WO2020258241A1 - 可移动平台的图像处理方法、装置、可移动平台及介质 - Google Patents

可移动平台的图像处理方法、装置、可移动平台及介质 Download PDF

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Publication number
WO2020258241A1
WO2020258241A1 PCT/CN2019/093659 CN2019093659W WO2020258241A1 WO 2020258241 A1 WO2020258241 A1 WO 2020258241A1 CN 2019093659 W CN2019093659 W CN 2019093659W WO 2020258241 A1 WO2020258241 A1 WO 2020258241A1
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Prior art keywords
image block
target image
filter
image
parameter
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English (en)
French (fr)
Inventor
赵亮
肖巍
周士贞
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2019/093659 priority Critical patent/WO2020258241A1/zh
Priority to CN201980007862.8A priority patent/CN111656785A/zh
Publication of WO2020258241A1 publication Critical patent/WO2020258241A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
    • H04N19/17—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object
    • H04N19/176—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being an image region, e.g. an object the region being a block, e.g. a macroblock
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/102—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or selection affected or controlled by the adaptive coding
    • H04N19/117—Filters, e.g. for pre-processing or post-processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/102—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or selection affected or controlled by the adaptive coding
    • H04N19/124—Quantisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
    • H04N19/154—Measured or subjectively estimated visual quality after decoding, e.g. measurement of distortion
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
    • H04N19/134—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or criterion affecting or controlling the adaptive coding
    • H04N19/167—Position within a video image, e.g. region of interest [ROI]

Definitions

  • the present invention relates to the field of image technology, in particular to an image processing method, device, movable platform and medium of a movable platform.
  • the embodiments of the present invention provide a movable platform image processing method and a movable platform to improve the flexibility of coding based on target image blocks.
  • the first aspect of the embodiments of the present invention provides an image processing method for a movable platform, the method including:
  • the coding quality evaluation parameter and the communication state parameter determine whether to use the first filter and the second filter before encoding the target image block in the current image to be encoded and the image block other than the target image block. Filter processing is performed on the target image block and image blocks other than the target image block, wherein the first filter is different from the second filter.
  • a second aspect of the embodiments of the present invention provides an image processing device, the image processing device includes a memory, a processor, and an image acquisition device, the memory is used to store program instructions, and the processor is used to call the program instructions to perform the following operations:
  • the coding quality evaluation parameter and the communication state parameter determine whether to use the first filter and the second filter before encoding the target image block in the current image to be encoded and the image block other than the target image block. Filter processing is performed on the target image block and image blocks other than the target image block, wherein the first filter is different from the second filter.
  • a third aspect of the embodiments of the present invention provides a movable platform that includes a fuselage, a power system, and is installed on the fuselage to provide power to the movable platform; and as in the second aspect Any one of the processor or image acquisition device is installed in the body and used to acquire images.
  • the fourth aspect of the embodiments of the present invention provides a removable platform.
  • the computer storage medium stores computer program instructions. When the computer program instructions are executed by a processor, they are used to execute the removable platform described in the first aspect. The image processing method of the platform.
  • the mobile platform may obtain the encoding quality evaluation parameters of image blocks other than the target image block in the encoded historical image and the communication state parameters of the wireless communication link, and then, according to the encoding
  • the quality evaluation parameters and the communication state parameters determine whether to perform filtering processing on the current image to be encoded, and when necessary, the first filter and the second filter are used to separately perform the target image block of the current image to be encoded. , And image blocks other than the target image block are filtered.
  • the direct encoding method and the filter encoding method can be adaptively selected according to the encoding quality evaluation parameters of the image blocks other than the target image block in the encoded historical image and the communication state parameters of the wireless communication link. It can make the selected encoding method more suitable for the current application scenario, and improve the flexibility of image encoding.
  • Figure 1a is a schematic flowchart of an image processing method for a movable platform according to an embodiment of the present invention
  • Fig. 1b is a schematic diagram of determining a target image block from a currently encoded image according to an embodiment of the present invention
  • Figure 1c is a scene diagram of an image processing method for a movable platform according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of an image processing method for a movable platform according to another embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of an image processing method for a movable platform according to another embodiment of the present invention.
  • Fig. 4 is a schematic block diagram of an image processing device of a movable platform according to an embodiment of the present invention.
  • Real-time image/video transmission systems have high requirements for image transmission delay and limited transmission bandwidth. Therefore, when the limited bandwidth cannot meet the requirements of maintaining high-definition transmission quality for the entire image of the transmitted image, it can be based on the transmission image
  • the target image block that is, the image block corresponding to the ROI of the transmitted image is divided into regions.
  • different image blocks of the same image can be processed in different ways so that Different image blocks of the same transmission image correspond to the image quality requirements of different definitions, which can improve the utilization of the limited transmission bandwidth, that is, after the transmission image is divided into regions, the decoded image image obtained after the target image block is transmitted.
  • the quality is clearer, and the image quality obtained by decoding the image blocks other than the target image block after transmission is lower than the image quality of the target image block, and the image quality of the transmitted image is not maintained for transmission.
  • the related technology of the present invention mentions that the above-mentioned technical effects can be achieved through two methods of direct encoding or filter encoding, while the direct encoding method and the filter encoding method have their own characteristics. It is found through experiments that the code rate after image encoding When the bit rate is above a certain critical bit rate, after the image is encoded by the direct encoding method, the image obtained by decoding after transmission corresponds to a higher image quality, and the filter encoding method will cause serious loss of high-frequency texture details of the image , Resulting in lower image quality after transmission and decoding.
  • the decoded image obtained by decoding after transmission is subjectively It has obvious floating block effect, which leads to unclear decoded images. If the filter coding method is adopted, the decoded image can be subjectively smoother and natural, which can effectively avoid the problem of unclear decoded images caused by floating block effect.
  • the embodiment of the present invention proposes a mobile platform image processing method, as shown in Figure 1a, the main device modules involved in the image processing method are: image acquisition device, target image block generator, video Encoder, transmission equipment, parameter monitor, target image block control device and target image block demand device.
  • the image acquisition device is used for image acquisition.
  • the target image block generator is used to determine the image block division corresponding to the captured image, that is, to determine the target image block in the captured image and the image blocks other than the target image block.
  • the parameter monitor is used to collect the coding quality evaluation parameters of the target image block (i.e. the image block corresponding to the ROI) in the encoded historical image and the image block outside the target image block (i.e. the image block corresponding to the non-ROI).
  • the coding quality of the image blocks outside the block, and the communication quality of the wireless communication link can be determined according to the wireless communication state parameter.
  • the target image block demand device is used to receive the target image block division demand instruction fed back by the user or the receiving end.
  • the target image block control device is a core algorithm module, which can determine the image block division requirement for the image according to the target image block division requirement instruction provided by the target image block demand device, and instruct the target image block generator to follow the division It is required to divide the image into a target image block (ie, an image block corresponding to an ROI) and an image block outside the target image block (ie, an image block corresponding to a non-ROI).
  • the target image block control device can also determine the encoding mode of the current image to be encoded according to the encoding instructions of image blocks other than the target image block and the communication quality of the wireless communication link, that is, whether to use the direct encoding method or Adopt filter coding method.
  • the target image block control device controls the video encoder to encode the currently to-be-encoded image according to the selected video encoding mode.
