supported by the image processing circuit Performing segmentation processing on each frame image to obtain multiple sub images corresponding to each frame image.
  • the image pre-processing circuit 12 determines the image 30 in the memory according to the identification information.
  • the address and the resolution of the image 30 are stored, and the image 30 is obtained from the memory according to the storage address of the image 30 in the memory.
  • the image preprocessing circuit 12 directly receives the storage address of the image 30 and the resolution of the image 30 sent by the image receiving circuit 11 and obtains the image 30 from the memory according to the storage address of the image 30 in the memory. .
  • the image pre-processing circuit 12 After the image pre-processing circuit 12 obtains the image 30 from the memory, it further divides the image 30 according to the resolution of the image 30 and the resolution supported by the image processing circuit 13 to obtain the image shown in FIG. 3. Multiple sub-images, and the resolution of the multiple sub-images is a resolution supported by the image processing circuit 13. It can be understood that the image 30 is merely used as an example for illustration. In other embodiments, the image receiving circuit 11 is not limited to storing one frame of image to the memory, and may also store multiple frames of image to the memory. Similarly, the image The pre-processing circuit 12 is not limited to performing segmentation processing on one frame of images, and may also perform segmentation processing on each of the multiple frames of images stored by the image receiving circuit 11 in the memory.
  • the image preprocessing circuit is further configured to: store a plurality of sub-images corresponding to each frame of the image into the memory; and store a plurality of sub-images corresponding to each frame of the image in the memory.
  • the storage address is sent to the image processing circuit.
  • the image pre-processing circuit 12 may further divide the multiple sub-images such as sub-image 31, sub-image 32, sub-image 33,
  • the sub-image 34 is stored in the memory.
  • the storage addresses of the sub-image 31, sub-image 32, sub-image 33, and sub-image 34 in the memory are consecutive, or the sub-image 31, sub-image 32, sub-image 33, and sub-image 34 are stored in the memory.
  • the storage addresses of are discontinuous, but the storage addresses of any one of the sub-images in the memory are consecutive.
  • the image pre-processing circuit 12 may also send the storage address of each of the multiple sub-images in the memory to the image processing circuit 13.
  • the image processing apparatus includes an image receiving circuit, an image preprocessing circuit, and an image processing circuit.
  • the image receiving circuit is configured to receive at least one frame of an image captured by the shooting device; the image preprocessing circuit is configured to process at least one frame of the image.
  • the image processing circuit is used to perform image processing on the multiple sub-images corresponding to each frame of image.
  • the image receiving circuit, image pre-processing circuit, and image processing circuit are executed in parallel. The parallel processing of the image receiving circuit, the image pre-processing circuit and the image processing circuit can improve the processing speed of larger resolution images.
  • a method for segmenting an image captured by a photographing device may be set in advance.
  • the image processing device 10 may be preset to divide an image photographed by the photographing device into several sub-images, a resolution of each sub-image, The position information of each sub-image in the image, and the target address where each sub-image is written into the memory.
  • the image receiving circuit sends identification information to the image preprocessing circuit, and the identification information is not only used to identify a storage address of the at least one frame of image in the memory and the at least one frame of the image.
  • the resolution of a frame of image is also used to identify at least one of the following: the number of sub-images to be divided into the image, the resolution of the sub-image, and the The location information in the image and the sub-image need to be written into the target address of the memory.
  • the image receiving circuit 11 when the image receiving circuit 11 stores the image 30 in the memory, the image receiving circuit 11 sends identification information to the image preprocessing circuit 12, and the identification information is not only used to identify the storage address of the image 30 in the memory and the image 30
  • the identification information may also identify the number of sub-images into which the image 30 set in advance by the image processing device 10 needs to be divided, the resolution of each sub-image, the position information of each sub-image in the image 30, and Each sub-image needs to be written to the destination address of the memory.
  • the image receiving circuit sends a storage address of the at least one frame of image in the memory and a resolution of the at least one frame of image to the image preprocessing circuit.
  • the image receiving circuit is further configured to send at least one of the following to the image preprocessing circuit: the number of sub-images to be divided into the image, the resolution of the sub-image, and the sub-image in the image. Location information and the sub-image need to be written into the target address of the memory.
  • the image receiving circuit 11 stores the image 30 in the memory
  • the image receiving circuit 11 directly stores the address of the image 30 in the memory
  • the resolution of the image 30, and the image 30 set in advance by the image processing device 10 needs The number of divided sub-images, the resolution of each sub-image, the position information of each sub-image in the image 30, and the target address of each sub-image to be written to the memory are sent to the image pre-processing circuit 12.
