Brightness determination method, apparatus and electronic device for non-light receiving surface of imaging object

Abstract

The present disclosure provides a method and device for determining the brightness of a non-light-receiving surface of an imaging object, and an electronic device, relating to the field of artificial intelligence such as computer vision, and suitable for an autonomous driving scenario. The method comprises determining the direction of the light ray received by the imaging object; determining the non-light-receiving surface of the imaging object and obtaining the normal direction of the non-light-receiving surface; obtaining the first included angle between the normal direction of the non-light-receiving surface and the direction of the light ray; obtaining the first brightness offset value corresponding to the first included angle, and determining the first brightness value of the non-light-receiving surface according to the first brightness offset value. In the present disclosure, the computational complexity of obtaining the brightness value of the non-light-receiving surface of the imaging object is reduced, thereby reducing the impact of obtaining the brightness value of the non-light-receiving surface on the system performance, reducing the occupation of system resources, improving the computational efficiency of the brightness value of the non-light-receiving surface of the imaging object, and optimizing the method for obtaining the brightness value of the non-light-receiving surface of the imaging object.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of image processing, especially to the field of artificial intelligence such as computer vision, and is suitable for an autonomous driving scenario. BACKGROUND

[0002] With the development of technology, an autonomous driving vehicle can render an object in an environment where the vehicle is located into an image on a display device of the vehicle. In the implementation, the object around the vehicle has a light-receiving surface and a non-light-receiving surface, and the brightness of the non-light-receiving surface has a certain degree of influence on the imaging effect of the object on the display device.

[0003] In the related art, the light information received by the object can be obtained according to an ambient light shading algorithm, and the amount of calculation is large, thereby greatly affecting the system performance. SUMMARY

[0004] The present disclosure provides a method and device for determining the brightness of a non-light-receiving surface of an imaging object, and an electronic device.

[0005] According to a first aspect of the present disclosure, a method for determining the brightness of a non-light-receiving surface of an imaging object is provided, comprising: determining a light direction of light received by the imaging object; determining a non-light-receiving surface of the imaging object and obtaining a normal direction of the non-light-receiving surface; obtaining a first included angle between the normal direction of the non-light-receiving surface and the light direction; obtaining a first brightness offset value corresponding to the first included angle, and determining a first brightness value of the non-light-receiving surface according to the first brightness offset value.

[0006] According to a second aspect of the present disclosure, a device for determining the brightness of a non-light-receiving surface of an imaging object is provided, comprising: a first determining module configured to determine a light direction of light received by the imaging object; a first obtaining module configured to determine a non-light-receiving surface of the imaging object and obtain a normal direction of the non-light-receiving surface; a second obtaining module configured to obtain a first included angle between the normal direction of the non-light-receiving surface and the light direction; and a second determining module configured to obtain a first brightness offset value corresponding to the first included angle, and determine a first brightness value of the non-light-receiving surface according to the first brightness offset value.

[0007] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for determining the brightness of a non-light-receiving surface of an imaging object according to the first aspect.

[0008] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to perform the brightness determination method of the non-light-receiving surface of the imaging object according to the first aspect.

[0009] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the brightness determination method of the non-light-receiving surface of the imaging object according to the first aspect.

[0010] According to a sixth aspect of the present disclosure, a vehicle is provided, comprising the electronic device according to the third aspect.

[0011] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings are used to better understand the present scheme, and do not constitute a limitation on the present disclosure. Among them:

[0013] Figure 1 Flowchart of the brightness determination method of the non-light-receiving surface of the imaging object according to an embodiment of the present disclosure;

[0014] Figure 2 Schematic diagram of the imaging object receiving light according to an embodiment of the present disclosure;

[0015] Figure 3 Flowchart of the brightness determination method of the non-light-receiving surface of the imaging object according to another embodiment of the present disclosure;

[0016] Figure 4 Flowchart of the brightness determination method of the non-light-receiving surface of the imaging object according to another embodiment of the present disclosure;

[0017] Figure 5 Schematic diagram of the imaging object receiving light according to another embodiment of the present disclosure;

[0018] Figure 6 Schematic diagram of the light-receiving surface and the non-light-receiving surface of the imaging object according to an embodiment of the present disclosure;

[0019] Figure 7 Flowchart of the brightness determination method of the non-light-receiving surface of the imaging object according to another embodiment of the present disclosure;

[0020] Figure 8 Structural schematic diagram of the brightness determination device of the non-light-receiving surface of the imaging object according to an embodiment of the present disclosure;

[0021] Figure 9 Schematic block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] Exemplary embodiments of the present disclosure are described herein with reference to the accompanying drawings, which are provided for the purpose of illustration only. It will be appreciated that various modifications and changes can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. It is to be understood that the foregoing description and figures are merely illustrative of exemplary embodiments of the present disclosure, and various changes and modifications can be made by those skilled in the art without departing from the scope and spirit of the present disclosure. Similarly, it will be appreciated that the detailed description is presented in terms of process, machine and computer symbolic and hardware descriptions to assist in providing a thorough understanding of embodiments of the present disclosure. However, it will be apparent that system components, methods, procedures, and computer program products are used by those of ordinary skill in the art, and readers herein are expected to appreciate the interchangeability of hardware, software and routines, and various potential combinations thereof.

[0023] Computer vision is a simulation of biological vision using computers and related devices, which refers to the use of cameras and computers to replace human eyes to identify, track and measure targets, and further perform image processing to make the computer processing more suitable for human observation or transmission to instrument detection.

