Image imaging system

Abstract

The embodiment of the application provides an image imaging system, comprising: a controller configured to output a first control signal; a camera configured to control the image imaging system to enter a high dynamic range (HDR) mode according to the first control signal, acquire an HDR image collected by a first image sensor and a second image sensor through a full light transmission area of a polarized filter, and send the HDR image to the controller; the controller is configured to send a second control signal to the camera through a law car line in a case where the definition of the HDR image is less than a preset definition threshold; the camera is configured to control the image imaging system to enter a polarized defogging mode according to the second control signal, and acquire N image groups in a polarized filter rotation process; and the controller is further configured to perform polarized defogging calculation on a first image and a second image in a target image group to obtain a target defogging image in a case where a target brightness difference value is greater than or equal to a preset brightness difference value. The embodiment of the application improves the definition of the image.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile electronics, and particularly relates to an image imaging system. BACKGROUND

[0002] In real life, with the wide application of vehicle auxiliary driving systems, the requirements of the auxiliary driving system on vehicle cameras are also higher and higher. However, the traditional vehicle camera is difficult to capture clear and effective images in bad weather and environment.

[0003] In view of the problem that it is difficult to capture clear and effective images in bad weather and environment in real life, generally, after the image is acquired, the contrast of the image is improved by using an image enhancement method to improve the definition of the image. However, this method in the prior art can only realize low-degree image defogging through image enhancement, so that the definition of the processed image is still not high. SUMMARY

[0004] The embodiment of the application provides an image imaging system, which improves the definition of the image.

[0005] In a first aspect, the embodiment of the application provides an image imaging system, which comprises:

[0006] a controller configured to output a first control signal,

[0007] a camera connected to the controller through a pull-down cable and a power cable, the camera comprising a first image sensor, a second image sensor and a polarized filter, configured to control the polarized filter to rotate to make the image imaging system enter a high dynamic range (HDR) mode according to the first control signal, acquire an HDR image collected by the first image sensor and the second image sensor through a full-transmission area of the polarized filter, and send the HDR image to the controller,

[0008] the controller configured to discriminate the definition of the HDR image, and send a second control signal to the camera through the pull-down cable in a case where the definition of the HDR image is less than a preset definition threshold,

[0009] the camera configured to control the polarized filter to rotate to make the image imaging system enter a polarized defogging mode according to the second control signal, and acquire N image groups in the process of rotating the polarized filter, each of the image groups comprising a first image collected by the first image sensor through a polarized filter area of the polarized filter and a second image collected by the second image sensor through the polarized filter area of the polarized filter, wherein the exposure time of the first image and the second image in each image group is the same,

[0010] The controller is further configured to, in a case where the target luminance difference value is greater than or equal to a preset luminance difference value, perform polarization defogging calculation on the first image and the second image in the target image group to obtain a target defogging image, the target luminance difference value being a difference value between the luminance value of the first image included in the target image group and the first image luminance value in the N image groups.

[0011] In an optional implementation of the first aspect, the camera includes:

[0012] a first lens module corresponding to the first image sensor, the polarized filter being located between the first lens module and the first image sensor, so that light passes through the full light transmission area or the polarized light filtering area of the polarized filter of the first lens module and is projected to the first image sensor for imaging by the first image sensor,

[0013] a second lens module corresponding to the second image sensor, the polarized filter being located between the second lens module and the second image sensor, so that light passes through the full light transmission area or the polarized light filtering area of the polarized filter of the second lens module and is projected to the second image sensor for imaging by the second image sensor.

[0014] In an optional implementation of the first aspect, the camera further includes an ISP chip, the ISP chip being electrically connected to the first image sensor and the second image sensor respectively,

[0015] the first image sensor is configured to acquire a third image by exposure through the full light transmission area of the polarized filter for a first exposure time,

[0016] the second image sensor is configured to acquire a fourth image by exposure through the full light transmission area of the polarized filter for a second exposure time, the first exposure time being greater than the second exposure time,

[0017] the ISP chip is configured to perform weighted fusion on a luminance value of each pixel point included in the third image and a luminance value of each pixel point included in the fourth image based on a preset weight to obtain the HDR image.