  • the video encoder is responsible for encoding the currently to-be-encoded image according to the encoding mode selected by the target image block control device, and performing bit rate control to adapt to the wireless communication link; the transmission device is used to transmit the encoded image.
  • the parameter monitor can separately count the encoding quality evaluation parameters of the target image block in the encoded historical image and the image blocks other than the target image block, such as quantization parameters, quantization loss parameters (including Mean square error (MSE/quantization loss parameter PSNR), etc., can also count the current channel (ie wireless communication link) communication status parameters, such as channel bandwidth, bit error rate, etc.; further, the parameter monitor is based on the obtained coding quality
  • the evaluation parameter calculates the encoding quality f1 and f0 corresponding to the target image block and the image blocks other than the target image block in the encoded historical image, and can determine the current wireless image transmission based on the determined communication state parameters.
  • the parameter monitor predefines the function f for calculating the coding quality of the target image block and the image blocks other than the target image block, and the evaluation function g corresponding to the communication quality, and the collected encoded
  • the target image block in the historical image and the image block other than the target image block are respectively substituted into the function f to obtain the target image block in the encoded historical image and the image block other than the target image block.
  • the target image block demand device determines the image block division of the image
  • the target image block control device determines that the encoding quality f0 of image blocks other than the target image block is higher than or equal to the preset encoding quality threshold, and determines When the communication quality g of the wireless communication link is higher than or equal to the preset communication quality threshold
  • the video encoder is controlled to encode the current image to be encoded as shown in FIG. 1b in a direct encoding mode, that is, when the current image to be encoded is Before the target image block in and the image blocks other than the target image block are encoded, the first filter is not used to filter the target image block, and the second filter is not used to perform the filtering process on the target image block.
  • the image block of the image block is filtered, instead, the first quantization parameter and the second quantization parameter different from the first quantization parameter are used to separately perform the target image block in the current image to be encoded and the target image block outside the target image block.
  • the image block is encoded, and the encoded image is sent to the receiving end via the wireless communication link after encoding.
  • the first quantization parameter is smaller than the second quantization parameter.
  • the target image block of the current image to be encoded has been divided and determined by the target image block generator.
  • the target image block control device may first use the first filter to filter the target image block, and use the second filter Perform filtering processing on image blocks other than the target image block, and then control the video filter to perform unified encoding processing on the filtered image.
  • the above-mentioned image processing method may be applied to a movable platform as shown in FIG. 1c, and specifically may be applied to a drone in FIG. 1c.
  • the movable platform includes an image acquisition device 10, so The image capture device 10 can perform image capture or video capture, so that the movable platform can realize image or video processing based on the foregoing image processing method.
  • the mobile platform when it is performing image transmission, it may first obtain the coding quality evaluation parameters of image blocks other than the target image block in the encoded historical image, so that the coding quality evaluation parameters of the image blocks in the historical image can be
  • the coding quality evaluation parameters of image blocks other than the image block determine the coding quality of the historical image, wherein the encoded historical image is sent to the receiving end through a wireless communication link, and the encoded historical image is
  • the target image block is the image block corresponding to the ROI in the historical image determined by the movable platform, and the image blocks other than the target image block are the image blocks corresponding to the non-ROI area of the historical image.
  • the mobile platform While the mobile platform determines the encoding quality of the historical image, the mobile platform also needs to acquire the communication state parameters of the wireless communication link for image/video transmission, so that it can be determined based on the communication state parameters The communication quality of the wireless communication link, so that the mobile platform can determine the target in the current image to be encoded based on the determined encoding quality of the historical image and the communication quality of the wireless communication link Before the image block and the image block other than the target image block are encoded, whether the first filter and the second filter are respectively used for the target image block in the current image to be encoded and the image block other than the target image block The image block is filtered.
  • the movable platform determines not to use the first filter and the second filter to perform filtering processing on the target image block and image blocks other than the target image block, then The target image block in the current image to be encoded and the image blocks other than the target image block can be encoded based on different encoding parameters, and the encoded image blocks can be transmitted via the wireless communication link ; If the movable platform determines that the first filter and the second filter need to be used to filter the target image block and image blocks other than the target image block, the first filter is used Perform filtering processing on the target image block, and use a second filter to perform filtering processing on image blocks other than the target image block, wherein the filter configuration parameter corresponding to the first filter is smaller than that of the second filter.
  • Filter configuration parameters corresponding to the filter After the mobile platform performs filter processing on the target image block and image blocks other than the target image block, the image to be encoded after the filter processing may be encoded according to uniform encoding parameters, so that The target image block of the transmitted decoded image and the image blocks other than the target image block are relatively smooth, which can effectively solve the problem of unclear images caused by the floating block effect.
  • FIG. 2 is a schematic flowchart of an image processing method for a mobile platform according to an embodiment of the present invention. As shown in FIG. 2, the method may include:
  • S201 Acquire encoding quality evaluation parameters of image blocks other than the target image block in the encoded historical image.
  • the above image processing method may be executed by an image processing device of a movable platform.
  • the image processing device may obtain coding quality evaluation parameters of image blocks other than the target image block in the encoded historical image.
  • the coding quality evaluation parameter can be used to characterize the coding quality of historical image coding, that is, it can characterize the image quality level of the decoded image corresponding to the encoded historical image.
  • the coding quality evaluation parameter is determined according to one or more of quantization parameter (QP), peak signal-to-noise ratio (PSNR), mean square error (MSE), and structural similarity (SSIM) .
  • the historical image may be the previous image or the previous few frames of the current image to be encoded.
  • the target image block in the historical image is an image block corresponding to an ROI in the historical image
  • an image block other than the target image block is an image block corresponding to a non-ROI in the historical image.
  • the mobile platform has preset rules for determining the target image block in the image, and the mobile platform can determine the target image block corresponding to any image and the other than the target image block according to the preset rules.
  • Image block when determining the target image block in the image, the movable platform may determine one or more image blocks from the image as the target image block according to the preset rule.
  • the preset rule may be, for example, determining the target image block from the current image to be encoded according to a preset composition rule; wherein, the preset composition rule may be based on a composition Use the central area of the image as the target image block.
  • the movable platform may obtain motion data used to indicate the motion of the receiving end, so that the target image block may be determined from the current image to be encoded according to the motion data, and the indication of the receiving end
  • the movement data can be the head rotation data of the user wearing the receiving end, for example, the receiving end can be video glasses, and the user wears the video glasses so that the video glasses can detect the user's head rotation through the built-in motion sensor
  • the video glasses can send the head rotation data to the movable platform, and based on the motion data, the user's area of interest to the image can be determined, so that the image in the area of interest can be determined As the target image block.
  • the receiving end may detect the information about the rotation of the eyeball of the user wearing the receiving end, and send the information about the rotation of the eyeball to a movable platform, and the movable platform may obtain the eyeball of the user wearing the receiving end.
  • the target image block is determined from the current image to be encoded according to the information, and the receiving end worn may be, for example, video glasses.
  • the movable platform may also obtain a user's composition instruction, so that the target image block can be determined from the current image to be encoded according to the composition instruction.
  • the user's composition instruction may be, for example, the user Through the selection instruction issued by the receiving end, the image area affected by the selection instruction can be used as the target image block.