  • the image pre-processing circuit performs segmentation processing on each frame image in the at least one frame image to obtain multiple sub-images corresponding to each frame image, and is specifically configured to: The number of sub-images, and performing segmentation processing on the images to obtain multiple sub-images corresponding to the images.
  • the image pre-processing circuit 12 When the image pre-processing circuit 12 receives the identification information sent by the image receiving circuit 11 as described above, or the image pre-processing circuit 12 receives the storage address of the image 30 and the image 30 of the image 30 sent by the image receiving circuit 11 Resolution, the number of sub-images into which the image 30 set in advance by the image processing device 10 needs to be divided, the resolution of each sub-image, the position information of each sub-image in the image 30, and the target to which each sub-image needs to be written into the memory At the address, the image pre-processing circuit 12 performs segmentation processing on the image 30 according to the number of sub-images to be divided into the image 30 set in advance by the image processing device 10.
  • the image pre-processing circuit is further configured to write a plurality of sub-images corresponding to the image into corresponding target addresses according to a target address to which the sub-image needs to be written into the memory.
  • the image pre-processing circuit 12 may further perform Each sub-image needs to be written to the destination address of the memory, each sub-image obtained after the segmentation process is written to the corresponding destination address in the memory, and each sub-image is written to the corresponding destination address stored in the memory and sent to the image processing A circuit 13 so that the image processing circuit 13 can obtain the plurality of sub-images from the memory.
  • an image pre-processing circuit is used to divide the image to obtain multiple sub-images corresponding to the image according to the number of sub-images that the image needs to be divided into. Each sub-image is written into the corresponding target address, so that the image pre-processing circuit can perform image segmentation according to a preset image segmentation method, which improves the efficiency of image segmentation.
  • FIG. 4 is a structural diagram of another image processing apparatus according to an embodiment of the present invention.
  • the image pre-processing circuit 12 includes a first sub-circuit 121 and a second sub-circuit. 122.
  • the first sub-circuit uses the first configuration information to perform segmentation processing on the image
  • the second sub-circuit receives second configuration information; when the first sub-circuit sends multiple sub-images corresponding to the image
  • the second sub-circuit performs segmentation processing on the next frame image of the image by using the second configuration information.
  • the first sub-circuit 121 and the second sub-circuit 122 may be two circuits executed in parallel.
  • the first sub-circuit 121 and the second sub-circuit 122 support dynamic configuration.
  • the second sub-circuit 122 can receive the second configuration information, so that the second sub-circuit 122 uses the second configuration information to perform segmentation processing on the next frame of the image 30 That is, the first sub-circuit 121 and the second sub-circuit 122 may perform different segmentation processing on different images by using different configuration information.
  • the second sub-circuit 122 may use the second configuration information to divide the next frame of the image 30 deal with.
  • the first sub-circuit 121 sends the target addresses in the memory of the multiple sub-images obtained after the image 30 is divided to the image processing circuit 13
  • the second sub-circuit 122 may use the second configuration information to The next frame image is segmented.
  • the image receiving circuit receives at least one frame of the image captured by the shooting device, it is specifically configured to receive two frames of the image captured by the shooting device at the same time.
  • the photographing device may specifically be a binocular camera, that is, the photographing device can obtain two left and right frames of images at the same time.
  • the photographing device can obtain two left and right frames of images at the same time.
  • at least one of the two frames of images is depth. Illustration.
  • the image 50 and the image 52 respectively represent two frames of images obtained by the shooting device at the same time. Accordingly, the image receiving circuit 11 receives the image 50 and the image 52 and stores the image 50 and the image 52 to The memory stores the storage addresses of the images 50 and 52 in the memory and the resolutions of the images 50 and 52 to the image pre-processing circuit 12.
  • the image pre-processing circuit when the image pre-processing circuit performs segmentation processing on each frame image in the at least one frame image to obtain multiple sub-images corresponding to each frame image, the image pre-processing circuit is specifically configured to: Each frame image in the frame image is segmented to obtain multiple sub-images corresponding to each frame image.
  • the image pre-processing circuit 12 obtains the images 50 and 52 from the memory according to the storage addresses of the images 50 and 52 in the memory, assuming that the resolutions of the images 50 and 52 are 1080P, respectively, and the image processing circuit 13 does not support processing
  • the image pre-processing circuit 12 performs segmentation processing on the image 50 and the image 52, for example, the image 50 is divided into a sub-image A1, a sub-image A2, a sub-image A3, and a sub-image A4.
  • the image 52 is divided into a sub-image B1, a sub-image B2, a sub-image B3, and a sub-image B4.
  • the image pre-processing circuit 12 stores a plurality of sub-images corresponding to the image 50 and a plurality of sub-images corresponding to the image 52 to a memory, and stores the storage addresses of the plurality of sub-images corresponding to the image 50 in the memory, and a plurality of addresses corresponding to the image 52.
