Shooting anti-shake method, device, medium and equipment

Abstract

The application relates to a shooting anti-shake method, device, medium and equipment, the method comprising: acquiring a current frame image collected by a camera module; acquiring pose data of the electronic equipment, the pose data at least comprising an angle and a distance of a reference surface, the pose data being measured by a laser radar; and performing anti-shake processing on the current frame image according to the pose data of the electronic equipment. The pose data measured by the laser radar realizes real-time monitoring of the multi-angle and multi-direction of the shaking state of the equipment, the current frame image is processed in all directions such as angle and position based on the pose data, and better anti-shake effect is achieved.

Description

Technical Field

[0001] This application relates to the field of camera control technology, specifically to a method, device, medium, and equipment for image stabilization. Background Technology

[0002] With the increasing popularity of camera technology, people are using cameras more and more frequently to take photos, shoot videos, and share videos in real time. However, videos shot with devices such as smartphones are affected by many external factors. For example, most people shoot videos by holding their phones, and the phones shake along with their hands. Videos shot while walking or running are difficult to watch due to camera shake.

[0003] In existing technologies, there are three main methods for mobile phone image stabilization: electronic image stabilization (EIS), optical image stabilization (OIS), and AI image stabilization (AIS).

[0004] EIS (Electric Image Stabilization) is a camera stabilization technology implemented through software algorithms. The principle behind EIS is to use the phone's accelerometer and gyroscope to detect the magnitude of the phone's shaking and dynamically adjust the ISO, shutter speed, and imaging algorithms to correct blur. Electronic image stabilization is essentially a technology that compensates for shaking by reducing image quality; this technology attempts to achieve a balance between image quality and image shake.

[0005] In EIS electronic image stabilization mode, the compensation action is more focused on tilt angle compensation, and it cannot achieve a good compensation effect when the vertical shaking amplitude is too large. Summary of the Invention

[0006] To address at least one of the technical problems mentioned above in the background section, this application provides a method, apparatus, medium, and device for image stabilization.

[0007] The first aspect of this application provides a method for image stabilization, applied to an electronic device equipped with a lidar and a camera module. The method includes: acquiring a captured current frame image through the camera module; acquiring pose data of the electronic device, the pose data including at least the angle and distance to a reference surface, the pose data being measured by the lidar; and performing image stabilization processing on the current frame image based on the pose data of the electronic device.

[0008] Optionally, the pose data includes current pose data obtained by measuring the current position of the electronic device using the lidar and / or predicted pose data calculated based on terrain data, wherein the terrain data is obtained by the lidar before the current position.

[0009] Optionally, the step of performing image stabilization processing on the current frame image based on the pose data of the electronic device includes: calculating the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device; and performing image stabilization processing on the current frame image based on the phase difference.

[0010] Optionally, the step of performing image stabilization on the current frame image based on the phase difference includes: cropping the current frame image based on the phase difference to obtain a cropped image, wherein the cropped image maintains the same main body area as the previous frame image; and displaying the cropped image.

[0011] Optionally, the electronic device further includes a drive motor and a camera module. The step of performing image stabilization processing on the current frame image based on the phase difference includes: adjusting and controlling the drive motor to move the camera module to a target position based on the phase difference to obtain an adjusted image, wherein the image captured by the camera module at the target position is consistent with the main body area of ​​the previous frame image; and displaying the adjusted image.

[0012] Optionally, the pose data includes current pose data obtained by measuring the current position of the electronic device using the lidar and predicted pose data calculated based on terrain data. The step of calculating the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device includes: if the current pose data is not detected within a first preset time period, then calculating an initial phase difference between the current frame image and the previous frame image based on the predicted pose data; if the current pose data is detected within a second preset time period, then correcting the initial phase difference based on the current pose data to obtain the phase difference, wherein the second preset time period is longer than the first preset time period.

[0013] Optionally, the lidar measures the current position of the electronic device by emitting a first laser beam and measures the terrain data by emitting a second laser beam, wherein the measurement range of the first laser beam is smaller than the measurement range of the second laser beam.

