Image correction method and device, electronic device and storage medium

Abstract

The embodiments of the present disclosure disclose an image correction method and device, an electronic device and a storage medium, and relate to the field of image technology. The method comprises: obtaining acquisition time information of a single group of pixels acquired by an image acquisition device, and obtaining first pose change information of a movable device corresponding to the acquisition time information; determining second pose change information of the image acquisition device corresponding to the single group of pixels based on the first pose change information; correcting the single group of pixels according to the second pose change information, and using the corrected single group of pixels to splice a frame image; the method and device, the electronic device and the storage medium of the present disclosure can avoid the "jello effect" in imaging, so that the splicing accuracy is higher when the imaging is spliced ​​line by line, and can improve the target detection accuracy and semantic segmentation accuracy of subsequent images, thereby improving the user experience of customers.

Description

Technical Field

[0001] The present disclosure relates to image processing technology, and in particular to an image correction method and device, an electronic device and a storage medium. Background Art

[0002] At present, vehicle-mounted cameras mainly include CCD (charge coupled device) cameras that support global exposure and CMOS (Complementary Metal Oxide Semiconductor) cameras that support rolling exposure. Compared with CCD cameras with global exposure, CMOS cameras with rolling exposure (hereinafter referred to as rolling exposure cameras) have better cost advantages. Due to their obvious cost advantages, rolling exposure cameras are widely used in fields such as vehicle-mounted surround view. However, the imaging principle of rolling exposure cameras is to expose each line in turn for a certain period of time to form an image. There are defects in its principle. For example, when there is obvious relative motion between the target and the camera, the rolling exposure camera will produce a "jelly effect" during the exposure process, causing the target to tilt or stretch, causing the actual target size to be distorted in the image, thereby affecting the accuracy of target detection and segmentation. Therefore, a technical solution for image correction is needed. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure is proposed. The embodiments of the present disclosure provide an image correction method and device, an electronic device and a storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided an image correction method, comprising: obtaining acquisition time information of an image acquisition device acquiring a single group of pixels; wherein the image acquisition device is installed on a movable device; obtaining first posture change information of the movable device corresponding to the acquisition time information; determining second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information; correcting the single group of pixels according to the second posture change information, and using the corrected single group of pixels to splice a frame image.

[0005] According to a second aspect of an embodiment of the present disclosure, there is provided an image correction device, comprising: an acquisition time acquisition module, for acquiring acquisition time information of a single group of pixels acquired by an image acquisition device; wherein the image acquisition device is installed on a movable device; a first posture determination module, for acquiring first posture change information of the movable device corresponding to the acquisition time information; a second posture determination module, for determining second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information; and an image processing module, for correcting the single group of pixels according to the second posture change information, and using the corrected single group of pixels to splice a frame image.

[0006] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the above-mentioned image correction method.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing executable instructions of the processor; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the above-mentioned image correction method.

[0008] Based on the image correction method and device, electronic device and storage medium provided by the above embodiments of the present disclosure, based on the first posture change information generated by the image acquisition device as the movable device moves, the imaging of the image acquisition device during the driving of the vehicle is corrected, thereby avoiding the "jello effect" in the imaging, and making the stitching accuracy higher when the imaging is spliced ​​line by line; since the "jello effect" in the imaging is avoided, the imaging quality is higher, the target detection accuracy and semantic segmentation accuracy of subsequent images can be improved, and the customer's usage experience is improved.

[0009] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0011] Figure 1 A flowchart of an embodiment of the image correction method disclosed in the present invention;

[0012] Figure 2A flowchart of calculating camera pose changes in one embodiment of the image correction method disclosed herein;

[0013] Figure 3 A flowchart of calculating camera pose changes in another embodiment of the image correction method disclosed herein;

[0014] Figure 4 A flowchart of stitching frame images in one embodiment of the image correction method disclosed herein;

[0015] Figure 5 A flowchart of cropping an image in one embodiment of the image correction method disclosed herein;

[0016] Figure 6 is a structural schematic diagram of an embodiment of the image correction device disclosed in the present invention;

[0017] Figure 7 is a structural diagram of an embodiment of an electronic device disclosed herein. DETAILED DESCRIPTION

[0018] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0019] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0020] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0021] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0022] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0023] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0024] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0025] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0026] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0027] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0028] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0029] The disclosed embodiments can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: car terminals, personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0030] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0031] Application Overview

[0032] In the process of implementing the present disclosure, the inventors discovered that when there is obvious relative motion between the target and the camera, a "jello effect" will occur during the line-by-line exposure process of the rolling shutter exposure camera, causing the target to tilt or stretch, causing the actual target size to be distorted in the image, thereby affecting the accuracy of target detection and segmentation.