[0024] Artificial intelligence (AI) is a discipline that studies enabling computers to simulate some thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.) of human beings, including both hardware and software technologies. Artificial intelligence hardware technologies generally include computer vision technology, speech recognition technology, natural language processing technology, and learning / deep learning, big data processing technology, knowledge graph technology, etc.

[0025] Figure 1 Flowchart of a method for determining brightness of a non-light-receiving surface of an imaging object according to an embodiment of the present disclosure, as shown in FIG. 1, the method comprises: Figure 1

[0026] S101, determining a light direction in which the imaging object receives light.

[0027] In an embodiment of the present disclosure, there is a demand for rendering and imaging an object, wherein the target object that needs to be rendered and imaged can be determined as an imaging object.

[0028] In an implementation, the surface of the imaging object can be composed of multiple surfaces, for example, when the imaging object is a cube, the surface of the imaging object is composed of six square surfaces.

[0029] In order to make the corresponding image generated by rendering the imaging object have a certain degree of hierarchy, the surfaces of the imaging object can be divided into light-receiving surfaces and non-light-receiving surfaces according to the light direction in which the imaging object receives light.

[0030] ​Optionally, the direction of light received by the imaging object can be determined based on the direction of light in the actual lighting environment of the area where the object is located.

[0031] For example, if the actual lighting environment of the area where the object is located is set to be from east to west, then this direction can be determined as the direction of the light rays received by the imaging object.

[0032] Optionally, a corresponding lighting environment can be configured for the imaging object, and the direction of light received by the imaging object can be determined according to the lighting parameters set in the lighting environment.

[0033] For example, if the lighting environment configured for the imaging object is from south to north, then this direction can be determined as the direction of the light rays that the imaging object receives.

[0034] S102, determine the non-light-receiving surface of the imaging object and obtain the normal direction of the non-light-receiving surface.

[0035] In this embodiment of the present disclosure, the surface of the imaging object can be divided according to the direction of the light rays received by the imaging object, thereby determining the non-light-receiving surface of the imaging object.

[0036] Optionally, the light intensity received on each surface of the imaging object can be statistically analyzed, and the surface corresponding to the light intensity that is less than or equal to the set light intensity threshold can be determined as the non-light-receiving surface of the imaging object from the statistical results.

[0037] Optionally, the illumination information received on each surface of the imaging object can be statistically analyzed to obtain the luminous flux of the illumination received on each surface of the imaging object, and the non-illuminated surface can be determined from each surface of the imaging object based on the luminous flux.

[0038] Furthermore, since the non-light-receiving surface has a corresponding tangent, the direction perpendicular to the corresponding direction of the tangent of the non-light-receiving surface can be determined as the normal direction of the non-light-receiving surface.

[0039] like Figure 2 As shown, surfaces a and b of the imaging object I are defined as the non-light-receiving surfaces of the imaging object I. Figure 2 It can be seen that the tangent direction of the non-light-receiving surface a is the x1 direction, so the x2 direction, which is perpendicular to the x1 direction, can be determined as the normal direction of the non-light-receiving surface a.

[0040] Accordingly, such as Figure 2 As shown, the tangent direction of the non-light-receiving surface b is the y1 direction, and the y2 direction, which is perpendicular to the y1 direction, can be determined as the normal direction of the non-light-receiving surface b.

[0041] S103, obtain the first angle between the normal direction of the non-light-receiving surface and the direction of the light ray.

[0042] In this embodiment of the present disclosure, there is an angle between the normal direction of the non-light-receiving surface of the imaging object and the direction of the light ray, and this angle can be determined as the first angle between the normal direction of the non-light-receiving surface and the direction of the light ray.

[0043] like Figure 2 As shown, both surface a and surface b of the imaging object I are non-light-receiving surfaces. Therefore, the angle "angle 1" between the normal direction x2 of the non-light-receiving surface a and the direction of the light ray can be determined as the first angle between the normal direction x2 of the non-light-receiving surface a and the direction of the light ray.

[0044] Accordingly, the angle "angle 2" between the normal direction y2 of the non-light-receiving surface b and the direction of the light ray can be defined as the first angle between the normal direction y2 of the non-light-receiving surface b and the direction of the light ray.

[0045] S104, obtain the first brightness offset value corresponding to the first included angle, and determine the first brightness value of the non-light-receiving surface based on the first brightness offset value.

[0046] In this embodiment of the disclosure, after receiving light, the brightness value of each surface of the imaging object will increase. The brightness value of the non-light-receiving surface of the imaging object after receiving light can be determined based on the relative positional relationship between the normal direction of the non-light-receiving surface and the direction of the light.

[0047] Specifically, the increase in brightness value of the non-light-receiving surface of the imaging object after receiving illumination can be used as the first brightness offset value corresponding to the non-light-receiving surface.

[0048] Furthermore, based on the first brightness offset value of the non-light-receiving surface, the first brightness value of the non-light-receiving surface after receiving illumination is determined.

[0049] In practice, the first brightness offset value of the non-light-receiving surface of the imaging object after receiving illumination can be determined based on the first angle between the normal direction of the non-light-receiving surface and the direction of the light ray, and then the first brightness value of the non-light-receiving surface can be determined.

[0050] Optionally, the first angle between the normal direction of the non-light-receiving surface and the light direction and the first brightness value can be determined based on the first angle between the normal direction of the light-receiving surface of the imaging object and the light direction, and the first brightness offset value after the light-receiving surface receives illumination. This allows for the determination of the first brightness value of the non-light-receiving surface of the imaging object.

[0051] Optionally, the increased brightness value of the light receiving surface of the imaging object after receiving the light can be obtained, and the first brightness offset value of the non-light receiving surface is determined according to the first included angle between the normal direction of the non-light receiving surface and the light direction, and the first brightness value of the non-light receiving surface of the imaging object after receiving the light is determined according to the proportion and the increased brightness value of the light receiving surface.

[0052] The method for determining the brightness of the non-light receiving surface of the imaging object provided by the present disclosure determines the light direction of the light received by the imaging object, and determines the non-light receiving surface of the imaging object according to the light direction. Further, the normal direction of the non-light receiving surface of the imaging object is determined, and the first brightness value on the non-light receiving surface of the imaging object after receiving the light is determined according to the normal direction of the non-light receiving surface and the light direction of the light received by the imaging object. In the present disclosure, the brightness value of the non-light receiving surface is determined by the normal direction of the non-light receiving surface and the light direction, which reduces the calculation amount of obtaining the brightness value of the non-light receiving surface of the imaging object, thereby reducing the influence of obtaining the brightness value of the non-light receiving surface on the system performance, reducing the occupation of system resources, and improving the calculation efficiency of the brightness value of the non-light receiving surface of the imaging object. The method for obtaining the brightness value of the non-light receiving surface of the imaging object is optimized.

[0053] In the above embodiment, the first brightness value of the non-light receiving surface can also be obtained in combination with Figure 3 It is further understood that Figure 3 The flowchart of the method for determining the brightness of the non-light receiving surface of the imaging object according to another embodiment of the present disclosure is shown in Figure 3 The method comprises the following steps:

[0054] S301, obtaining the first included angle between the normal direction of the non-light receiving surface and the light direction.

[0055] In the embodiment of the present disclosure, the content of step S301 can be referred to the above related detailed content, which will not be repeated here.

[0056] S302, obtaining the first brightness offset value corresponding to the first included angle, and determining the first brightness value of the non-light receiving surface according to the first brightness offset value.

[0057] In the embodiment of the present disclosure, the first brightness offset value of the non-light receiving surface of the imaging object after receiving the light can be determined according to the first included angle, and the first brightness value of the non-light receiving surface is further determined.

[0058] Among them, the candidate brightness offset value of the non-light receiving surface of the imaging object after receiving the light can be obtained, and the first brightness offset value corresponding to the first included angle is determined according to the candidate brightness offset value.

[0059] Further, the candidate brightness offset value of the non-light receiving surface of the imaging object is determined.

[0060] In the embodiments of the present disclosure, the imaging object has a light receiving surface, and the light receiving surface of the imaging object after receiving the light can determine a brightness variation range of the light receiving surface of the imaging object after receiving the light based on the light flux of the received light on the light receiving surface, and determine a candidate brightness offset value of the non-light receiving surface of the imaging object after receiving the light according to the brightness variation range of the light receiving surface after receiving the light.

[0061] Optionally, the candidate brightness offset value includes at least one brightness offset value, so that at least one brightness offset value of the non-light receiving surface can be determined from the brightness variation range of the light receiving surface based on a set value interval, as the candidate brightness offset value of the non-light receiving surface of the imaging object after receiving the light.

[0062] For example, the brightness variation range of the light receiving surface after receiving the light is set to 0 nit-900 nit, and the value interval is 180 nit, so that 180 nit, 360 nit, 540 nit, 720 nit and 900 nit, a total of 5 brightness variation values, can be obtained from the brightness variation range based on the interval, and the 5 brightness variation values can be determined as the candidate brightness offset value of the non-light receiving surface.

[0063] Further, the target angle interval to which the first angle belongs is determined from the candidate angle interval corresponding to the imaging object.

[0064] In the embodiments of the present disclosure, there is a certain degree of correlation between the size of the first angle between the normal direction of the non-light receiving surface of the imaging object and the direction of the light and the brightness offset value of the non-light receiving surface after receiving the light.

[0065] Therefore, the brightness offset value of the non-light receiving surface can be determined according to the first angle, so as to determine the brightness value of the non-light receiving surface after receiving the light.

[0066] Optionally, the first angle between the normal direction of the non-light receiving surface of the imaging object and the direction of the light has a set value range, the value range can be divided based on a set interval, and the divided angle value interval is determined as the candidate angle interval to which the first angle between the normal direction of the non-light receiving surface of the imaging object and the direction of the light belongs.

[0067] For example, the value range of the first angle is set to [0°, 90°], and the value range is divided based on an interval of 18°, so that the candidate angle interval of the first angle can include [0°, 18°), [18°, 36°), [36°, 54°), [54°, 72°), [72°, 90°].

[0068] Optionally, the angle interval to which the first angle belongs is determined from the candidate angle interval according to the specific value of the first angle, as the target angle interval of the first angle.

[0069] For example, such as Figure 2 As shown, the first included angle "angle 1" is set to 68°. From the example above, it can be seen that the target included angle range of angle 1 is [54°, 72°].

[0070] For example, still as Figure 2 As shown, the first included angle "angle 2" is set to 22°. From the example above, it can be seen that the target included angle range of angle 2 is [18°, 36°].

[0071] Furthermore, based on the mapping relationship between the candidate included angle interval and the candidate brightness offset value, the first brightness offset value corresponding to the target included angle interval is determined from the candidate brightness offset values.

[0072] In this embodiment of the disclosure, there is a mapping relationship between the candidate included angle interval to which the first included angle belongs and the candidate brightness offset value. In the candidate brightness offset value, each included angle interval in the candidate included angle interval has a mapped brightness offset value.