[0014] A second aspect of this application provides a camera stabilization device, the device comprising: a camera module for acquiring a current frame image; a lidar for acquiring pose data of the device, the pose data including at least the angle and distance to a reference surface; and a stabilization processing module for performing stabilization processing on the current frame image based on the pose data.

[0015] A third aspect of this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any of the first aspects above.

[0016] A fourth aspect of this application provides an electronic device, comprising: a memory having a computer program stored thereon; and a processor for executing the computer program in the memory to implement the steps of the method described in any of the first aspects above.

[0017] The above-described image stabilization method uses the pose data obtained by the LiDAR to achieve real-time monitoring of the device's shaking state from multiple angles and directions. Based on the pose data, it performs all-round image stabilization processing on the current frame image, including angle and position, to achieve better image stabilization effect.

[0018] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the present application and form part of the specification. They are used together with the following detailed description to explain the present application, but do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic block diagram of an electronic device according to an exemplary embodiment;

[0021] Figure 2 This is a schematic diagram illustrating the implementation process of a shooting image stabilization method according to an exemplary embodiment;

[0022] Figure 3 This is a schematic diagram illustrating a pose data measurement process according to an exemplary embodiment;

[0023] Figure 4 This is a schematic diagram illustrating the implementation process of another image stabilization method according to an exemplary embodiment;

[0024] Figure 5 This is a schematic diagram illustrating another pose data measurement process according to an exemplary embodiment;

[0025] Figure 6 This is a schematic block diagram illustrating a camera stabilization device according to an exemplary embodiment;

[0026] Figure 7 This is a schematic block diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0027] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0028] It should be noted that all actions involving the acquisition of signals, information, or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where the application is located, and with the authorization granted by the owner of the relevant device.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0030] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0031] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0032] To address the problems in existing technologies, this application provides a method for image stabilization. This method is applied to electronic devices with camera functions, which can be various types of devices with information processing capabilities. For example, the electronic device may include a personal computer, laptop, PDA, or server; it can also be a mobile terminal, such as a mobile phone, in-vehicle computer, tablet computer, camera, or digital camera. The functionality achieved by this method can be implemented by a processor in the electronic device calling program code. The program code can be stored in a computer storage medium. Therefore, the electronic device includes at least a processor and a storage medium.

[0033] Figure 1 This is a schematic block diagram of an electronic device 100 with camera function provided in an embodiment of this application.

[0034] During the process of electronic device 100 capturing image information from a scene, for example, during the process of electronic device 100 capturing a series of still images or capturing video, it is necessary to keep each frame of the image scene sequence approximately stable. Electronic device 100 acquires its own pose data and uses the pose data to perform image stabilization processing on the current frame to compensate for image shake that occurs during the shooting process within the electronic device.

[0035] like Figure 1 As shown, the electronic device 100 includes a camera module 110, a lidar 120, an image stabilization device 130, an image processor 140, an image storage device 150, and a shake suppression device 160. It can be implemented through any suitable combination of hardware and / or software. Figure 1 The components included in the illustrated electronic device 100 are shown in the figures. In the illustrated embodiment, the components are depicted as individual units. However, in other embodiments, any of the components may be integrated into a combined unit within common hardware and / or software.

[0036] Electronic device 100 may be a digital camera, such as a digital camcorder, a digital camera, or a combination of both. Furthermore, electronic device 100 may be a standalone device (e.g., a standalone camera) or integrated into another device (e.g., a wireless communication device). As an example, electronic device 100 may be integrated into a mobile phone to form a so-called camera phone or video phone. Preferably, electronic device 100 is equipped to capture color images, black and white images, or both. In this invention, the terms "image," "imagery," "image information," or similar terms may alternately refer to video or still images. Similarly, the term "frame" may refer to a video frame or still image frame acquired by electronic device 100.