  • the storage addresses of the sub-images in the memory are sent to the image processing circuit 13.
  • the image processing circuit 13 performs image processing on the sub-image A1 and the sub-image B1 to obtain the sub-image C1, and performs image processing on the sub-image A2 and the sub-image B2 to obtain the sub-image C2.
  • Sub-image A3 and sub-image B3 are subjected to image processing to obtain sub-image C3
  • sub-image A4 and sub-image B4 are subjected to image processing to obtain sub-image C4.
  • the image processing circuit 13 combines the sub-image C1, the sub-image C2, the sub-image C3, and the sub-image C4 into the target image 54, or the IP after the image processing circuit 13 combines the sub-image C1, the sub-image C2, and the sub-image
  • the image C3 and the sub-image C4 are combined into a target image 54.
  • the target image 54 is an image of 1080P.
  • the image pre-processing circuit 12 may not only perform segmentation processing on the image received by the image receiving circuit 11, but may also perform other processing such as Gaussian filtering on the image received by the image receiving circuit 11.
  • the image pre-processing circuit 12 when it performs segmentation processing on the image received by the image receiving circuit 11, it may be specifically implemented by using down-sampling or up-sampling.
  • the image pre-processing circuit includes a first sub-circuit and a second sub-circuit.
  • the first sub-circuit uses the first configuration information to perform segmentation processing on the image
  • the second sub-circuit receives the second Configuration information; when the first sub-circuit sends multiple sub-images corresponding to the image to the image processing circuit, the second sub-circuit uses the second configuration information for the next frame of the image
  • the segmentation processing is performed so that the first sub-circuit and the second sub-circuit can be executed in parallel, which further improves the processing speed for larger resolution images.
  • FIG. 6 is a flowchart of an image processing method according to an embodiment of the present invention.
  • the image processing method is applied to an image processing apparatus.
  • the image processing apparatus includes an image receiving circuit, an image preprocessing circuit, and an image processing circuit.
  • the method in this embodiment may include:
  • Step S601 The image receiving circuit receives at least one frame image captured by a photographing device.
  • Step S602 The image preprocessing circuit performs segmentation processing on each frame image in the at least one frame image to obtain multiple sub images corresponding to each frame image.
  • Step S603 The image processing circuit performs image processing on a plurality of sub-images corresponding to each frame of the image.
  • the image receiving circuit, the image pre-processing circuit, and the image processing circuit are circuits executed in parallel.
  • the image receiving circuit stores the at least one frame image in a memory.
  • the method for obtaining image data from the memory by the image pre-processing circuit may include the following feasible implementation manners:
  • a feasible implementation manner is that the image receiving circuit sends identification information to the image preprocessing circuit, where the identification information is used to identify a storage address of the at least one frame of image in the memory and the at least one The resolution of the frame image.
  • Another feasible implementation manner is that the image receiving circuit sends the storage address of the at least one frame of image in the memory and the resolution of the at least one frame of image to the image preprocessing circuit.
  • the image pre-processing circuit obtains the at least one frame of image from the memory according to the storage address of the at least one frame of image in the memory; the image pre-processing circuit Segmenting each frame of the image to obtain multiple sub-images corresponding to each frame of the image includes: the image pre-processing circuit according to the resolution of each frame of the at least one frame of image and the resolution supported by the image processing circuit Rate, performing segmentation processing on the image of each frame to obtain multiple sub-images corresponding to the image of each frame.
  • the image pre-processing circuit may further store a plurality of sub-images corresponding to each frame of the image in the memory; the image pre-processing circuit stores the plurality of sub-images corresponding to each frame of the image in the memory.
  • a storage address in the memory is sent to the image processing circuit.
  • the image processing apparatus includes: an image receiving circuit, an image preprocessing circuit, and an image processing circuit, wherein the image receiving circuit is configured to receive at least one frame of an image captured by the photographing device; and the image processing circuit is configured to process at least one frame Each frame of the image is segmented to obtain multiple sub-images corresponding to each frame of the image; the image processing circuit is used to perform image processing on the multiple sub-images corresponding to each frame of the image.
  • the image receiving circuit, image pre-processing circuit, and image processing circuit are The parallel execution circuit can improve the processing speed of larger resolution images through the parallel execution of the image receiving circuit, the image pre-processing circuit and the image processing circuit.
  • An embodiment of the present invention provides an image processing method.
  • a method for segmenting an image captured by a shooting device may be set in advance.
  • the image processing device may be preset to divide an image captured by the shooting device into several sub-images, a resolution of each sub-image, The position information of each sub-image in the image, and the target address where each sub-image is written into the memory.
