Image denoising method and device, readable medium and electronic equipment
An image and grayscale image technology, which is applied in image enhancement, image analysis, image data processing, etc., can solve the problems of affecting the visual effect of the image and destroying the real information of the image.
Active Publication Date: 2020-12-29
PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD
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[0002] For smart devices such as self-driving cars, drones, and smart robots, it is usually necessary to install non-visual sensors on them, and then use the surrounding environment data collected by non-visual sensors to construct corresponding occupancy grid maps. However, the occupancy grid During the generation and transmission of grid maps, various noises are often introduced. These noises not only destroy the real information of the image, but also seriously affect the visual effect of the image. Therefore, it is usually necessary to denoise the occupancy grid map
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[0051] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0052] This embodiment can be applied to electronic devices, specifically smart devices, servers, or general computers. Smart devices include but are not limited to self-driving cars, drones, and smart robots. The smart robot is preferably a sweeping robot. Such as figure 1 Shown is a specific embodiment of an image denoising method provided by an embodiment of the present invention. In...
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The invention discloses an image denoising method and a device, a computer readable storage medium and electronic equipment, and the method comprises the steps: carrying out the obvious noise point detection of a to-be-processed gray-scale image corresponding to an obtained occupied grid map, so as to determine an obvious noise point in the to-be-processed gray-scale image; adjusting a gray valueof an obvious noise point in the to-be-processed gray image to determine a first gray image after the obvious noise point is removed; determining a connected region formed by idle pixel points in thefirst grayscale image, and determining an outlier region from the connected region; and adjusting gray values of pixel points in the outlier region in the first gray image to determine a second gray image after the outlier region is removed. According to the technical scheme of the invention, the method can achieve the denoising of the occupied grid map constructed based on the non-visual sensor.
Description
technical field [0001] The invention relates to the technical field of image processing, in particular to an image denoising method, device, readable medium and electronic equipment. Background technique [0002] For smart devices such as self-driving cars, drones, and smart robots, it is usually necessary to install non-visual sensors on them, and then use the surrounding environment data collected by non-visual sensors to construct corresponding occupancy grid maps. However, the occupancy grid In the process of grid map generation and transmission, various noises are often introduced. These noises not only destroy the real information of the image, but also seriously affect the visual effect of the image. Therefore, it is usually necessary to denoise the occupancy grid map. [0003] However, there is currently a lack of a denoising method for occupancy grid maps constructed based on non-visual sensors. Therefore, how to achieve denoising for occupancy grid maps constructed...
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IPC IPC(8): G06T5/00
CPCG06T2207/20104G06T5/94G06T5/70
Inventor 檀冲王颖张书新
Owner PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD