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An image motion compensation method, device, vehicle and storage medium

A motion compensation and image technology, applied in the field of image processing, can solve the problems of poor processing effect and low motion phase error compensation accuracy, and achieve the effect of improving quality and compensation accuracy

Active Publication Date: 2022-07-15
BEIJING AUTOROAD TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Due to the low installation position of the image acquisition device, there is a strong spatial variation in the motion phase error. The self-focusing method used in the prior art has a poor processing effect on the motion phase error with strong spatial variation, and the compensation accuracy of the motion phase error lower

Method used

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  • An image motion compensation method, device, vehicle and storage medium
  • An image motion compensation method, device, vehicle and storage medium
  • An image motion compensation method, device, vehicle and storage medium

Examples

Experimental program
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Embodiment 1

[0051] figure 1 It is a flowchart of an image motion compensation method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation of compensating an image to improve the image quality, especially when the vehicle changes speed frequently or the road is bumpy. The quality of the road image. The method may be performed by an image motion compensation device, which may be implemented in software and / or hardware, and which may be configured in a vehicle. Specifically, refer to figure 1 , the method may include the following steps:

[0052] S110. Determine the length of the windowing window according to the sub-aperture image of the road, and perform windowing processing on the sub-aperture image to obtain a phase error.

[0053] The sub-aperture image is an image obtained by dividing the generated road image along the azimuth direction. The azimuth direction can be the driving direction of the vehicle. When dividing the road image along...

Embodiment 2

[0068] figure 2 This is a flowchart of an image motion compensation method provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above-mentioned embodiments. For details, refer to figure 2 , the method may include the following steps:

[0069] S210. Perform rough compensation on echo data of the synthetic aperture radar, and form a road image based on the echo data after the rough compensation, where the synthetic aperture radar is installed on a vehicle.

[0070] S220. Process the road image to obtain a sub-aperture image.

[0071] Optionally, the sub-aperture image can be obtained as follows:

[0072] Dividing the road image into blocks according to the distance to obtain a sub-block image in the distance;

[0073] The range sub-block image is divided into overlapping sub-apertures according to the azimuth direction to obtain a sub-aperture image.

[0074] Considering the influence of distance space variation of short-range...

Embodiment 3

[0099] Figure 5 This is a structural diagram of an image motion compensation apparatus provided in Embodiment 3 of the present invention. The apparatus can execute the image motion compensation method described in the above-mentioned embodiments. Refer to Figure 5 , the device includes:

[0100] The window length determination module 310 is configured to determine the length of the windowed window according to the sub-aperture image of the road, and perform windowing processing on the sub-aperture image to obtain the phase error;

[0101] a compensation module 320, configured to compensate the sub-aperture image according to the phase error;

[0102] The stitching module 330 is used for stitching the compensated sub-aperture images.

[0103] The third embodiment of the present invention provides an image motion compensation device, which determines the length of the windowed window according to the sub-aperture image of the road, so that the length of the windowed window c...

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Abstract

Embodiments of the present invention disclose an image motion compensation method, device, vehicle and storage medium. The method includes: determining the length of the windowed window according to the sub-aperture image of the road, performing windowing processing on the sub-aperture image to obtain a phase error, compensating the sub-aperture image according to the phase error, and splicing the compensated image. Subaperture image. Compared with the prior art, the technical solution of the embodiment of the present invention determines the length of the windowed window according to the sub-aperture image of the road, so that the length of the windowed window can be adaptively adjusted according to the distribution of the sub-aperture image. When the image is windowed, the compensation accuracy of the phase error can be improved, and when the phase error is used to compensate the sub-aperture image, the compensation accuracy of the sub-aperture image can be improved, thereby improving the quality of the image.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of image processing, and in particular, to an image motion compensation method, device, vehicle, and storage medium. Background technique [0002] With the development of autonomous driving technology, more and more vehicles are equipped with autonomous driving functions. By analyzing the collected road images, the driving path of the vehicle is determined to realize the automatic driving of the vehicle. Since the vehicle is in motion, frequent shifting and road bumps can introduce large motion phase errors. [0003] In order to reduce the motion phase error, in the prior art, a high-precision navigation system is used to compensate most of the motion phase error in the echo data. Although the accuracy of this compensation method is high, the cost of the high-precision navigation system is very high. In some cases, the inertial navigation system (Inertial Navigation System, INS) with ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/207G06T9/00G06T5/50G06V20/58
CPCG06T7/207G06T9/00G06T5/50G06T2207/10044G06V20/588
Inventor 唐侃郭鑫
Owner BEIJING AUTOROAD TECH CO LTD