  • the image receiving circuit sends identification information to the image preprocessing circuit, and the identification information is not only used to identify a storage address of the at least one frame of image in the memory and the at least one frame of the image.
  • the resolution of a frame of image is also used to identify at least one of the following: the number of sub-images to be divided into the image, the resolution of the sub-image, and the The location information in the image and the sub-image need to be written into the target address of the memory.
  • the image receiving circuit sends a storage address of the at least one frame of image in the memory and a resolution of the at least one frame of image to the image preprocessing circuit.
  • the image receiving circuit is further configured to send at least one of the following to the image preprocessing circuit: the number of sub-images to be divided into the image, the resolution of the sub-image, and the sub-image in the image. Location information and the sub-image need to be written into the target address of the memory.
  • the image pre-processing circuit performs segmentation processing on each frame of the at least one frame of images to obtain multiple sub-images corresponding to each frame of the image, including: the image pre-processing circuit according to the image requirements The number of divided sub-images, and performing segmentation processing on the image to obtain a plurality of sub-images corresponding to the image.
  • the image pre-processing circuit is further configured to write a plurality of sub-images corresponding to the image into corresponding target addresses according to a target address to which the sub-image needs to be written into the memory.
  • an image pre-processing circuit is used to divide the image to obtain multiple sub-images corresponding to the image according to the number of sub-images that the image needs to be divided into. Each sub-image is written into the corresponding target address, so that the image pre-processing circuit can perform image segmentation according to a preset image segmentation method, which improves the efficiency of image segmentation.
  • the image pre-processing circuit includes: a first sub-circuit and a second sub-circuit; when the first sub-circuit uses the first configuration information to perform segmentation processing on the image, the first Two sub-circuits receive second configuration information; when the first sub-circuit sends multiple sub-images corresponding to the image to the image processing circuit, the second sub-circuit uses the second configuration information to The next frame of the image is divided.
  • the image receiving circuit receives at least one frame of image captured by the shooting device, and includes: the image receiving circuit receives two frames of image captured by the shooting device at the same time.
  • the image pre-processing circuit performs segmentation processing on each frame of the at least one frame of images to obtain multiple sub-images corresponding to each frame of the image, including: the image pre-processing circuit performs segmentation on the two frames of images.
  • Each frame of image is divided into multiple sub-images corresponding to each frame of image.
  • At least one of the two frames of images is a depth map.
  • the image pre-processing circuit includes a first sub-circuit and a second sub-circuit.
  • the first sub-circuit uses the first configuration information to perform segmentation processing on the image
  • the second sub-circuit receives the second Configuration information; when the first sub-circuit sends multiple sub-images corresponding to the image to the image processing circuit, the second sub-circuit uses the second configuration information for the next frame of the image
  • the segmentation processing is performed so that the first sub-circuit and the second sub-circuit can be executed in parallel, which further improves the processing speed for larger resolution images.
  • FIG. 7 is a structural diagram of a photographing device according to an embodiment of the present invention.
  • the photographing device 700 includes a body 701, a photographing device 702, and an image processing device 703.
  • the photographing device 702 is installed in the body. It is used to collect image information; the specific principle and implementation of the image processing device 703 are similar to the above embodiments, and are not repeated here.
  • FIG. 8 is a structural diagram of an image processing device according to an embodiment of the present invention.
  • the image processing device 800 includes a body 801, an antenna 802, and an image processing device 803.
  • the antenna 802 is installed in the body. Is used to communicate with the shooting device; the specific principle and implementation of the image processing device 803 are similar to the above embodiments, and are not repeated here.
  • An embodiment of the present invention provides a movable platform, and the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, an intelligent vehicle, and the like.
  • the movable platform includes: a fuselage, a power device, a photographing device, and a retreat processing device; wherein the power device and the fuselage are installed on the fuselage for powering the movable platform; the photographing device is installed on the machine It is used to collect image information; the specific principle and implementation of the image processing device are similar to the above embodiments, and will not be repeated here.
  • an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the image processing method as described above.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.
  • 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, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above integrated unit may be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
  • the software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute the methods described in the embodiments of the present invention. Some steps.
  • the aforementioned storage media include: U disks, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks or compact discs, and other media that can store program codes .