[0073] For example, based on the above example, the candidate included angle intervals are set to include intervals [0°, 18°), [18°, 36°), [36°, 54°), [54°, 72°), and [72°, 90°]. The candidate brightness offset values ​​include brightness offset values ​​of 180 nit, 360 nit, 540 nit, 720 nit, and 900 nit.

[0074] The brightness offset value is set as follows: 180 nit is the brightness offset value mapped to the candidate brightness offset value in the interval [0°, 18°); 360 nit is the brightness offset value mapped to the candidate brightness offset value in the interval [18°, 36°); 540 nit is the brightness offset value mapped to the candidate brightness offset value in the interval [36°, 54°); 720 nit is the brightness offset value mapped to the candidate brightness offset value in the interval [54°, 72°); and 900 nit is the brightness offset value mapped to the candidate brightness offset value in the interval [72°, 90°].

[0075] Therefore, the brightness offset value mapped to the candidate brightness offset value of the target angle interval to which the first included angle belongs can be obtained, and it can be determined as the first brightness offset value corresponding to the target angle interval to which the first included angle belongs.

[0076] For example, based on the above example, if the target angle interval to which the first angle belongs is set as [54°, 72°), it can be known from the above example that the luminance offset value mapped by the target angle interval [54°, 72°) in the candidate luminance offset value is 720 nit, and the luminance offset value 720 nit can be determined as the first luminance offset value corresponding to the target angle interval to which the first angle belongs.

[0077] For another example, based on the above example, if the target angle interval to which the first angle belongs is set as [18°, 36°), it can be known from the above example that the luminance offset value mapped by the target angle interval [18°, 36°) in the candidate luminance offset value is 360 nit, and the luminance offset value 360 nit can be determined as the first luminance offset value corresponding to the target angle interval to which the first angle belongs.

[0078] Further, the first luminance offset value is used to determine the first luminance value of the non-light-receiving surface.

[0079] In the embodiments of the present disclosure, the first luminance offset value is the luminance change value of the non-light-receiving surface of the imaging object after receiving the illumination, and therefore, the luminance value of the non-light-receiving surface after the luminance change can be determined according to the first luminance offset value, and the luminance value is determined as the first luminance value of the non-light-receiving surface.

[0080] Optionally, the luminance of the non-light-receiving surface of the imaging object before receiving the illumination has a set initial value, which can be determined as the first initial luminance value of the non-light-receiving surface, and the first initial luminance value of the non-light-receiving surface of the imaging object can be obtained.

[0081] In some implementations, the rendering imaging system has a corresponding image data acquisition device, and the initial acquisition data of the imaging object can be obtained according to the image data acquisition device.

[0082] Optionally, the initial acquisition data includes the luminance value of the imaging object in the actual scene, and the luminance value can be determined as the first initial luminance value of the non-light-receiving surface of the imaging object.

[0083] Optionally, the luminance data of the initial acquisition data of the imaging object can be adjusted according to the display luminance requirement of the display device of the rendering imaging system, and the first initial luminance value of the non-light-receiving surface of the imaging object is determined according to the luminance data of the non-light-receiving surface of the imaging object after the adjustment.

[0084] Further, the first initial luminance value and the first luminance offset value are added to obtain the first luminance value of the non-light-receiving surface.

[0085] In the embodiments of the present disclosure, the first initial brightness value is the brightness value of the non-light-receiving surface of the imaging object before receiving the light, and the first brightness offset value is the brightness change value of the non-light-receiving surface of the imaging object after receiving the light.

[0086] Therefore, the first brightness value of the non-light-receiving surface of the imaging object after receiving the light can be determined according to the first initial brightness value and the first brightness offset value.

[0087] Optionally, the first initial brightness value and the first brightness value can be added, and the sum obtained is determined as the first brightness value of the non-light-receiving surface of the imaging object after receiving the light.

[0088] The method for determining the brightness of the non-light-receiving surface of the imaging object provided by the present disclosure obtains a first included angle between the normal direction of the non-light-receiving surface of the imaging object and the direction of the light, and obtains a target included angle interval to which the first included angle belongs, and determines the first brightness value of the non-light-receiving surface of the imaging object after receiving the light according to the first brightness offset value mapped in the candidate brightness offset value according to the target included angle interval. In the present disclosure, the first brightness value of the non-light-receiving surface of the imaging object after receiving the light is determined through the first included angle between the normal direction of the non-light-receiving surface and the direction of the light, thereby reducing the calculation amount of the brightness value of the non-light-receiving surface of the imaging object, reducing the influence of obtaining the brightness value of the non-light-receiving surface on the system performance, reducing the occupation of system resources, and improving the calculation efficiency of the brightness value of the non-light-receiving surface of the imaging object, and optimizing the method for obtaining the brightness value of the non-light-receiving surface of the imaging object.

[0089] In the above embodiments, the determination of the non-light-receiving surface of the imaging object can be combined with Figure 4 It is further understood that Figure 4 The flowchart of the method for determining the brightness of the non-light-receiving surface of the imaging object according to another embodiment of the present disclosure is shown in Figure 4 The method comprises the following steps:

[0090] S401, determining the normal direction of each surface of the imaging object.

[0091] In the embodiments of the present disclosure, each surface of the imaging object has a corresponding normal direction. As shown in Figure 5 The imaging object 1 comprises a surface a, a surface b, a surface c and a surface d. According to the tangent direction w1 of the surface c, the normal direction w2 of the surface c can be determined as the direction perpendicular to the tangent direction w1.