  • the mobile platform may obtain the communication state parameters of the wireless communication link, and then execute step S202 instead.
  • the receiving end may be one or more of a remote control, a smart phone, a tablet computer, a laptop computer, and a wearable device (such as a watch, a bracelet, and video glasses).
  • the image processing device may obtain the communication state parameters of the wireless communication link collected by the mobile platform. In some cases, the image processing device may obtain the wireless communication link information collected by the receiving end. Communication status parameters.
  • the communication state parameter of the wireless communication link may be any parameter that reflects the communication quality of the wireless communication link between the movable platform and the receiving end. For example, the communication state parameter may be determined according to one or more of bandwidth, bit error rate, and frame rate of the transmitted image. Further, the communication state parameter may be bandwidth, bit error rate, and image transmission rate. One or more of the frame rates.
  • step S203 is performed instead to determine whether it is necessary to check the current waiting status.
  • filter processing is performed on the current image to be encoded.
  • the filter performs filtering processing on the target image block and image blocks other than the target image block.
  • the first filter used to filter the target image block is different from the image block used to filter the target image block.
  • the second filter for filtering.
  • the type of the first filter may be different from the second filter, and in some cases, the configuration parameters of the first filter are different from the second filter.
  • the configuration parameter of the first filter is different from the second filter means that the filtering configuration parameter corresponding to the first filter is smaller than the filtering configuration parameter corresponding to the second filter.
  • the filter configuration parameter is used to describe the degree of retention of image details by the filter after filtering the image. The larger the filter configuration parameter, the more image details are lost after filtering.
  • the filter configuration parameter may be, for example, spatial Distance and/or grayscale distance, etc.
  • the mobile platform determines to encode the target image block in the current image to be encoded and image blocks other than the target image block according to the quality evaluation parameter and the communication state parameter, the current When the image to be encoded is filtered, the first filter is used to filter the target image block of the image to be encoded, and the second filter is used to filter the image outside the target image block of the image to be encoded The block is filtered.
  • the movable platform may perform processing on the image to be coded according to preset coding rules. The encoding process is unified, and the encoded image is sent to the receiving end through the wireless communication link after encoding.
  • the mobile platform when it determines whether to filter the current image to be encoded, it may first determine whether the encoding quality of the historical image is lower than the preset encoding quality according to encoding quality evaluation parameters. Threshold, or determine whether the communication quality of the wireless communication link is lower than a preset communication quality threshold according to the communication state parameter, if it is determined that the encoding quality of the historical image is higher than or equal to the preset encoding quality threshold, and according to If the communication state parameter determines that the communication quality of the wireless communication link is higher than or equal to the preset communication quality threshold, the target image block in the current image to be encoded and the image blocks other than the target image block are determined Before encoding, the first filter is not used to filter the target image block, and the second filter is not used to filter the image blocks other than the target image block; and when the encoding quality evaluation parameters determine the When the encoding quality of the historical image is lower than the preset encoding quality threshold, or the communication quality of the wireless communication link is determined to
  • the encoding quality of the historical image is determined based on the encoding quality evaluation parameter of the historical image. Specifically, if the encoding quality evaluation parameter includes a smaller quantization parameter, the peak signal-to-noise ratio is greater , The smaller the mean square error, and/or the greater the structural similarity, the higher the correspondingly determined coding quality; and the communication quality of the wireless communication link is determined based on the communication state parameters of the wireless communication link. In particular, if the communication state parameter includes a larger bandwidth, a smaller bit error rate, and/or a higher frame rate, the correspondingly determined communication quality is higher.
  • the movable platform determines not to use the first filter and the second filter to perform the target image block and the target image block based on the quality evaluation parameter and the communication state parameter.
  • Filter processing for image blocks other than the image block, the first quantization parameter and the second quantization parameter different from the first quantization parameter are used to perform filtering on the target image block in the current image to be encoded and the image other than the target image block.
  • the block is encoded, and the encoded image is sent to the receiving end via the wireless communication link after encoding.
  • the first quantization parameter is smaller than the second quantization parameter.
  • the mobile platform may obtain the encoding quality evaluation parameters of image blocks other than the target image block in the encoded historical image and the communication state parameters of the wireless communication link, and then, according to the encoding
  • the quality evaluation parameters and the communication state parameters determine whether to perform filtering processing on the current image to be encoded, and when necessary, the first filter and the second filter are used to separately perform the target image block of the current image to be encoded. , And image blocks other than the target image block are filtered.
  • the coding quality evaluation parameters of the image blocks other than the target image block in the coded historical image and the communication state parameters of the wireless communication link it can be determined whether the direct coding method and the filter coding method are adaptively selected. In this way, the selected coding method can be more suitable for the current application scenario, and the flexibility of image coding can be improved.
  • FIG. 3 is another embodiment of the present invention.
  • An image processing method for a mobile platform is proposed, which includes:
  • S301 Obtain coding quality evaluation parameters of image blocks other than the target image block in the encoded historical image, where the encoded historical image is sent to the receiving end through a wireless communication link.
  • S302 Acquire a communication state parameter of the wireless communication link.
  • step S301 to step S302 can refer to step S201 and step S202 in the foregoing embodiment, which will not be repeated here.
  • the mobile platform may determine the coding quality according to the quantization parameter QP and/or the peak signal-to-noise ratio PSNR. Further, the coding quality evaluation parameter may be the quantization parameter QP and/or the peak signal-to-noise ratio. Than PSNR. In addition, when the mobile platform determines the communication state parameter, it may be determined based on the bandwidth. Further, the communication state parameter may be the bandwidth.
  • the coding quality of the mobile platform can be determined according to the coding quality evaluation parameter.
  • the coding quality evaluation parameter is based on The quantization parameter and/or peak signal-to-noise ratio are determined.
  • the coding quality evaluation parameter is determined based on the quantization parameter, if the coding quality evaluation parameter is greater than the preset coding evaluation parameter threshold, it is determined that the coding quality is low
  • the coding quality evaluation parameter is determined based on the peak signal-to-noise ratio
  • the coding quality evaluation parameter is less than the corresponding preset coding evaluation parameter threshold, it is determined that the coding quality is lower than the The preset coding quality threshold.
  • different coding quality evaluation parameters correspond to different preset coding evaluation parameter thresholds, that is, the coding evaluation parameter thresholds corresponding to the quantization parameter and the peak signal-to-noise ratio are different.
  • the mobile platform may determine the communication quality of the wireless communication link according to the communication state parameter of the communication link.
  • the communication state parameter may be determined according to the bandwidth, if the determined communication state parameter is less than
  • the communication state parameter threshold is preset, it is determined that the communication quality of the wireless communication link is lower than the preset communication quality threshold; otherwise, it is determined that the communication quality of the wireless communication link is higher than or equal to the preset communication quality threshold.
  • the movable platform may determine that the current Before encoding the target image block in the image to be encoded and the image blocks other than the target image block, it is necessary to use the first filter to filter the target image block, and use the second filter to filter the target image The image blocks outside the block are filtered.
  • the coding quality of the historical image is lower than the preset coding quality threshold or the communication quality of the wireless communication link is lower than the preset communication quality threshold, it can be prejudged that the coding rate of the current image to be coded is lower after coding, and In this case, it can prevent the decoded image from appearing obvious floating block effect, making the image quality smooth.