[0033] The image correction method provided by the present disclosure obtains the acquisition time information of the image acquisition device when acquiring a single group of pixels, and obtains the first position change information of the movable device corresponding to the acquisition time information; determines the second position change information of the image acquisition device corresponding to the single group of pixels based on the first position change information; corrects the single group of pixels according to the second position change information, and uses the corrected single group of pixels to splice frame images; based on the first position change information generated by the image acquisition device when the movable device moves, corrects the imaging of the image acquisition device during the driving of the vehicle, thereby avoiding the "jello effect" in the imaging, so that the splicing accuracy when the imaging is spliced ​​line by line is higher; since the "jello effect" of the imaging is avoided, the imaging quality is higher, and the target detection accuracy and semantic segmentation accuracy of subsequent images can be improved.

[0034] Exemplary Methods

[0035] With the development of automobile intelligence, on-board cameras are increasingly widely used in environmental perception fields such as target detection, target classification, and image segmentation. At present, on-board cameras mainly include CCD cameras that support global exposure and CMOS cameras that support rolling exposure. Compared with CCD cameras with global exposure, CMOS cameras with rolling exposure have better cost advantages. The imaging principle of CMOS cameras with rolling exposure is to expose each line in turn for a certain period of time to form an image. When the camera shoots an object with relative motion, a "jelly effect" will occur, causing the size of the actual target to be distorted in the image, thereby affecting the accuracy of target detection and segmentation.

[0036] Figure 1 is a flow chart of an embodiment of the image correction method disclosed in the present invention, as shown in Figure 1 The method shown includes steps: S101 and S104. Each step is described below.

[0037] S101, obtaining acquisition time information of a single group of pixels acquired by an image acquisition device; wherein the image acquisition device is installed on a movable device.

[0038] In one embodiment, the image acquisition device includes a camera using a rolling shutter exposure method, etc., and the movable device includes a vehicle, etc. The vehicle can be a family car, an engineering vehicle, etc. For example, a CMOS camera using a rolling shutter exposure method is installed on a family car, and acquisition time information of a single group of pixels acquired by the CMOS camera can be obtained. A single group of pixels can be a set of pixels in each row in each frame of an image acquired by the CMOS camera.

[0039] S102, obtaining first position change information of the movable device corresponding to the acquisition time information.

[0040] S103, determining second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information.

[0041] In one embodiment, information such as the steering wheel angle and vehicle speed of the vehicle is obtained, and the posture change information of the vehicle within the acquisition time of a single group of pixels is calculated as the first posture change information. The first posture change information includes change information such as the position and heading angle of the vehicle.

[0042] Based on the first pose change information, the second pose change information of the CMOS camera within the acquisition time of a single group of pixels is determined, and the second pose change information includes the change information of the translation and rotation of the CMOS camera. If the second pose change information of the camera is obvious, it is necessary to perform motion compensation on the image of the camera.

[0043] S104, correcting the single group of pixels according to the second posture change information, and using the corrected single group of pixels to stitch the frame image.

[0044] The image correction method in the above embodiment is applied to the image stitching of a rolling shutter exposure camera. The motion information of a movable device such as a vehicle is used during its movement to perform motion compensation on the image after rolling shutter exposure, thereby improving the image stitching accuracy.

[0045] In one embodiment, the acquisition time information of a single group of pixels acquired by the image acquisition device may be acquired in a variety of ways, such as acquiring exposure timestamp information corresponding to the single group of pixels, and determining the acquisition time information based on the exposure timestamp information.

[0046] There are many methods for obtaining the first position change information of the movable device, for example, obtaining the structural information of the movable device and the motion information of the movable device corresponding to the acquisition time information, and determining the first position change information in the coordinate system of the movable device according to the structural information and the motion information.

[0047] When the movable device is a vehicle, the structural information includes the axle torque and the steering ratio, and the motion information includes the steering wheel angle and the vehicle speed. The steering wheel angle and the vehicle speed information of the vehicle can be used to calculate more accurate vehicle posture change information, i.e., the first posture change information. The first posture change information can be used to infer more accurate camera posture change information, i.e., the second posture change information.

[0048] There are many methods for determining the second posture change information of the image acquisition device corresponding to a single group of pixels based on the first posture change information. Figure 2 FIG. 1 is a flowchart of calculating the camera pose change in one embodiment of the image correction method disclosed in the present invention. Figure 2 The method shown includes steps: S201 and S202. Each step is described below.

[0049] S201, obtaining external parameters of the image acquisition device in the coordinate system of the movable device.

[0050] S202, determining second pose change information based on the external parameter and the first pose change information.