[0037] The camera module 110 includes a camera optical system such as an imaging lens and an aperture, and an imaging element for capturing images of a subject through the camera optical system. The camera optical system, including the imaging lens and aperture, can be detached from or fixed to the main body of the electronic device. The imaging lens includes a focusing lens that can move along the optical axis.

[0038] An imaging element comprises a two-dimensional array of individual image sensors, arranged, for example, in rows and columns. The imaging element may include, for example, a solid-state sensor array, such as a complementary metal-oxide-semiconductor (CMOS) sensor. The image sensors within the imaging element are exposed to the scene to obtain light information from the scene and capture image frames of the scene.

[0039] The Laser Radar 120 includes a laser transmitter, an optical receiver, and an information processing system. A Laser Radar is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves transmitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, thereby enabling target detection, tracking, and identification. In the Laser Radar, the laser transmitter converts electrical pulses into light pulses and transmits them. The optical receiver then converts the light pulses reflected back from the target back into electrical pulses, which are sent to the information processing system. The information processing system outputs the pose data of the electronic device 100.

[0040] The method disclosed in this application enables the electronic device 100 to maintain image stability during shooting, achieving excellent shooting results. This application utilizes the pose data obtained by the laser radar to achieve real-time monitoring of the device's shake state from multiple angles and directions. Based on the pose data, it performs comprehensive anti-shake processing on the current frame image, including angle and position measurements, achieving better anti-shake performance.

[0041] During the imaging process of the camera module 110, the image stabilization device 130 obtains the pose data of the electronic device 100 in the scene from the lidar 120. Then, the image stabilization device 130 calculates the difference between the pose data of the electronic device 100 at the current moment and the pose data of the electronic device 100 at the previous frame, obtains the image stabilization data, and sends the image stabilization data to the shake suppression device 160.

[0042] Image stabilization device 130 may be implemented as a standalone hardware component or as a programmable feature of a logic device (e.g., a microprocessor, DSP, or similar device). For example, image stabilization device 130 may be configured as an image stabilization chip. In some embodiments, image stabilization device 130 may be a programmable or integrated feature of a logic device implementing image processor 140. Specifically, image stabilization device 130 may be implemented as one or more software processes executed by such logic device.

[0043] The shake suppression device 160 receives the stabilization data sent by the stabilization device 130 and performs stabilization actions based on the stabilization data.

[0044] Image processor 140 receives the captured image frames from the imaging element and performs any necessary processing on the image frames. Image processor 140 may, for example, perform filtering, cropping, de-mosaicing, compression, image enhancement, or other processing on the image frames captured by the imaging element. Image processor 140 may be implemented by a microprocessor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or any other equivalent discrete or integrated logic circuit. In some embodiments, image processor 140 may form part of a codec that encodes image frames according to a specific encoding technology or format (e.g., MPEG-2, MPEG-4, ITU H.263, ITU H.264, JPEG, or similar technologies or formats).

[0045] Image processor 140 stores image frames in image storage device 150. Image processor 140 can store raw image frames, processed image frames, or encoded image frames in image storage device 150. If the image is accompanied by audio information, the audio can also be stored in image storage device 150 independently or in conjunction with the image frames. Image storage device 150 may include any volatile or non-volatile memory or storage device, such as read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), or flash memory, or, for example, magnetic data storage device or optical data storage device.

[0046] Figure 2 This is a schematic diagram illustrating the implementation process of a shooting image stabilization method provided in an embodiment of this application, as shown below. Figure 2 As shown, the method may include the following steps 210 to 230:

[0047] S210, the current frame image is acquired through the camera module.

[0048] In image stabilization shooting mode, the device captures a single frame of the current moment through its camera module.

[0049] S220, acquire the pose data of the electronic device, the pose data including at least the angle and distance to the reference surface, the pose data being obtained by the lidar measurement.