  • the target image block in the current image to be encoded if it is determined not to perform filtering processing on the target image block in the current image to be encoded and the image blocks other than the target image block, directly perform the filtering process on the target image block and the image block in the current image to be encoded.
  • Image blocks other than the target image block are subjected to partition coding, that is to say, the target image block can be coded according to the first quantization parameter, and the image blocks other than the target image block can be encoded according to the preset second quantization parameter.
  • the image block is encoded, and the partition-encoded image is sent to the receiving end via the communication link.
  • the first quantization parameter and the second quantization parameter may be determined according to the communication state parameter.
  • the code rate of the current image to be coded after coding can be predicted Higher, in this case, in order to improve the image quality and ensure that the high-frequency texture information in the image is not lost, the image can be coded by direct coding.
  • the mobile platform After the mobile platform obtains the coding quality evaluation parameters of image blocks other than the target image block in the encoded historical image and the communication state parameters of the wireless communication link, it is based on the The coding quality parameter and the communication state parameter, if it is determined according to the coding quality evaluation parameter that the coding quality of the historical image is lower than the preset coding quality threshold, or the communication quality of the wireless communication link is determined to be low according to the communication state parameter
  • the communication quality threshold is preset
  • the first filter is used to filter the target image block
  • the second filter is used to filter the image blocks other than the target image block, and the filtered image Perform unified coding; or, if it is determined according to the coding quality evaluation parameter that the coding quality of the historical image is higher than or equal to the preset coding quality threshold, and the communication quality of the wireless communication link is determined to be higher than or equal to the preset coding quality threshold according to the communication state parameter
  • FIG. 4 is a structural diagram of an image processing device applied to a movable platform provided by an embodiment of the present invention.
  • the application The image processing device 400 on a portable platform includes a memory 401 and a processor 402.
  • the memory 402 stores program codes.
  • the processor 402 calls the program codes in the memory.
  • the processor 402 performs the following operations :
  • the coding quality evaluation parameter and the communication state parameter determine whether to use the first filter and the second filter before encoding the target image block in the current image to be encoded and the image block other than the target image block. Filter processing is performed on the target image block and image blocks other than the target image block, wherein the first filter is different from the second filter.
  • the communication state parameter is determined according to one or more of bandwidth, bit error rate, and frame rate of the transmitted image.
  • the coding quality evaluation parameter is determined according to one or more of quantization parameter (QP), peak signal-to-noise ratio (PSNR), mean square error (MSE), and structural similarity (SSIM) .
  • QP quantization parameter
  • PSNR peak signal-to-noise ratio
  • MSE mean square error
  • SSIM structural similarity
  • processor 402 is further configured to perform the following operations:
  • the first filter is used to filter the target image block
  • the second filter is used to filter the target image block. Other image blocks are filtered.
  • the coding quality evaluation parameter is determined according to a quantization parameter, and when the coding quality evaluation parameter is greater than the preset coding evaluation parameter threshold, the coding quality of the historical image is lower than the preset coding quality Threshold.
  • the communication state parameter is determined according to the bandwidth, and when the communication state parameter is less than a preset communication state parameter threshold, the communication quality of the wireless communication link is lower than the preset communication quality threshold.
