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IMU-based off-chip TDI low-illumination space-time enhancement method and system

A space-time enhancement and enhancement system technology, applied in the field of image processing, can solve the problems of blurred imaging, difficult follow-up processing, low image contrast, etc., and achieve the effect of improving brightness resolution and signal-to-noise ratio

Pending Publication Date: 2022-03-01
ZHEJIANG DALI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In some usage scenarios, due to the influence of insufficient ambient light or uneven illumination, the image often has problems of low contrast, uneven brightness and darkness, and difficult to distinguish details in shadow areas.
For example, in the case of backlight or night shooting, the image sensor can capture less light, so that the image is too dark, the image is blurred, and the details are difficult to observe, which causes great difficulties for subsequent processing in applications such as reconnaissance and video surveillance.

Method used

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  • IMU-based off-chip TDI low-illumination space-time enhancement method and system
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  • IMU-based off-chip TDI low-illumination space-time enhancement method and system

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Experimental program
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Embodiment 1

[0043] Due to the weak ambient light, the grayscale response of a single image is weak. Then align multiple low-light images and superimpose the grayscale values ​​​​of corresponding pixels to complete the enhancement of grayscale information and improve the brightness of the image. resolution. The system scheme is divided into four parts: system input end, system control end, system processing end, and system output end. figure 1 As shown, the transformation from the world coordinate system to the camera coordinate system involved is as follows figure 2 shown.

[0044] The system input includes: electric pan / tilt, which can control the camera to perform constant rotation for dynamic measurement. IMU, IMU is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object, and obtains the inter-frame displacement of the camera through the information returned by the IMU; the camera lens, which optically images the surface information of t...

Embodiment 2

[0049] The inventive method comprises the steps:

[0050] 1. Control the electric gimbal to drive the camera to move, and obtain the measurement information of the IMU while the camera is collecting images.

[0051] 2. Carry out joint calibration of the camera and IMU, determine the internal parameters of the camera and the external parameters of the camera relative to the IMU.

[0052] 3. Through the real-time angle data output by the IMU, the relative positional relationship between the camera between the current frame and the reference frame is obtained, so that the image data of the current frame is back-calculated to the reference frame, thereby determining the rough matching relationship between image pixels between frames .

[0053] 4. Estimate and predict the possible motion trajectory of the previous frame and the current frame, and determine the motion area in the image. After the matching relationship between the feature points of the moving object obtained through i...

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Abstract

An off-chip TDI low-illumination space-time enhancement method based on an IMU comprises the following steps that an electric holder is controlled to drive a camera to move, and measurement information is obtained through the IMU while the camera collects images; jointly calibrating the camera and the IMU; the method comprises the following steps: acquiring a relative position relation of a camera between a current frame and a reference frame through real-time measurement information output by an IMU (Inertial Measurement Unit), inversely calculating image data of the current frame to the reference frame, and determining a rough matching relation between inter-frame image pixel points; estimating and predicting the motion trails of the previous frame and the current frame, and then performing motion compensation; and fusing and outputting the multiple frames of continuous images. According to the method, the IMU is fully utilized to carry out inter-frame camera coarse motion estimation, accurate registration is carried out through an image registration technology, motion and image information between frames is utilized to the greatest extent, and the brightness resolution and the signal-to-noise ratio of the image are improved through a pixel fusion method.

Description

technical field [0001] The invention relates to an IMU-based off-chip TDI low-illuminance spatio-temporal enhancement method and system, belonging to the technical field of image processing. Background technique [0002] In some usage scenarios, due to the influence of insufficient ambient light or uneven illumination, the image often has problems of low contrast, uneven brightness and darkness, and difficult to distinguish details in shadow areas. For example, in the case of backlight or night shooting, the image sensor can capture less light, so that the image is too dark, the image is blurred, and the details are difficult to observe, which causes great difficulties in the subsequent processing of applications such as reconnaissance and video surveillance. Low light temporal and spatial enhancement technology (LITSET) refers to reconstructing corresponding high-brightness resolution images from observed multi-frame low-light images, which is important in the fields of mon...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/70G06T7/30G06T7/207G06T5/50G06T5/00G06F17/16
CPCG06T7/207G06T7/30G06T7/80G06T7/70G06T5/50G06F17/16G06T2207/20221G06T5/80
Inventor 王国秀庞惠民车宏
Owner ZHEJIANG DALI TECH