[0050] The pose data of an electronic device is acquired by measuring the pose data using a lidar mounted on the device. The pose data includes the angle and distance of the device relative to a reference surface. For example, ... Figure 3 As shown, Figure 3 This is a schematic diagram of a pose data measurement process provided in an embodiment of this application. Figure 3The LiDAR 310 is installed at the bottom of the mobile phone. The LiDAR 310 sends a laser 320 to the ground, and the ground returns a laser 330. Through the laser 330, the LiDAR 310 can calculate the current height of the device 300 above the ground, such as 2 meters, and the angle with the ground, such as 180 degrees, and use the calculated data as pose data.

[0051] Compared to existing measurement methods such as gyroscopes, lidar uses lasers for remote sensing, offering high-precision temporal and spatial resolution, high sensitivity, and strong anti-interference capabilities. Furthermore, while gyroscopes typically only measure small-angle deflections, lidar is not limited by this and can measure large angles, as well as various pose data such as distance and spatial position.

[0052] S230, the current frame image is stabilized based on the pose data of the electronic device.

[0053] Based on pose data, electronic devices calculate shake conditions such as the magnitude of shake and then perform image stabilization accordingly. For example, an electronic device can calculate the difference between the pose data of the current frame and the pose data of the previous frame to obtain image stabilization data such as the horizontal and vertical deviation distances and offset angles between the two frames. Based on this data, an image stabilization strategy is adopted. For instance, when using electronic image stabilization, the ISO, shutter speed, and imaging algorithms are dynamically adjusted using the image stabilization data to correct blur. This technique compensates for shake by reducing image quality, achieving a balance between image quality and image shake.

[0054] The above-described image stabilization method uses the pose data obtained by the LiDAR to achieve real-time monitoring of the device's shaking state from multiple angles and directions. Based on the pose data, it performs all-round image stabilization processing on the current frame image, including angle and position, to achieve better image stabilization effect.

[0055] Figure 4 This is a schematic diagram illustrating the implementation process of another image stabilization method provided in this application embodiment, as shown below. Figure 4 As shown, the method may include steps 410 to 440:

[0056] S410, the current frame image is acquired through the camera module.

[0057] In image stabilization shooting mode, the device captures a single frame of the current moment through its camera module.

[0058] S420, acquire the pose data of the electronic device, the pose data including at least the angle and distance to the reference surface, the pose data being obtained by the lidar measurement.

[0059] Acquire the pose data of the electronic device, which includes the horizontal distance, vertical distance, angle, etc. of the electronic device relative to a reference surface such as the ground.

[0060] The pose data can be obtained from real-time measurements by a lidar mounted on the electronic device, or it can be predicted based on terrain data. The pose data includes current pose data obtained by measuring the current position of the electronic device using the lidar and / or predicted pose data calculated based on terrain data, which was measured by the lidar before the current position.

[0061] For example, such as Figure 5 , Figure 5 This is a schematic diagram of another pose data measurement process provided in an embodiment of this application. Figure 5 In the process, electronic device 510 can send laser 570 to measure and obtain pose data during the capture of the current frame.

[0062] Alternatively, at a previous moment, such as when the previous frame was captured, the electronic device was located at position 530, denoted as 520. The measurement process of electronic device 520 can be as follows: measuring the current position of the electronic device by emitting a first laser beam, and measuring the terrain data by emitting a second laser beam, wherein the measurement range of the first laser beam is smaller than the measurement range of the second laser beam. Electronic device 520 can emit two laser beams: a small-angle laser 550 for calculating the real-time relative pose of the electronic device at position 530 with respect to the ground, and a large-angle laser 550 for measuring the terrain information of the road surface it is about to reach, thereby determining the relative pose at position 540.

[0063] The electronic device 520 calculates the position and orientation of the device relative to the ground, such as angle and distance, to obtain real-time jitter information.