  • processor 402 is further configured to perform the following operations:
  • the first filter is not used to filter the target image block, and the second filter is not used Perform filtering processing on image blocks other than the target image block.
  • the coding quality evaluation parameter is determined according to a quantization parameter.
  • the coding quality evaluation parameter is less than or equal to the preset coding evaluation parameter threshold, the coding quality of the historical image is higher than the preset coding quality. Encoding quality threshold.
  • the communication state parameter is determined according to the bandwidth, and when the communication state parameter is greater than or equal to a preset communication state parameter threshold, the communication quality of the wireless communication link is higher than the preset communication quality threshold.
  • the filtering configuration parameter of the first filter is smaller than the filtering configuration parameter of the second filter.
  • the filtering configuration parameters include spatial distance and/or gray-scale distance.
  • processor 402 is further configured to perform the following operations:
  • the image processing device applied to a movable platform provided in this embodiment can execute the image processing methods shown in FIG. 2 and FIG. 3 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and details are not repeated here.
  • the embodiment of the present invention provides a movable platform including a fuselage, a power system, and the image processing device as described above.
  • the work of the image processing device of the movable platform is the same as or similar to the foregoing, and will not be repeated here.
  • the movable platform is an unmanned aerial vehicle
  • its power system may include a rotor, a motor that drives the rotor to rotate, and an electric regulator.
  • the unmanned aerial vehicle may be a four-rotor, six-rotor, eight-rotor or other multi-rotor unmanned aerial vehicle. It is understandable that the drone may also be a fixed-wing movable platform or a hybrid-wing movable platform. It is understandable that the movable platform may also include unmanned vehicles.

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Abstract

本发明实施例提供了一种可移动平台的图像处理方法、装置、可移动平台及介质，该方法包括：获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；获取所述无线通信链路的通信状态参数；根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器，可提高基于目标图像块编码的灵活性。

Description

可移动平台的图像处理方法、装置、可移动平台及介质 技术领域
本发明涉及图像技术领域，尤其涉及一种可移动平台的图像处理方法、装置、可移动平台及介质。
背景技术
随着图像处理技术的不断发展，实现图像的实时传输的同时，也越来越关注于实时传输图像的清晰度。而实现对图像的高清实时传输，对信道质量要求较高，如果基于有限带宽的信道，图像的实时传输则无法保证清晰度的要求。所以，当前在进行图像的实时传输时，为了适应于有限的传输带宽，一般采取基于目标图像块的编码方法，以保证在传输过程中图像中目标图像块(即感兴趣区域(Region Of Interest，ROI)对应的图像块)的清晰度。
当前基于目标图像块的方法主要有两种，一种是直接编码方式，即采用不同的量化参数对图像中的目标图像块和目标图像块之外的图像块进行编码；另外一种是滤波编码方式，即采用不同的滤波器对图像中的目标图像块和目标图像块之外的图像块进行滤波，然后对滤波后的图像进行编码。现有技术中往往只使用以上两种方法中的其中一种。然而，由于直接编码方式和滤波编码方式的各自的特点，另外，由于图像的信源和传输所述图像的无线通信链路的通信质量时常处于变化之中，现有的策略不能灵活性适应各种应用场景。
发明内容
有鉴于此，本发明实施例提供了一种可移动平台的图像处理方法及可移动平台，以提高基于目标图像块编码的灵活性。
本发明实施例第一方面提供了一种可移动平台的图像处理方法，该方法包括：
获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；
获取所述无线通信链路的通信状态参数；
根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器。
本发明实施例第二方面提供了一种图像处理装置，该图像处理装置包括存储器、处理器和图像采集设备，该存储器用于存储程序指令，该处理器用于调用该程序指令来执行如下操作：
获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；
获取所述无线通信链路的通信状态参数；
根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器。
本发明实施例第三方面提供了一种可移动平台，该可移动平台包括机身，动力系统，安装在所述机身，用于为所述可移动平台提供动力；以及如第二方面中任一项所述的处理器，图像采集设备，安装在所述机身，用于采集图像。
本发明实施例第四方面提供了一种可移动平台，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如第一方面所述的可移动平台的图像处理方法。
在本发明实施例中，可移动平台可在获取到已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，以及无线通信链路的通信状态参数后，根据所述编码质量评价参数和所述通信状态参数，确定是否对所述当前待编码图像进行滤波处理，并在确定需要时采用第一滤波器和第二滤波器分别对所述当前待编码图像的目标图像块，以及所述目标图像块之外的图像块进行滤波处理。通过这种方式，可以根据已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数以及无线通信链路的通信状态参数来适应性地选择直接编码方式和滤波编码方式，这样可以使得选择的编码方式更加适合当前的应用场景，提高对图像编码的灵活性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1a是本发明实施例的一种可移动平台的图像处理方法的示意流程图；
图1b是本发明实施例的一种从当前编码图像中确定出目标图像块的示意图；
图1c是本发明实施例的一种可移动平台的图像处理方法的场景图；
图2是本发明另一实施例的一种可移动平台的图像处理方法的示意流程图；
图3是本发明又一实施例的一种可移动平台的图像处理方法的示意流程图；
图4是本发明实施例的一种可移动平台的图像处理装置的示意性框图。
具体实施方式
实时图像/视频传输系统对图传时延要求较高，传输带宽有限，所以，当有限的带宽无法满足对传输图像的整幅图像画面保持高清晰度的传输画质要求时，可基于传输图像的目标图像块(即ROI对应的图像块)，对该传输图像进行区域划分，基于该区域划分确定的不同图像区域对应的重要性，可采用不同的方式对同一图像不同的图像块进行处理使得同一传输图像的不同图像块对应不同清晰度的画质需求，从而可提高有限传输带宽的利用率，也就是说，在对传输图像进行区域划分后，目标图像块进行传输后得到的解码图像画质更清晰，而目标图像块之外的图像块进行传输后解码得到的图像画质相对于目标图像块的画质较低，并非是保持传输图像的画质一致进行传输的。