[0092] Correspondingly, the tangent direction of the surface d is u1, and the normal direction u2 of the surface d can be determined as the direction perpendicular to the tangent direction u1.

[0093] S402, respectively obtaining a second included angle between the normal direction of each surface of the imaging object and the direction of the light.

[0094] In the embodiments of the present disclosure, the included angle between the normal direction of each surface of the imaging object and the direction of the light ray can be determined as the second included angle.

[0095] As shown in the figure, angle 1 is the included angle between the normal direction x2 of surface a and the direction of the light ray, and angle 1 can be determined as the second included angle. Figure 5

[0096] Correspondingly, angle 2 is the included angle between the normal direction y2 of surface b and the direction of the light ray, and angle 2 can be determined as the second included angle. Angle 3 is the included angle between the normal direction w2 of surface c and the direction of the light ray, and angle 3 can be determined as the second included angle. Angle 4 is the included angle between the normal direction u2 of surface d and the direction of the light ray, and angle 4 can be determined as the second included angle.

[0097] In S403, each surface of the imaging object is divided according to the second included angle to obtain the non-light-receiving surface of the imaging object.

[0098] In the embodiments of the present disclosure, the light-receiving surface and the non-light-receiving surface of each surface of the imaging object can be divided according to the specific value of the second included angle, and then the non-light-receiving surface of the imaging object can be obtained from the division result.

[0099] Optionally, in response to the second included angle being greater than or equal to 90 degrees, the surface corresponding to the second included angle is determined as the light-receiving surface of the imaging object.

[0100] In the implementation, when the value of the second included angle is greater than or equal to 90 degrees, it can be determined that the surface corresponding to the second included angle can be irradiated by the light ray in the light illumination received by the imaging object, and therefore the surface can be determined as the light-receiving surface of the imaging object in the direction of the light ray.

[0101] As shown in the figure, the second included angle “angle 3” and the second included angle “angle 4” in Figure 5 Figure 5 are greater than 90 degrees, and the surface c and the surface d of the imaging object I shown in Figure 5 can be determined as the light-receiving surface of the imaging object I in the direction of the light ray shown in Figure 5 .

[0102] It should be noted that when the second included angle is possibly equal to 90 degrees, the surface corresponding to the second included angle is the light-receiving surface parallel to the direction of the light ray after the imaging object receives the light illumination, and in this scenario, the limit value of the brightness change of the light-receiving surface that is in a non-parallel relationship with the direction of the light ray after the imaging object receives the light illumination can be obtained, and the brightness value of the light-receiving surface parallel to the direction of the light ray can be determined according to the limit value.

[0103] ​​Optionally, in response to the second included angle being less than 90 degrees, the surface corresponding to the second included angle is determined as the non-light-receiving surface of the imaging object.

[0104] In an implementation, when the second included angle is less than 90 degrees, it can be determined that the surface corresponding to the second included angle cannot be irradiated by the light in the light illumination received by the imaging object, and therefore, the surface can be determined as the non-light-receiving surface of the imaging object in the direction of the light.

[0105] Still as Figure 5 shown, the values of the second included angle "Angle 1" and the second included angle "Angle 2" in Figure 5 are set to be less than 90 degrees, the a surface and the b surface of the imaging object I shown in Figure 5 can be determined as the non-light-receiving surfaces of the imaging object I in the direction of the light shown in Figure 6 .

[0106] Further, as Figure 6 shown, the surfaces of the imaging object in the scene shown in Figure 6 can be segmented into light-receiving surfaces and non-light-receiving surfaces according to the normal directions of the surfaces of the imaging object and the direction of the light, and the segmentation effect can be as shown in Figure 7 .

[0107] The method for determining the brightness of the non-light-receiving surface of the imaging object provided by the present disclosure obtains the second included angle between the normal direction of each surface of the imaging object after receiving the light illumination and the direction of the light, and divides the light-receiving surfaces and the non-light-receiving surfaces of the imaging object according to the second included angle. In the present disclosure, the light-receiving surfaces and the non-light-receiving surfaces of the imaging object are segmented by the included angle between the normal direction of each surface of the imaging object and the direction of the light, which provides data support for subsequent brightness calculation of the non-light-receiving surface.

[0108] Further, after obtaining the first brightness value of the non-light-receiving surface of the imaging object, a target image of the imaging object can be generated, which can be combined with Figure 7 It can be further understood that Figure 7 the flowchart of the method for determining the brightness of the non-light-receiving surface of the imaging object according to another embodiment of the present disclosure is as shown in Figure 8 .

[0109] S701, determining the second brightness value of the light-receiving surface of the imaging object.

[0110] In the embodiment of the present disclosure, the brightness value of the light-receiving surface of the imaging object will change after receiving the light illumination, and the brightness value of the light-receiving surface of the imaging object after the change can be determined as the second brightness value of the light-receiving surface.

[0111] Further, the second initial brightness value and the second brightness offset value of the light-receiving surface of the imaging object can be obtained.

[0112] The second initial brightness value of the light-receiving surface of the imaging object can be determined according to a brightness value of the light-receiving surface of the imaging object before the light-receiving surface receives the light.

[0113] Optionally, the brightness value of the light-receiving surface of the imaging object before the light-receiving surface receives the light can be obtained from initial acquisition data of the imaging object acquired by the image data acquisition device, as the second initial brightness value of the light-receiving surface of the imaging object.

[0114] Optionally, the brightness data in the initial acquisition data of the imaging object can be adjusted according to a requirement of the display device of the rendering imaging system for display brightness, and the second initial brightness value of the light-receiving surface of the imaging object can be determined according to the adjusted brightness data of the light-receiving surface of the imaging object.