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)

Abstract

Selon des modes de réalisation, la présente invention concerne un procédé, un dispositif et un appareil de traitement d'image, et un support d'informations, le dispositif de traitement d'image comprenant : un circuit de réception d'image, un circuit de prétraitement d'image, et un circuit de traitement d'image, le circuit de réception d'image étant conçu pour recevoir au moins une image capturée par un dispositif de capture, le circuit de prétraitement d'image étant conçu pour diviser chacune de la ou des images pour obtenir une pluralité de sous-images correspondant à chaque image, le circuit de traitement d'image étant conçu pour effectuer un traitement d'image sur la pluralité de sous-images correspondant à chaque image, et le circuit de réception d'image, le circuit de prétraitement d'image et le circuit de traitement d'image fonctionnant en parallèle les uns par rapport aux autres. Le mode de réalisation de la présente invention peut augmenter la vitesse de traitement sur des images de résolution supérieure par l'inclusion d'un circuit de réception d'image, d'un circuit de prétraitement d'image et d'un circuit de traitement d'image dans un dispositif de traitement d'image et par fonctionnement parallèle de ceux-ci.
PCT/CN2018/101792 2018-08-22 2018-08-22 Procédé, dispositif et appareil de traitement d'images et support d'informations WO2020037564A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880042238.7A CN110800284B (zh) 2018-08-22 2018-08-22 图像处理方法、装置、设备及存储介质
PCT/CN2018/101792 WO2020037564A1 (fr) 2018-08-22 2018-08-22 Procédé, dispositif et appareil de traitement d'images et support d'informations

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/101792 WO2020037564A1 (fr) 2018-08-22 2018-08-22 Procédé, dispositif et appareil de traitement d'images et support d'informations

Publications (1)

Publication Number Publication Date
WO2020037564A1 true WO2020037564A1 (fr) 2020-02-27

Family

ID=69438539

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/101792 WO2020037564A1 (fr) 2018-08-22 2018-08-22 Procédé, dispositif et appareil de traitement d'images et support d'informations