本发明的相关技术提及，可通过直接编码或者滤波编码这两种方式实现上述的技术效果，而采用直接编码方式和滤波编码方式具有各自的特点，通过实验发现，在图像编码后的码率位于某个临界码率以上时，采用直接编码的方式对图像进行编码后，经传输后解码得到的图像对应有较高的图像质量，而采用滤波编码方式会使得图像的高频纹理细节损失严重，而导致经传输后解码得到 的图像质量较低。而随着传输的进行，当图像编码后的码率位于某个临界码率附近或者该临界码率以下时，如果采用直接编码方式对图像进行编码，经传输后解码得到的解码图像在主观上具有明显的浮动块效应，从而导致解码图像不清晰，而如果采用滤波编码方式可以使得解码图像在主观上更加顺滑自然，可有效避免浮动块效应导致的解码图像不清晰的问题。
基于以上实验发现，本发明实施例提出了一种可移动平台的图像处理方法，如图1a所示，涉及所述图像处理方法的主要装置模块有：图像采集装置、目标图像块产生器、视频编码器、传输设备、参数监控器、目标图像块控制装置和目标图像块需求装置。所述图像采集装置用于进行图像采集。目标图像块产生器用于确定采集到的图像对应的图像块划分，即确定出采集到的图像中的目标图像块和所述目标图像块之外的图像块。参数监控器用于收集已编码的历史图像中的目标图像块(即ROI对应的图像块)和所述目标图像块之外的图像块(即非ROI对应的图像块)的编码质量评价参数(例如量化参数或峰值信噪比)，以及当前进行图像传输的无线通信状态参数(例如带宽)，从而可根据所述编码质量评价参数确定已编码的历史图像的所述目标图像块和所述目标图像块之外的图像块的编码质量，并可根据所述无线通信状态参数确定所述无线通信链路的通信质量。目标图像块需求装置用于接收用户或者接收端反馈的目标图像块的划分需求指令。所述目标图像块控制装置为核心算法模块，可根据目标图像块需求装置提供的目标图像块的划分需求指令，确定出对图像的图像块划分需求，并指示目标图像块产生器按照所述划分需求将图像划分成目标图像块(即ROI对应的图像块)和所述目标图像块之外的图像块(即非ROI对应的图像块)。另外，所述目标图像块控制装置，还可以根据目标图像块之外的图像块的编码指令和所述无线通信链路的通信质量确定当前待编码图像的编码方式，即是采用直接编码方式还是采用滤波编码方式。同时，目标图像块控制装置控制视频编码器按照选择的视频编码方式对所述当前待编码图像进行编码。视频编码器负责根据目标图像块控制装置选择的编码方式对当前待编码图像进行编码，并进行码率控制以适配所述无线通信链路；传输设备则用于对编码后的图像进行传输。
具体地，参数监控器在图像编码过程中，可分别统计已编码的历史图像中目标图像块和所述目标图像块之外的图像块的编码质量评价参数，如量化参数、 量化损失参数(包括均方差MSE/量化损失参数PSNR)等，还可统计当前信道(即无线通信链路)的通信状态参数，如信道带宽、误码率等；进一步地，所述参数监控器基于得到的编码质量评价参数计算出已编码的历史图像中目标图像块和所述目标图像块之外的图像块分别对应的编码质量f1和f0，并可基于确定的通信状态参数确定当前用于进行图像传输的无线通信链路的通信质量g。其中，参数监控器中预先定义了对目标图像块和所述目标图像块之外的图像块的编码质量进行计算的函数f以及所述通信质量对应的评价函数g，并将采集到的已编码的历史图像中目标图像块和所述目标图像块之外的图像块分别对应编码质量评价参数代入函数f中以获取已编码的历史图像中目标图像块和所述目标图像块之外的图像块分别对应的编码质量f1和f0，并将通信状态参数代入函数g中以确定无线通信链路的通信质量。
目标图像块需求装置在确定对图像的图像块划分后，如果所述目标图像块控制装置确定所述目标图像块之外的图像块的编码质量f0高于或等于预设编码质量阈值，且确定所述无线通信链路的通信质量g高于或等于预设通信质量阈值时，控制视频编码器按照直接编码方式对如图1b所示的当前待编码图像进行编码，即在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理，而是，则采用第一量化参数和不同于第一量化参数的第二量化参数分别对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码处理，并在编码后经过所述无线通信链路将编码后的图像发送给接收端。其中，第一量化参数小于第二量化参数。其中，当前待编码图像的目标图像块已经由目标图像块产生器划分确定。
当目标图像块控制装置确定所述目标图像块之外的图像块的编码质量f0低于所述预设编码质量阈值，或所述无线通信链路的通信质量低于所述预设通信质量阈值时，则确定采用滤波编码方式对如图1b所示的当前待编码图像进行编码，目标图像块控制装置可以先采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理，然后控制视频滤波器对滤波后的图像进行统一编码处理。
在一个实施例中，上述的图像处理方法可应用于如图1c所示的可移动平 台中，具体可应用于图1c中的无人机中，所述可移动平台包括图像采集设备10，所述图像采集设备10可进行图像拍摄或者视频拍摄，从而可基于上述的图像处理方法使得所述可移动平台实现对图像或视频的处理。
在一个实施例中，所述可移动平台在进行图像传输时，可先获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，从而可根据所述历史图像中目标图像块之外的图像块的编码质量评价参数，确定所述历史图像的编码质量，其中，所述已编码的历史图像通过无线通信链路发送给接收端，所述已编码的历史图像中的目标图像块是所述可移动平台确定的所述历史图像中的ROI对应的图像块，所述目标图像块之外的图像块即为所述历史图像的非ROI区域对应的图像块。
在所述可移动平台确定对所述历史图像的编码质量的同时，所述可移动平台还需获取进行图像/视频传输的无线通信链路的通信状态参数，从而可基于所述通信状态参数确定出所述无线通信链路的通信质量，从而所述可移动平台可基于确定的对所述历史图像的编码质量和所述无线通信链路的通信质量，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码之前，是否分别采用第一滤波器和第二滤波器对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，如果所述可移动平台确定不采用所述第一滤波器和所述第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，则可基于不同的编码参数分别对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码处理，并将编码后的图像块经所述无线通信链路进行传输；如果所述可移动平台确定需要采用所述第一滤波器和所述第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，则采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理，其中，所述第一滤波器对应的滤波配置参数小于所述第二滤波器对应的滤波配置参数。在所述可移动平台对所述目标图像块以及所述目标图像块之外的图像块进行滤波处理后，可对进行滤波处理后的所述待编码图像按照统一的编码参数进行编码处理，使得经传输解码后的图像的目标图像块和所述目标图像块之外的图像块之间比较流畅，从而可有效解决由浮动块效应造成的图像不清晰的问题。
请参见图2，是本发明实施例提出的一种移动平台的图像处理方法的示意流程图，如图2所示，该方法可包括：
S201，获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数。
具体地，以上的图像处理方法可以由可移动平台的图像处理装置来执行。所述图像处理装置可以获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数。编码质量评价参数可以用于表征历史图像编码的编码质量，即可以表征已编码的历史图像对应的解码图像的画质水平。在一个实施例中，所述编码质量评价参数是根据量化参数(QP)、峰值信噪比(PSNR)、均方误差(MSE)、结构相似性(SSIM)中的一种或多种确定的。
在一个实施例中，所述历史图像可以是当前待编码图像的前一帧图像或者前几帧图像。所述历史图像中的目标图像块是所述历史图像中ROI对应的图像块，所述目标图像块之外的图像块是所述历史图像中非ROI对应的图像块。其中，所述可移动平台中预设了对图像中目标图像块的确定规则，可移动平台可根据所述预设的规则确定任一图像对应的目标图像块和所述目标图像块之外的图像块。其中，所述可移动平台在确定图像中的目标图像块时，可按照所述预设的规则从图像中确定一个或多个图像块作为所述目标图像块。
在一个实施例中，所述预设的规则例如可以是按照预设的构图规则从所述当前待编码图像中确定所述目标图像块；其中，所述预设的构图规则例如可以是基于构图将图像的中心区域作为目标图像块。或者，所述可移动平台可获取用于指示所述接收端的运动的运动数据，从而可根据所述运动数据从所述当前待编码图像中确定所述目标图像块，所述指示所述接收端的运动的运动数据可以佩戴接收端的用户的头部转动数据等，例如，所述接收端可以为视频眼镜，用户通过佩戴视频眼镜，使得所述视频眼镜可以通过内置的运动传感器检测用户的头部转动以生成所述头部转动数据，视频眼镜可以向所述可移动平台发送所述头部转动数据，基于所述运动数据可确定出用户对图像的关注区域，从而可将该关注区域内的图像作为目标图像块。又或者，接收端可以检测佩戴所述接收端的用户的眼球的转动的信息，并将所述眼球的转动的信息发送给可移动平台，所述可移动平台可获取佩戴所述接收端的用户的眼球的转动的信息，并 根据所述信息从所述当前待编码图像中确定所述目标图像块，所述佩戴的接收端例如可以是视频眼镜等。再或者，所述可移动平台还可获取用户的构图指令，从而可根据所述构图指令从所述当前待编码图像中确定所述目标图像块，所述用户的构图指令例如可以是所述用户通过所述接收端发出的选择指令，从而可将所述选择指令作用的图像区域作为目标图像块。
在所述可移动平台确定编码质量评价参数后，由于所述已编码的历史图像是通过无线通信链路发送给接收端的，进一步地，为了确定是否需要对所述当前待编码图像进行滤波处理，所述可移动平台可获取所述无线通信链路的通信状态参数，即转而执行步骤S202。其中，所述接收端可以是遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备(例如手表、手环、视频眼镜等)中的一种或多种。
S202，获取所述无线通信链路的通信状态参数。
在一个实施例中，图像处理装置可以获取可移动平台采集得到的所述无线通信链路的通信状态参数，在某些情况中，图像处理装置可以获取接收端采集的所述无线通信链路的通信状态参数。所述无线通信链路的通信状态参数可以是任何反应可移动平台和接收端之间的无线通信链路的通信质量的参数。例如，所述通信状态参数可以是根据带宽、误码率、传输图像的帧率中的一种或多种确定的，进一步地，所述通信状态参数可以是带宽、误码率、传输图像的帧率中的一种或多种。