[0064] Furthermore, this application argues that image jitter mainly originates from hand tremors and fluctuations caused by road surface smoothness, with road surface smoothness having a greater impact than hand tremors. In cases where pose data is unavailable, such as when pose data processing time is too long, when there is no pose data in the current frame, or when pose data is not acquired (e.g., laser is blocked), the electronic device can measure terrain data and pre-calculate the subsequent road surface jitter. For example, the electronic device 520 measures the terrain data at position 540. Based on the terrain data, the electronic device (the electronic device 520 in the previous frame or the electronic device 510 in the current frame) can calculate a predicted pose data. When there is no pose data in the current frame, the electronic device 510 uses the predicted pose data for image stabilization.

[0065] S430, calculate the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device.

[0066] Calculate the offset data, such as offset angle, offset velocity, and displacement distance, between the pose data of the electronic device in the current frame and the pose data of the electronic device in the previous frame. Calculate the phase difference between the current frame image and the previous frame image based on the offset data.

[0067] The pose data includes current pose data obtained by measuring the current position of the electronic device using the lidar and predicted pose data calculated based on terrain data. The step of calculating the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device includes: if the current pose data is not detected within a first preset time period, then calculating an initial phase difference between the current frame image and the previous frame image based on the predicted pose data; if the current pose data is detected within a second preset time period, then correcting the initial phase difference based on the current pose data to obtain the phase difference, wherein the second preset time period is longer than the first preset time period.

[0068] If the current pose data is not detected within the first preset time period, the initial phase difference between the current frame image and the previous frame image is calculated based on the predicted pose data.

[0069] Set a first preset duration, such as three-quarters of the time difference between two frames captured by the electronic device. When the previous frame is captured, such as when the electronic device 520 finishes capturing, start timing. If the electronic device 510 does not detect the current pose data within the first preset duration, the predicted pose data obtained by the electronic device 520 is used to calculate the initial phase difference between the current frame and the previous frame.

[0070] Set a second preset duration, such as setting the time difference between two frames captured by the electronic device as the second preset duration. If the current pose data is detected within the second preset duration, the initial phase difference is corrected according to the current pose data to obtain the phase difference.

[0071] The above method can avoid the problem of slow pose data acquisition leading to the inability to perform stabilization. Correcting the initial phase difference after acquiring pose data can also ensure accuracy.

[0072] S440, Perform image stabilization processing on the current frame image based on the phase difference.

[0073] Based on the phase difference, an image stabilization strategy is adopted for image stabilization.

[0074] The image stabilization strategy can be an electronic image stabilization strategy, which crops the current frame image based on the phase difference to obtain a cropped image, wherein the cropped image maintains the same main body area as the previous frame image; and the cropped image is displayed.

[0075] The current frame image is cropped based on the phase difference, and the cropped image maintains the same main body area as the previous frame image to keep the optical center of the current frame unchanged. Furthermore, overlapping areas are obtained from the compensated image and then synthesized. The electronic device then stitches together the non-overlapping areas to obtain the stitched and synthesized current frame image. This electronic image stabilization strategy maintains the stability of both frames.

[0076] Alternatively, it could be an optical image stabilization strategy. The electronic device further includes a drive motor and a camera module. The step of performing image stabilization processing on the current frame image based on the phase difference includes: controlling the drive motor to move the camera module to a target position based on the phase difference to obtain an adjusted image. The image captured by the camera module at the target position is consistent with the main body area of ​​the previous frame image; and displaying the adjusted image.

[0077] Based on the phase difference, the target position that the camera module needs to reach to compensate for the phase difference is calculated. The drive motor is then controlled to move the camera module a certain distance to the target position to compensate for the jitter between the two frames.

[0078] The above-described image stabilization method uses the pose data obtained by the LiDAR to achieve real-time monitoring of the device's shaking state from multiple angles and directions. Based on the pose data, it performs all-round image stabilization processing on the current frame image, including angle and position, to achieve better image stabilization effect.

[0079] Figure 6 This is a schematic block diagram of a camera stabilization device provided in an embodiment of this application, such as... Figure 6 As shown, the device 600 includes a camera module 610, a lidar 620, and an image stabilization module 630, wherein:

[0080] The camera module is used to acquire the image of the current frame.