Country Status (2)

Country Link
CN (1) CN110800284B (fr)
WO (1) WO2020037564A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991172A (zh) * 2021-03-08 2021-06-18 Oppo广东移动通信有限公司 图像处理方法、装置、电子设备及存储介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104063835A (zh) * 2014-04-02 2014-09-24 中国人民解放军第二炮兵指挥学院 一种卫星遥感图像实时并行处理系统及处理方法
CN105103512A (zh) * 2012-12-04 2015-11-25 英特尔公司 分布式图形处理
CN106791780A (zh) * 2016-12-14 2017-05-31 天津温茂科技有限公司 一种电子信息领域的无人机图像处理系统及处理方法
CN106991665A (zh) * 2017-03-24 2017-07-28 中国人民解放军国防科学技术大学 基于cuda图像融合并行计算的方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7301538B2 (en) * 2003-08-18 2007-11-27 Fovia, Inc. Method and system for adaptive direct volume rendering
CN105139350A (zh) * 2015-08-12 2015-12-09 北京航空航天大学 一种无人机侦察图像地面实时重建处理系统

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105103512A (zh) * 2012-12-04 2015-11-25 英特尔公司 分布式图形处理
CN104063835A (zh) * 2014-04-02 2014-09-24 中国人民解放军第二炮兵指挥学院 一种卫星遥感图像实时并行处理系统及处理方法
CN106791780A (zh) * 2016-12-14 2017-05-31 天津温茂科技有限公司 一种电子信息领域的无人机图像处理系统及处理方法
CN106991665A (zh) * 2017-03-24 2017-07-28 中国人民解放军国防科学技术大学 基于cuda图像融合并行计算的方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112991172A (zh) * 2021-03-08 2021-06-18 Oppo广东移动通信有限公司 图像处理方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
CN110800284B (zh) 2021-08-03
CN110800284A (zh) 2020-02-14

Similar Documents

Publication Publication Date Title
US9692959B2 (en) Image processing apparatus and method
KR102458339B1 (ko) 360도 3d 입체 영상을 생성하는 전자 장치 및 이의 방법
US11587317B2 (en) Video processing method and terminal device
US10803556B2 (en) Method and apparatus for image processing
WO2019161814A2 (fr) Système et procédé de formation d'image panoramique
US10743002B2 (en) Sequential in-place blocking transposition for image signal processing
KR102495763B1 (ko) 제1 이미지 처리 방식으로 보정된 이미지를 제2 이미지 처리 방식을 이용하여 외부 전자 장치에서 보정하기 위한 전자 장치 및 방법
US10621464B1 (en) Block based non-maximum suppression
WO2022040232A1 (fr) Balayage d'objet à l'aide d'une segmentation plane
CN107749069B (zh) 图像处理方法、电子设备和图像处理系统
CN112184722A (zh) 图像处理方法、终端及计算机存储介质
US10755114B1 (en) Efficient two-stage object detection scheme for embedded device
WO2020037564A1 (fr) Procédé, dispositif et appareil de traitement d'images et support d'informations
CN114298295A (zh) 芯片、加速卡以及电子设备、数据处理方法
CN116760937B (zh) 一种基于多机位的视频拼接方法、装置、设备及存储介质
US11194474B1 (en) Link-list shortening logic
JP6711118B2 (ja) 画像管理システム、プログラム及び情報端末
CN106961551A (zh) 一种vr全景视频后期防抖技术
US9659222B2 (en) Vehicle event data recorder and operation method thereof
EP3619679B1 (fr) Modélisation d'aberration chromatique pour la compression et l'amélioration d'image
US20220101488A1 (en) Image Processing Method and Device Therefor
CN105794193A (zh) 图像处理设备、图像处理方法和程序
CN112532856A (zh) 一种拍摄方法、装置和系统
US10671883B1 (en) Approximate cross-check for real-time feature matching
US20190272805A1 (en) Display control apparatus, display control method, and program

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: 18930926

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: 18930926

Country of ref document: EP

Kind code of ref document: A1