[0115] Further, a brightness change value of the light-receiving surface of the imaging object after receiving the light can be obtained, and the brightness change value is determined as the second brightness offset value of the light-receiving surface.

[0116] The sum of the second initial brightness value and the second brightness offset value is determined as the second brightness value of the light-receiving surface of the imaging object after receiving the light.

[0117] The second initial brightness value is the brightness value of the light-receiving surface before receiving the light, and the second brightness offset value is the brightness change value of the light-receiving surface after receiving the light, so the second initial brightness value and the second brightness offset value can be added, and the brightness value of the light-receiving surface of the imaging object after receiving the light can be determined according to the calculation result of the addition, and the brightness value is determined as the second brightness value of the light-receiving surface.

[0118] S702, according to the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface, the imaging data of the imaging object is rendered to generate a target display image of the imaging object.

[0119] In the embodiments of the present disclosure, the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface are corresponding brightness values obtained by processing related brightness data in the imaging data collected by the rendering imaging system according to the brightness requirement set by the display device.

[0120] Therefore, the imaging data of the imaging object can be rendered according to the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface, and the image obtained after the rendering imaging can be determined as the target display image of the imaging object displayed on the display device.

[0121] In some implementations, the rendering imaging system for rendering imaging of the imaging object can be arranged on an autonomous vehicle, and in order to optimize the visual experience of the target display image for the user, the display brightness of the target display image can be determined according to the environment in which the vehicle is located.

[0122] Optionally, the travel time of the vehicle can be identified, and the imaging mode of the vehicle is determined according to the travel time.

[0123] In the embodiments of the present disclosure, since the brightness of the environment in which people are located is different in the daytime and at night, the imaging mode of the vehicle for the target display image can be set to the daytime mode and the nighttime mode.

[0124] In this scenario, the time corresponding to the travel of the vehicle can be identified and determined as the travel time. The time range corresponding to the daytime and the time range corresponding to the nighttime in a natural day can be set, and after the travel time of the vehicle is obtained, the travel time is compared with the set time range to determine whether the environment in which the vehicle travels is in the daytime or at night, so as to determine the imaging mode of the target display image.

[0125] Further, the display brightness of the target display image on the display screen of the vehicle is adjusted according to the imaging mode.

[0126] Optionally, the display brightness of the display screen of the vehicle displaying the target display image is adjusted according to the display brightness parameter set in the imaging mode.

[0127] For example, in the scenario where the imaging mode is the daytime mode, the brightness value of the display brightness of the display screen of the vehicle is set to 10000 nit, and the display brightness of the current display screen of the vehicle can be adjusted to 10000 nit.

[0128] For another example, in the scenario where the imaging mode is the nighttime mode, the brightness value of the display brightness of the display screen of the vehicle is set to 120 nit, and the display brightness of the current display screen of the vehicle can be adjusted to 120 nit.

[0129] The brightness determination method of the non-light-receiving surface of the imaging object provided in the present disclosure determines the second initial brightness value and the second brightness offset value of the light-receiving surface of the imaging object, so as to obtain the second brightness value of the light-receiving surface of the imaging object, and further renders the imaging data of the imaging object according to the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface to generate the target display image of the imaging object. In the present disclosure, the target display image of the imaging object is generated according to the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface, the rendering imaging of the non-light-receiving surface of the imaging object is realized, and further, based on different first brightness values and second brightness values, the hierarchy between each surface of the imaging object in the generated target display image is achieved, and the imaging effect of the target display image is optimized.

[0130] Corresponding to the brightness determination method of the non-light-receiving surface of the imaging object proposed in the above several embodiments, an embodiment of the present disclosure also proposes a brightness determination device of the non-light-receiving surface of the imaging object. Since the brightness determination device of the non-light-receiving surface of the imaging object proposed in the embodiment of the present disclosure corresponds to the brightness determination method of the non-light-receiving surface of the imaging object proposed in the above several embodiments, the implementation manners of the brightness determination method of the non-light-receiving surface of the imaging object are also applicable to the brightness determination device of the non-light-receiving surface of the imaging object proposed in the embodiment of the present disclosure, which will not be described in detail in the following embodiments.

[0131] Figure 8 The structural schematic diagram of the brightness determination device of the non-light-receiving surface of the imaging object of an embodiment of the present disclosure is shown in FIG. 8. Figure 9 As shown in FIG. 8, the brightness determination device 800 of the non-light-receiving surface of the imaging object includes a first determination module 81, a first acquisition module 82, a second acquisition module 83, a second determination module 84, and an imaging module 85, wherein:

[0132] The first determination module 81 is configured to determine the light direction of the light received by the imaging object.

[0133] The first acquisition module 82 is configured to determine the non-light-receiving surface of the imaging object and acquire the normal direction of the non-light-receiving surface.

[0134] The second acquisition module 83 is configured to acquire the first included angle between the normal direction of the non-light-receiving surface and the light direction.

[0135] The second determination module 84 is configured to determine the first brightness value of the non-light-receiving surface of the imaging object according to the normal direction of the non-light-receiving surface and the light direction.

[0136] In the embodiment of the present disclosure, the second determination module 84 is further configured to: determine a candidate brightness offset value of the non-light-receiving surface of the imaging object; determine a target included angle interval to which the first included angle belongs from the candidate included angle intervals corresponding to the imaging object; determine a first brightness offset value corresponding to the target included angle interval from the candidate brightness offset value according to the mapping relationship between the candidate included angle interval and the candidate brightness offset value; and determine the first brightness value of the non-light-receiving surface according to the first brightness offset value.