在所述可移动平台获取到所述无线通信链路的通信状态参数后，基于确定的编码质量评价参数和所述通信状态参数，转而执行步骤S203，以确定是否需要在对所述当前待编码图像进行编码前，对所述当前待编码图像进行滤波处理。
S203，根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理。
具体地，由于目标图像块和目标图像块之外的图像块需要对应不同的画质，因此用于对目标图像块进行滤波的第一滤波器不同于用于对目标图像块之外的图像块进行滤波的第二滤波器。在某些情况中，第一滤波器的类型可以不同 于第二滤波器，在某些情况中，第一滤波器的配置参数不同于第二滤波器。进一步地，所述第一滤波器的配置参数不同于所述第二滤波器是指：所述第一滤波器对应的滤波配置参数小于所述第二滤波器对应的滤波配置参数。其中，所述滤波配置参数用于描述滤波器对图像进行滤波处理后对图像细节的保留程度，滤波配置参数越大，经滤波后丢失的图像细节越多，所述滤波配置参数例如可以是空间距离和/或灰度距离等。
在所述可移动平台根据所述质量评价参数和所述通信状态参数，确定对当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码之前，需要对所述当前待编码图像进行滤波处理时，则采用所述第一滤波器对所述待编码图像的目标图像块进行滤波处理，并采用第二滤波器对所述待编码图像的目标图像块之外的图像块进行滤波处理。在采用滤波器对所述待编码图像中的目标图像块和所述目标图像块之外的图像块进行滤波处理后，所述可移动平台可按照预设的编码规则对所述待编码图像进行统一编码处理，并在编码后经过所述无线通信链路将编码后的图像发送给接收端。
在一个实施例中，所述可移动平台在确定是否对所述当前待编码图像进行滤波处理时，可先将当根据编码质量评价参数确定所述历史图像的编码质量是否低于预设编码质量阈值，或者，根据所述通信状态参数确定所述无线通信链路的通信质量是否低于预设通信质量阈值，如果确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质量高于或等于所述预设通信质量阈值，则在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理；而当根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或者根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，所述历史图像的编码质量是基于所述历史图像的编码质量评价参数确定的，具体地，如果所述编码质量评价参数包括的量化参数越小，峰值信噪比越大，均方误差越小，和/或结构相似性越大，对应确定的编码质 量越高；而所述无线通信链路的通信质量是基于所述无线通信链路的通信状态参数确定的，具体地，如果所述通信状态参数包括的带宽越大、误码率越小，和/或帧率越高，则对应确定的通信质量越高。
在一个实施例中，若所述可移动平台根据所述质量评价参数和所述通信状态参数，确定不分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，则采用第一量化参数和不同于第一量化参数的第二量化参数分别对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码处理，并在编码后经过所述无线通信链路将编码后的图像发送给接收端。其中，第一量化参数小于第二量化参数。
在本发明实施例中，可移动平台可在获取到已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，以及无线通信链路的通信状态参数后，根据所述编码质量评价参数和所述通信状态参数，确定是否对所述当前待编码图像进行滤波处理，并在确定需要时采用第一滤波器和第二滤波器分别对所述当前待编码图像的目标图像块，以及所述目标图像块之外的图像块进行滤波处理。通过这种方式，可以根据已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数以及无线通信链路的通信状态参数来确定是适应性地选择直接编码方式和滤波编码方式，这样可以使得选择的编码方式更加适合当前的应用场景，提高对图像编码的灵活性。
在一个实施例中，基于上述实施例的描述，为了对所述可移动平台是否需要对所述当前待编码图像进行滤波的确定方法进行具体描述，请参见图3，是本发明另一实施例提出的一种移动平台的图像处理方法，该方法包括：
S301，获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端。
S302，获取所述无线通信链路的通信状态参数。
在一个实施例中，步骤S301-步骤S302的具体实施方式可参见上述实施例中的步骤S201和步骤S202，在此不再赘述。
S303，当根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或者根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像 块之外的图像块编码之前，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，所述可移动平台可根据量化参数QP和/或峰值信噪比PSNR确定所述编码质量，进一步地，所述编码质量评价参数可以为量化参数QP和/或峰值信噪比PSNR。此外，所述可移动平台在确定通信状态参数时，可基于带宽确定，进一步，所述通信状态参数可以为带宽。
在所述可移动平台确定出编码质量评价参数和所述通信状态参数后，根据所述编码质量评价参数可确定出所述可移动平台的编码质量，具体地，所述编码质量评价参数是根据量化参数和/或峰值信噪比确定的，当所述编码质量评价参数是根据量化参数确定时，若所述编码质量评价参数大于所述预设编码评价参数阈值，则确定所述编码质量低于预设编码质量阈值，或者，当所述编码质量评价参数根据峰值信噪比确定时，若所述编码质量评价参数小于对应的预设编码评价参数阈值，则确定所述编码质量低于所述预设编码质量阈值。在一个实施例中，不同的编码质量评价参数对应有不同的预设编码评价参数阈值，即所述量化参数和所述峰值信噪比对应的编码评价参数阈值不同。
进一步地，所述可移动平台可根据通信链路的通信状态参数确定出所述无线通信链路的通信质量，具体地，所述通信状态参数可根据带宽确定，若确定出的通信状态参数小于预设通信状态参数阈值时，则确定所述无线通信链路的通信质量低于预设通信质量阈值，否则，确定所述无线通信链路的通信质量高于或等于预设通信质量阈值。进一步地，当确定所述历史图像的编码质量低于预设编码质量阈值，或者确定所述无线通信链路的通信质量低于预设通信质量阈值时，所述可移动平台可确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行编码之前，需要采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。当判定所述历史图像的编码质量低于预设编码质量阈值或者所述无线通信链路的通信质量低于预设通信质量阈值，可以预判当前待编码图像编码之后的码率较低，在这种情况中，可以防止解码后的图像出现明显的浮动块效应，使得画质顺滑。
S304，当根据编码质量评价参数确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质 量高于或等于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，如果确定不对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行滤波处理，则直接对所述当前待编码图像中的目标图像块和所述目标图像块之外的图像块进行分区编码，也就是说，可按照第一量化参数对所述目标图像块进行编码，并按照预设的第二量化参数对所述目标图像块之外的图像块进行编码处理，并将进行分区编码后的图像经通信链路发送到接收端。其中，第一量化参数和第二量化参数可以是根据所述通信状态参数确定的。当判定所述历史图像的编码质量高于或等于预设编码质量阈值且所述无线通信链路的通信质量高于或等于预设通信质量阈值，可以预判当前待编码图像编码之后的码率较高，在这种情况中，可以为了提高画质，保证图像中的高频纹理信息不丢失，可以采用直接编码的方式对图像进行编码。
在本发明实施例中，所述可移动平台在获取到已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，以及无线通信链路的通信状态参数后，基于所述编码质量参数和所述通信状态参数，若根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或者根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理，并对滤波后的图像进行统一编码；或者，如果根据编码质量评价参数确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质量高于或等于预设通信质量阈值时，则直接对所述目标图像块和所述目标图像块之外的图像块进行直接编码，可减轻直接分区编码所导致的浮动块效应，可有效提升解码后图像的图像质量。
本发明实施例提供了一种图像处理装置，应用于可移动平台中，图4是本发明实施例提供的应用于可移动平台的图像处理装置的结构图，如图4所示，所述应用于可移动平台的图像处理装置400包括存储器401和处理器402，其 中，存储器402中存储有程序代码，处理器402调用存储器中的程序代码，当程序代码被执行时，处理器402执行如下操作：
获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；
获取所述无线通信链路的通信状态参数；
根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器。
在一个实施例中，所述通信状态参数是根据带宽、误码率、传输图像的帧率中的一种或多种确定的。
在一个实施例中，所述编码质量评价参数是根据量化参数(QP)、峰值信噪比(PSNR)、均方误差(MSE)、结构相似性(SSIM)中的一种或多种确定的。
在一个实施例中，所述处理器402还用于执行如下操作：
当根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数大于所述预设编码评价参数阈值时，所述历史图像的编码质量低于预设编码质量阈值。
在一个实施例中，所述通信状态参数是根据带宽确定的，所述通信状态参数小于预设通信状态参数阈值时，所述无线通信链路的通信质量低于预设通信质量阈值。
在一个实施例中，所述处理器402还用于执行如下操作：