[0051] Figure 3 FIG. 1 is a flowchart of calculating the camera pose change in another embodiment of the image correction method disclosed in the present invention. Figure 3 The method shown includes steps: S301 and S303. Each step is described below.

[0052] S301, input steering wheel angle, vehicle speed and camera external parameter information.

[0053] In one embodiment, vehicle motion and structure information is obtained, including steering wheel angle, vehicle speed, vehicle wheelbase, steering gear ratio, etc. External parameter information of the camera in the vehicle coordinate system is obtained, and the camera external parameter information includes parameter information in the world coordinate system, such as the position and rotation direction of the camera.

[0054] S302, using Ackermann steering geometry to calculate the vehicle's posture change.

[0055] In one embodiment, the existing Ackermann steering model may be used, and the vehicle's posture change information may be calculated through the vehicle's motion and structure information.

[0056] S303, calculating the posture change of each camera according to the external parameter information of the camera.

[0057] In one embodiment, since the camera and the vehicle can be regarded as a rigid connection, various existing methods can be used to calculate the position change information of each camera when the vehicle's position change is known.

[0058] Figure 4 FIG. 1 is a flowchart of stitching frame images in one embodiment of the image correction method disclosed in the present invention. Figure 4 The method shown includes steps: S401 and S403. Each step is described below.

[0059] S401, determining all the single groups of pixels constituting the frame image and the combination order. All the single groups of pixels constituting the frame image are acquired in advance, and the combination order of all the single groups of pixels is recorded.

[0060] S402, obtaining second posture change information corresponding to each single group of pixels in all the single groups of pixels, so as to perform corresponding corrections on all the single groups of pixels.

[0061] In one embodiment, all single groups of pixels may be corrected accordingly using a variety of existing methods, such as using the Zhang Zhengyou calibration method to calibrate the camera posture based on the second posture change information to correct all single groups of pixels.

[0062] The camera's posture change information and the image exposure time information are obtained. Based on the camera's posture change during the exposure time, the posture change of each line when the camera is exposed line by line is calculated. The image is motion compensated based on the posture change during each line of exposure.

[0063] S403 uses all corrected single groups of pixels and performs splicing processing according to the combination order to generate a frame image.

[0064] Figure 5 FIG. 1 is a flowchart of cropping an image in an embodiment of the image correction method disclosed in the present invention. Figure 5 The method shown includes steps: S501 and S502. Each step is described below.

[0065] S501, correcting a single group of pixels according to second posture change information.

[0066] S502, obtaining the corrected single group of pixels and performing cropping processing.

[0067] In one embodiment, after the single group of pixels is corrected according to the second posture change information, the corrected single group of pixels is obtained and cropped to splice the frame image. For example, the corrected pixel sets of each row are spliced ​​to generate the frame image.

[0068] The image correction method in the above embodiment utilizes the exposure characteristics of the rolling camera and combines the motion information of the vehicle to correct the exposed image line by line, thereby reducing the problem caused by the "jello effect" produced by the exposure of the rolling camera, thereby improving the stitching accuracy of the graphics, and also improving the detection and segmentation effects based on the stitching image; when the vehicle is in motion, for static targets, the detection and segmentation accuracy of the target will be significantly improved, and for low-speed dynamic targets, the detection and segmentation accuracy of the target will also be improved to a certain extent.

[0069] Exemplary Devices

[0070] In one embodiment, Figure 6 As shown, the present disclosure provides an image correction device, including: an acquisition time acquisition module 501, a first pose determination module 502, a second pose determination module 503 and an image processing module 504. The acquisition time acquisition module 501 acquires acquisition time information of an image acquisition device acquiring a single group of pixels, wherein the image acquisition device is installed on a movable device.

[0071] The first pose determination module 502 obtains the first pose change information of the movable device corresponding to the acquisition time information. The second pose determination module 503 determines the second pose change information of the image acquisition device corresponding to the single group of pixels based on the first pose change information. The image processing module 504 corrects the single group of pixels according to the second pose change information, and uses the corrected single group of pixels to splice the frame image.

[0072] In one embodiment, the acquisition time acquisition module 501 acquires exposure timestamp information corresponding to a single group of pixels, and determines the acquisition time information based on the exposure timestamp information.

[0073] In one embodiment, the first pose determination module 502 obtains the structural information of the movable device and the motion information of the movable device corresponding to the acquisition time information, and determines the first pose change information in the coordinate system of the movable device according to the structural information and the motion information.

[0074] In one embodiment, the movable device includes a vehicle, etc., the structural information includes axle torque and steering ratio, and the motion information includes steering wheel angle and vehicle speed, etc.

[0075] In one embodiment, the second posture determination module 503 obtains the external parameters of the image acquisition device in the coordinate system of the movable device, and determines the second posture change information based on the external parameters and the first posture change information.