[0137] In the embodiment of the present disclosure, the second determination module 84 is further configured to: acquire a first initial brightness value of the non-light-receiving surface of the imaging object; and add the first initial brightness value and the first brightness offset value to obtain the first brightness value of the non-light-receiving surface.

[0138] In the embodiment of the present disclosure, the first acquisition module 82 is further configured to: determine the surface normal direction of the imaging object; acquire the second included angle between the surface normal direction of the imaging object and the light direction; and perform slicing on each surface of the imaging object according to the second included angle to obtain the non-light-receiving surface of the imaging object.

[0139] In the embodiment of the present disclosure, the first acquisition module 82 is further configured to: in response to the second included angle being greater than or equal to 90 degrees, determine the surface corresponding to the second included angle as the light-receiving surface of the imaging object; and in response to the second included angle being less than 90 degrees, determine the surface corresponding to the second included angle as the non-light-receiving surface of the imaging object.

[0140] In the embodiment of the present disclosure, the device further comprises an imaging module 85 configured to: determine a second luminance value of the light-receiving surface of the imaging object; and render imaging data of the imaging object according to the second luminance value of the light-receiving surface and the first luminance value of the non-light-receiving surface, to generate a target display image of the imaging object.

[0141] In the embodiment of the present disclosure, the imaging module 85 is further configured to: acquire a second initial luminance value and a second luminance offset value of the light-receiving surface of the imaging object; and determine the second luminance value of the light-receiving surface of the imaging object after receiving the illumination by summing the second initial luminance value and the second luminance offset value.

[0142] In the embodiment of the present disclosure, the imaging module 85 is further configured to: identify a travel time of the vehicle, and determine an imaging mode of the vehicle according to the travel time; and adjust a display luminance of the target display image on the display screen of the vehicle according to the imaging mode.

[0143] The device for determining the luminance of the non-light-receiving surface of the imaging object provided in the present disclosure determines the light direction of the illumination received by the imaging object, and determines the non-light-receiving surface of the imaging object according to the light direction. Further, the normal direction of the non-light-receiving surface of the imaging object is determined, and the first luminance value on the non-light-receiving surface of the imaging object after receiving the illumination is determined according to the normal direction of the non-light-receiving surface and the light direction of the illumination received by the imaging object. Further, the second initial luminance value and the second luminance offset value of the light-receiving surface of the imaging object are determined, so as to obtain the second luminance value of the light-receiving surface of the imaging object. Further, the imaging data of the imaging object is rendered according to the second luminance value of the light-receiving surface and the first luminance value of the non-light-receiving surface, so as to generate a target display image of the imaging object. In the present disclosure, the normal direction of the non-light-receiving surface and the light direction are used to determine the luminance value of the non-light-receiving surface, which reduces the calculation amount of the luminance value of the non-light-receiving surface of the imaging object, thereby reducing the influence of the acquisition of the luminance value of the non-light-receiving surface on the system performance, reducing the occupation of system resources, and improving the calculation efficiency of the luminance value of the non-light-receiving surface of the imaging object, and optimizing the acquisition method of the luminance value of the non-light-receiving surface of the imaging object. According to the second luminance value of the light-receiving surface and the first luminance value of the non-light-receiving surface, the target display image of the imaging object is generated. Due to the difference between the first luminance value and the second luminance value, the target display image generated has the level between each surface of the imaging object, which optimizes the imaging effect of the target display image.

[0144] According to an embodiment of the present disclosure, the present disclosure further proposes a vehicle, wherein the vehicle comprises the electronic device as shown in the following Figure 9

[0145] According to an embodiment of the present disclosure, the present disclosure further proposes an electronic device, a readable storage medium and a computer program product.

[0146] Figure 9 A schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present disclosure described and / or claimed in this document.

[0147] As shown in ​ , the device 900 includes a computing unit 901 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded into a random access memory (RAM) 903 from a storage unit 908. Various programs and data required for the operation of the device 900 can also be stored in the RAM 903. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other through a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0148] Various components in the device 900 are connected to the I / O interface 905, including an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a magnetic disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0149] ​The computing unit 901 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs various methods and processes described above, such as the brightness determination method of a non-light-receiving surface of an imaged object. For example, in some embodiments, the brightness determination method of a non-light-receiving surface of an imaged object can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded onto the RAM 903 and executed by the computing unit 901, one or more steps of the brightness determination method of a non-light-receiving surface of an imaged object described above can be performed. Alternatively, in other embodiments, the computing unit 901 can be configured to perform the brightness determination method of a non-light-receiving surface of an imaged object by any other suitable means, such as by means of firmware.

[0150] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0151] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server. The machine can be a personal computer, a server, a networked device, a handheld device, a mobile device, a wearable device, a processor, a controller, a microcontroller, or any suitable processing device.

[0152] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0153] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0154] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0155] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0156] It should be understood that the various forms of flow shown above can be re-ordered, added to, or have steps deleted, using the steps described above. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure can be achieved, which is not limited herein.

[0157] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method of determining the brightness of a non-light receiving surface of an imaged object, wherein, The method comprises: determining a light direction of light received by the imaging object; determining a non-light-receiving surface of the imaging object, and obtaining a normal direction of the non-light-receiving surface; obtaining a first included angle between the normal direction of the non-light-receiving surface and the light direction; obtaining a first brightness offset value corresponding to the first included angle, and determining a first brightness value of the non-light-receiving surface according to the first brightness offset value.