当根据编码质量评价参数确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质量高于或等于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目 标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
在一个实施例中，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数小于或等于所述预设编码评价参数阈值时，所述历史图像的编码质量高于预设编码质量阈值。
在一个实施例中，所述通信状态参数是根据带宽确定的，所述通信状态参数大于或等于预设通信状态参数阈值时，所述无线通信链路的通信质量高于预设通信质量阈值。
在一个实施例中，第一滤波器的滤波配置参数小于第二滤波器的滤波配置参数。
在一个实施例中，所述滤波配置参数包括空间距离和/或灰度距离。
在一个实施例中，所述处理器402还用于执行如下操作：
按照预设的构图规则从所述当前待编码图像中确定所述目标图像块；或者，
获取用于指示所述接收端的运动的运动数据，根据所述运动数据从所述当前待编码图像中确定所述目标图像块；或者，
获取用于指示佩戴所述接收端的用户的眼球的转动的信息，根据所述信息从所述当前待编码图像中确定所述目标图像块；或者，
获取根据用户的指令确定的构图指令，根据所述构图指令从所述当前待编码图像中确定所述目标图像块。
本实施例提供的应用于可移动平台的图像处理装置能执行前述实施例提供的如图2和图3所示的图像处理方法，且执行方式和有益效果类似，在这里不再赘述。
本发明实施例提供一种可移动平台，包括机身，动力系统以及如前所述的图像处理装置。可移动平台的图像处理装置工作与前述相同或类似，此处不再赘述。当所述可移动平台为无人机时，其动力系统可以包括旋翼、驱动旋翼旋转的电机及其电调。所述无人机可以是四旋翼、六旋翼、八旋翼或其他多旋翼无人机，此时无人机垂直起降进行工作。可以理解的是，无人机还可以是固定翼可移动平台或混合翼可移动平台。可以理解的是，所述可移动平台还可以包括无人车。
可以理解，以上所揭露的仅为本发明实施例的部分实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (28)

  1. 一种可移动平台的图像处理方法，其特征在于，包括：
    获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；
    获取所述无线通信链路的通信状态参数；
    根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器。
  2. 根据权利要求1所述的方法，其特征在于，所述通信状态参数是根据带宽、误码率、传输图像的帧率中的一种或多种确定的。
  3. 根据权利要求1或2所述的方法，其特征在于，所述编码质量评价参数是根据量化参数(QP)、峰值信噪比(PSNR)、均方误差(MSE)、结构相似性(SSIM)中的一种或多种确定的。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，包括：
    当根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或者根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
  5. 根据权利要求4所述的方法，其特征在于，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数大于所述预设编码评价参数阈 值时，所述历史图像的编码质量低于预设编码质量阈值。
  6. 根据权利要求4或5所述的方法，其特征在于，所述通信状态参数是根据带宽确定的，所述通信状态参数小于预设通信状态参数阈值时，所述无线通信链路的通信质量低于预设通信质量阈值。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，包括：
    当根据编码质量评价参数确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质量高于或等于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
  8. 根据权利要求7所述的方法，其特征在于，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数小于或等于所述预设编码评价参数阈值时，所述历史图像的编码质量高于预设编码质量阈值。
  9. 根据权利要求7或8所述的方法，其特征在于，所述通信状态参数是根据带宽确定的，所述通信状态参数大于或等于预设通信状态参数阈值时，所述无线通信链路的通信质量高于预设通信质量阈值。
  10. 根据权利要求1-9任一项所述的方法，其特征在于，第一滤波器的滤波配置参数小于第二滤波器的滤波配置参数。
  11. 根据权利要求10所述的方法，其特征在于，所述滤波配置参数包括空间距离和/或灰度距离。
  12. 根据权利要求1-11任一项所述的方法，其特征在于，所述方法还包括：
    按照预设的构图规则从所述当前待编码图像中确定所述目标图像块；或者，
    获取用于指示所述接收端的运动的运动数据，根据所述运动数据从所述当前待编码图像中确定所述目标图像块；或者，
    获取用于指示佩戴所述接收端的用户的眼球的转动的信息，根据所述信息从所述当前待编码图像中确定所述目标图像块；或者，
    获取根据用户的指令确定的构图指令，根据所述构图指令从所述当前待编码图像中确定所述目标图像块。
  13. 一种可移动平台的图像处理装置，其特征在于，包括存储器和处理器,其中，
    所述存储器，用于存储有程序代码；
    所述处理器，调用存储器中的程序代码，当程序代码被执行时，用于执行如下操作：
    获取已编码的历史图像中的目标图像块之外的图像块的编码质量评价参数，其中，所述已编码的历史图像通过无线通信链路发送给接收端；
    获取所述无线通信链路的通信状态参数；
    根据编码质量评价参数和所述通信状态参数，确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理，其中，第一滤波器不同于第二滤波器。
  14. 根据权利要求13所述的装置，其特征在于，所述通信状态参数是根据带宽、误码率、传输图像的帧率中的一种或多种确定的。
  15. 根据权利要求13或14所述的装置，其特征在于，所述编码质量评价参数是根据量化参数(QP)、峰值信噪比(PSNR)、均方误差(MSE)、结构相似性(SSIM)中的一种或多种确定的。
  16. 根据权利要求13-15任一项所述的装置，其特征在于，所述处理器根据编码质量评价参数和所述通信状态参数确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理时，执行如下操作：
    当根据编码质量评价参数确定所述历史图像的编码质量低于预设编码质量阈值，或根据所述通信状态参数确定所述无线通信链路的通信质量低于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，采用第一滤波器对所述目标图像块进行滤波处理，并采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
  17. 根据权利要求16所述的装置，其特征在于，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数大于所述预设编码评价参数阈值时，所述历史图像的编码质量低于或等于预设编码质量阈值。
  18. 根据权利要求16或17所述的装置，其特征在于，所述通信状态参数是根据带宽确定的，所述通信状态参数小于预设通信状态参数阈值时，所述无线通信链路的通信质量低于预设通信质量阈值。
  19. 根据权利要求13-18任一项所述的装置，其特征在于，所述处理器根据编码质量评价参数和所述通信状态参数确定在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前是否分别采用第一滤波器和第二滤波器对所述目标图像块和所述目标图像块之外的图像块进行滤波处理时，执行如下操作：
    当根据编码质量评价参数确定所述历史图像的编码质量高于或等于预设编码质量阈值，且根据所述通信状态参数确定所述无线通信链路的通信质量高于或等于预设通信质量阈值时，在对当前待编码图像中的目标图像块和所述目标图像块之外的图像块编码之前，不采用第一滤波器对所述目标图像块进行滤波处理，并不采用第二滤波器对所述目标图像块之外的图像块进行滤波处理。
  20. 根据权利要求19所述的装置，其特征在于，所述编码质量评价参数是根据量化参数确定的，当所述编码质量评价参数小于或等于所述预设编码评价参数阈值时，所述历史图像的编码质量高于预设编码质量阈值。
  21. 根据权利要求19或20所述的装置，其特征在于，所述通信状态参数是根据带宽确定的，所述通信状态参数大于或等于预设通信状态参数阈值时，所述无线通信链路的通信质量高于预设通信质量阈值。
  22. 根据权利要求13-21任一项所述的装置，其特征在于，第一滤波器的滤波配置参数小于第二滤波器的滤波配置参数。
  23. 根据权利要求22所述的装置，其特征在于，所述滤波配置参数包括空间距离和/或灰度距离。
  24. 根据权利要求13-23任一项所述的装置，其特征在于，所述处理器还执行如下操作：
    按照预设的构图规则从所述当前待编码图像中确定所述目标图像块；或者，
    获取用于指示所述接收端的运动的运动数据，根据所述运动数据从所述当前待编码图像中确定所述目标图像块；或者，
    获取用于指示佩戴所述接收端的用户的眼球的转动的信息，根据所述信息从所述当前待编码图像中确定所述目标图像块；或者，
    获取根据用户的指令确定的构图指令，根据所述构图指令从所述当前待编码图像中确定所述目标图像块。
  25. 一种可移动平台，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于为所述可移动平台提供动力；
    以及如权利要求13-24中任一项所述的处理器。
  26. 根据权利要求25所述的可移动平台，其特征在于，所述可移动平台还包括：
    通信设备，安装在所述机身，用于与外部设备进行信息交互。
  27. 根据权利要求25所述的可移动平台，其特征在于，所述可移动平台至少包括如下的一种：无人车、无人机。
  28. 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如权利要求1-12任一项所述的可移动平台的图像处理方法。
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