[0076] In one embodiment, the image processing module 504 determines all the single groups of pixels constituting the frame image and the combination order, obtains the second posture change information corresponding to each single group of pixels in all the single groups of pixels, and makes corresponding corrections to all the single groups of pixels.

[0077] In one embodiment, the image processing module 504 uses all the corrected single groups of pixels and performs splicing processing according to the combination order to generate a frame image. After correcting the single group of pixels according to the second posture change information, the image processing module 504 obtains the corrected single group of pixels and performs cropping processing.

[0078] Exemplary Electronic Devices

[0079] like Figure 7 As shown, the electronic device includes one or more processors 601 and a memory 602. The processor 601 may be a central processing unit (CPU) or other processing units having data processing capability and / or instruction execution capability, and may control other components in the electronic device to perform desired functions.

[0080] The memory 602 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 601 may run the program instructions to implement the image correction method of each embodiment of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0081] In one example, the electronic device may further include: an input device 603 and an output device 604, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0082] For example, when the electronic device is the first device 100 or the second device 200, the input device 603 may be the microphone or microphone array described above, for capturing input signals from a sound source. When the electronic device is a stand-alone device, the input device 603 may be a communication network connector, for receiving collected input signals from the first device 100 and the second device 200.

[0083] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0084] The output device 604 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0085] Of course, to simplify, Figure 7 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0086] Exemplary computer program products and computer-readable storage media

[0087] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the image correction method according to various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of this specification.

[0088] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0089] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the image correction method according to various embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0090] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0091] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0092] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0093] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0094] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0095] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0096] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0097] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. An image correction method, comprising: Acquiring acquisition time information of a single group of pixels acquired by an image acquisition device; wherein the image acquisition device is installed on a movable device, and the single group of pixels is a set of pixels in each row in each frame of the acquired image; Acquire the first position change information of the movable device corresponding to the acquisition time information; Determine second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information; Correcting the single group of pixels according to the second posture change information, and using the corrected single group of pixels to stitch a frame image; The step of correcting the single group of pixels according to the second posture change information and stitching the frame image using the corrected single group of pixels includes: Determine all the single groups of pixels constituting the frame image and the order of their combination; Acquire second posture change information corresponding to each single group of pixels in all the single groups of pixels, so as to perform corresponding correction on all the single groups of pixels; The frame image is generated by using all the corrected single groups of pixels and performing splicing processing according to the combination order.

2. According to the method of claim 1, the step of acquiring acquisition time information of a single group of pixels acquired by the image acquisition device comprises: Acquire exposure timestamp information corresponding to the single group of pixels; The acquisition time information is determined based on the exposure timestamp information.

3. According to the method of claim 2, the step of obtaining the first position change information of the movable device corresponding to the acquisition time information comprises: Acquire structural information of the movable device and motion information of the movable device corresponding to the acquisition time information; The first posture change information in the coordinate system of the movable device is determined according to the structural information and the motion information.

4. The method according to claim 3, wherein the movable device comprises: Vehicles; among them, The structural information includes axle torque and steering ratio, and the motion information includes steering wheel angle and vehicle speed.

5. The method according to claim 3, wherein determining second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information comprises: Acquire the external parameters of the image acquisition device in the coordinate system of the movable device; The second posture change information is determined based on the external parameter and the first posture change information.

6. The method according to claim 1, after correcting the single group of pixels according to the second posture change information, further comprising: Acquire the corrected single group of pixels and perform cropping processing; The image acquisition device comprises: a camera using a rolling shutter exposure method.

7. An image correction device, comprising: An acquisition time acquisition module, used to acquire acquisition time information of a single group of pixels acquired by an image acquisition device; wherein the image acquisition device is installed on a movable device, and the single group of pixels is a set of pixels in each row in each frame of the acquired image; A first pose determination module, used to obtain first pose change information of the movable device corresponding to the acquisition time information; A second posture determination module, configured to determine second posture change information of the image acquisition device corresponding to the single group of pixels based on the first posture change information; An image processing module, used for correcting the single group of pixels according to the second posture change information, and using the corrected single group of pixels to stitch a frame image; The image processing module is specifically used for: Determine all the single groups of pixels constituting the frame image and the order of their combination; Acquire second posture change information corresponding to each single group of pixels in all the single groups of pixels, so as to perform corresponding correction on all the single groups of pixels; The frame image is generated by using all the corrected single groups of pixels and performing splicing processing according to the combination order.

8. A computer-readable storage medium storing a computer program, wherein the computer program is used to execute the image correction method according to any one of claims 1 to 6.

9. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the image correction method described in any one of claims 1-6.

Images