2. The method of claim 1, wherein, The obtaining of the first brightness offset value corresponding to the first included angle and the determination of the first brightness value of the non-light-receiving surface according to the first brightness offset value comprise: determining a candidate brightness offset value of the non-light-receiving surface of the imaging object; determining a target included angle interval to which the first included angle belongs from among candidate included angle intervals corresponding to the imaging object; determining a first brightness offset value corresponding to the target included angle interval from among the candidate brightness offset values according to a mapping relationship between the candidate included angle intervals and the candidate brightness offset values; determining the first brightness value of the non-light-receiving surface according to the first brightness offset value.

3. The method of claim 2, wherein, The determination of the first brightness value of the non-light-receiving surface according to the first brightness offset value comprises: obtaining a first initial brightness value of the non-light-receiving surface of the imaging object; adding the first initial brightness value and the first brightness offset value to obtain the first brightness value of the non-light-receiving surface.

4. The method of claim 1, wherein, The determination of the non-light-receiving surface of the imaging object comprises: determining normal directions of surfaces of the imaging object; respectively obtaining second included angles between the normal directions of the surfaces of the imaging object and the light direction; segmenting the surfaces of the imaging object according to the second included angles to obtain the non-light-receiving surface of the imaging object.

5. The method of claim 4, wherein, The segmentation of the surfaces of the imaging object according to the second included angles to obtain the non-light-receiving surface of the imaging object comprises: in response to the second included angle being greater than or equal to 90 degrees, determining a corresponding surface of the second included angle as a light-receiving surface of the imaging object; in response to the second included angle being less than 90 degrees, determining the corresponding surface of the second included angle as the non-light-receiving surface of the imaging object.

6. The method according to any one of claims 1 to 5, wherein, The method further comprises: determining a second brightness value of a light-receiving surface of the imaging object; rendering imaging data of the imaging object according to the second brightness value of the light-receiving surface and the first brightness value of the non-light-receiving surface to generate a target display image of the imaging object.

7. The method of claim 6, wherein, The determination of the second brightness value of the light-receiving surface of the imaging object comprises: obtaining a second initial brightness value and a second brightness offset value of the light-receiving surface of the imaging object; adding the second initial brightness value and the second brightness offset value to determine the second brightness value of the light-receiving surface of the imaging object after receiving light.

8. The method of claim 1, wherein, The method further comprises: identifying a travel time of a vehicle, and determining an imaging mode of the vehicle according to the travel time; adjusting display brightness of a target display image on a display screen of the vehicle according to the imaging mode.

9. An apparatus for determining brightness of a non-light receiving surface of an imaged object, wherein, The device comprises: a first determination module configured to determine a light direction of light received by the imaging object; a first obtaining module configured to determine a non-light-receiving surface of the imaging object, and obtain a normal direction of the non-light-receiving surface; The second acquisition module is configured to acquire a first included angle between a normal direction of the non-light-receiving surface and the direction of the light ray. The second determination module is configured to acquire a first luminance offset value corresponding to the first included angle, and determine a first luminance value of the non-light-receiving surface according to the first luminance offset value.

10. The apparatus of claim 9, wherein, The second determination module is further configured to: determine a candidate luminance offset value of the non-light-receiving surface of the imaging object; determine a target included angle interval to which the first included angle belongs from candidate included angle intervals corresponding to the imaging object; determine a first luminance offset value corresponding to the target included angle interval from candidate luminance offset values according to a mapping relationship between the candidate included angle intervals and the candidate luminance offset values; determine the first luminance value of the non-light-receiving surface according to the first luminance offset value.

11. The apparatus of claim 10, wherein, The second determination module is further configured to: acquire a first initial luminance value of the non-light-receiving surface of the imaging object; add the first initial luminance value and the first luminance offset value to obtain the first luminance value of the non-light-receiving surface.

12. The apparatus of claim 9, wherein, The first acquisition module is further configured to: determine normal directions of surfaces of the imaging object; acquire second included angles between the normal directions of the surfaces of the imaging object and the direction of the light ray respectively; perform slicing on the surfaces of the imaging object according to the second included angles to acquire the non-light-receiving surface of the imaging object.

13. The apparatus of claim 12, wherein, The first acquisition module is further configured to: determine the surface corresponding to the second included angle as a light-receiving surface of the imaging object in response to the second included angle being greater than or equal to 90 degrees; determine the surface corresponding to the second included angle as the non-light-receiving surface of the imaging object in response to the second included angle being less than 90 degrees.

14. The apparatus of any one of claims 9-13, wherein, The apparatus further includes an imaging module configured to: determine a second luminance value of a light-receiving surface of the imaging object; perform rendering on imaging data of the imaging object according to the second luminance value of the light-receiving surface and the first luminance value of the non-light-receiving surface to generate a target display image of the imaging object.

15. The apparatus of claim 14, wherein, The imaging module is further configured to: acquire a second initial luminance value and a second luminance offset value of the light-receiving surface of the imaging object; add the second initial luminance value and the second luminance offset value to determine the second luminance value of the light-receiving surface of the imaging object after receiving illumination.

16. The apparatus of claim 9, wherein, The imaging module is further configured to: identify a travel time of a vehicle and determine an imaging mode of the vehicle according to the travel time; adjust display luminance of a target display image on a display screen of the vehicle according to the imaging mode.

17. An electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

18. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-8.

19. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-8.

20. A vehicle, wherein, The vehicle includes the electronic device as recited in claim 17.

Images