[0081] A lidar is used to acquire the pose data of the device, the pose data including at least the angle and distance to a reference surface;

[0082] The image stabilization module is used to perform image stabilization processing on the current frame image based on the pose data.

[0083] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0084] Figure 7 This is a schematic block diagram illustrating another electronic device 700 according to an exemplary embodiment. Figure 7 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0085] The processor 701 controls the overall operation of the electronic device 700 to complete all or part of the steps in the aforementioned image stabilization method. The memory 702 stores various types of data to support the operation of the electronic device 700. This data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The multimedia component 703 may include a screen and audio components. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 702 or transmitted via communication component 705. The audio component also includes at least one speaker for outputting audio signals. I / O interface 704 provides an interface between processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 705 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0086] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described image stabilization method.

[0087] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the image stabilization method described above. For example, the computer-readable storage medium may be the memory 702 including the program instructions described above, which may be executed by the processor 701 of the electronic device 700 to complete the image stabilization method described above.

[0088] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described image stabilization method when executed by the programmable device.

[0089] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0090] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0091] Furthermore, various different implementations of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed in this application.

Claims

1. A method for image stabilization, characterized in that, The method, applied to an electronic device equipped with a lidar and a camera module, includes: The current frame image is acquired through the camera module; The pose data of the electronic device is acquired. The pose data includes at least the angle and distance to a reference surface. The pose data is obtained by the lidar. The reference surface is the ground. The pose data includes current pose data obtained by the lidar measuring the current position of the electronic device and predicted pose data calculated based on terrain data. The terrain data is obtained by the lidar before the current position. The current frame image is stabilized based on the pose data of the electronic device; The step of performing image stabilization processing on the current frame image based on the pose data of the electronic device includes: The phase difference between the current frame image and the previous frame image is calculated based on the pose data of the electronic device. The current frame image is stabilized based on the phase difference; The step of calculating the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device includes: If the current pose data is not detected within the first preset time period, the initial phase difference between the current frame image and the previous frame image is calculated based on the predicted pose data. If the current pose data is detected within a second preset duration, the initial phase difference is corrected based on the current pose data to obtain the phase difference, wherein the second preset duration is longer than the first preset duration.

2. The method according to claim 1, characterized in that, The step of performing image stabilization on the current frame image based on the phase difference includes: The current frame image is cropped based on the phase difference to obtain a cropped image, and the cropped image maintains the same main body area as the previous frame image. The cropped image is displayed.

3. The method according to claim 1, characterized in that, The electronic device further includes a drive motor and a camera module. The step of performing image stabilization processing on the current frame image based on the phase difference includes: The camera module is moved to the target position by the drive motor according to the phase difference control, and the adjusted image is obtained. The image captured by the camera module at the target position is consistent with the main body area of ​​the previous frame image. The adjusted image is displayed.

4. The method according to claim 1, characterized in that, The lidar measures the current position of the electronic device by emitting a first laser beam and measures the terrain data by emitting a second laser beam, wherein the measurement range of the first laser beam is smaller than the measurement range of the second laser beam.

5. A camera stabilization device, characterized in that, The device includes: The camera module is used to acquire the image of the current frame. A lidar is used to acquire pose data of the device. The pose data includes at least the angle and distance to a reference surface, which is the ground. The pose data includes current pose data obtained by measuring the current position of the electronic device using the lidar and predicted pose data calculated based on terrain data, which is measured by the lidar before the current position. The image stabilization module is used to perform image stabilization processing on the current frame image based on the pose data; The image stabilization module is specifically used to calculate the phase difference between the current frame image and the previous frame image based on the pose data of the electronic device; and to perform image stabilization processing on the current frame image based on the phase difference. The image stabilization module is specifically used to: if the current pose data is not detected within a first preset time period, calculate the initial phase difference between the current frame image and the previous frame image based on the predicted pose data; if the current pose data is detected within a second preset time period, correct the initial phase difference based on the current pose data to obtain the phase difference, wherein the second preset time period is longer than the first preset time period.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1-4.

7. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-4.

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