[0018] In an optional implementation of the first aspect, the camera further includes:

[0019] a serializer connected to the ISP chip and the controller respectively, configured to convert the HDR image from a CSI signal to a GMSL signal and send the converted HDR image to the controller.

[0020] In an optional implementation of the first aspect, the camera further includes a stringer, a motor driving module, a stepping motor and a motor connecting shaft, the stringer is connected with the controller, the motor driving module is connected with the stringer, the stepping motor is connected with the motor driving module, and the stepping motor is connected with the polarizing filter through the motor connecting shaft.

[0021] The stepping motor is configured to drive the polarizing filter to rotate based on the first control signal so that the image imaging system enters the HDR mode.

[0022] Alternatively,

[0023] The stepping motor is configured to drive the polarizing filter to rotate based on the second control signal so that the image imaging system enters the polarized dehazing mode.

[0024] In an optional implementation of the first aspect, the camera further includes a PCB board, the first image sensor and the second image sensor are arranged on one side of the PCB board, the stepping motor is arranged on the other side of the PCB board, and the motor connecting shaft passes through the PCB board to connect the stepping motor and the polarizing filter.

[0025] In an optional implementation of the first aspect, the controller is configured to:

[0026] determine a modulation transfer function (MTF) value of the HDR image based on the HDR image and an MTF;

[0027] determine that the sharpness of the HDR image is less than a preset sharpness threshold value when the MTF value is less than a preset MTF threshold value;

[0028] determine that the sharpness of the HDR image is greater than the preset sharpness threshold value when the MTF value is greater than the preset MTF threshold value.

[0029] In an optional implementation of the first aspect, the target luminance difference value is a maximum luminance difference value in N luminance difference values, each luminance difference value in the N luminance difference values is a difference value between a luminance value of a first image and a luminance value of a second image in an image group corresponding to the each luminance difference value.

[0030] The controller is further configured to, when the target luminance difference value is greater than or equal to a preset luminance difference value, control the polarizing filter to rotate to a position that keeps the target luminance difference value, determine an atmospheric light intensity based on the target luminance difference value, and remove the atmospheric light intensity from light intensities of the first image and the second image included in the target image group in units of pixel points based on a polarized dehazing model to obtain a target dehazing image.

[0031] In an optional implementation of the first aspect, the controller is further configured to, in a case where the target luminance difference value is less than the preset luminance difference value, control the polarized filter to rotate so that the image imaging system enters an HDR imaging mode, and after the polarized filter rotates, control the first image sensor and the second image sensor to capture images through the full light transmission region of the polarized filter.

[0032] In an optional implementation of the first aspect, the system further includes a display device electrically connected to the controller,

[0033] The display device is configured to, in a case where the MTF value of the HDR image is greater than or equal to a preset MTF threshold value, display the HDR image.

[0034] The display device is further configured to, in a case where the MTF value of the HDR image is less than the preset MTF threshold value, display the target dehazed image.

[0035] In the embodiments of the present application, since the image imaging system can include a controller and a camera, and the controller and the camera can be connected through a cable and a power line, and the camera can include a first image sensor, a second image sensor and a polarized filter. Based on this, the image imaging system can output a first control signal through the controller, so that the camera can control the polarized filter to rotate to make the image imaging system enter a high dynamic range (HDR) imaging mode based on the first control signal, and acquire an HDR image captured by the first image sensor and the second image sensor through the full light transmission region of the polarized filter in the mode. The controller can determine the sharpness of the HDR image, and in a case where the sharpness of the HDR image is less than a preset sharpness threshold value, the controller can send a second control signal to the camera through the cable. The camera can control the polarized filter to rotate to make the image imaging system enter a polarized dehazing mode according to the second control signal, and acquire N image groups during the rotation of the polarized filter. The controller can perform polarized dehazing calculation on a first image and a second image of a target image group in a case where a target luminance difference value is greater than or equal to a preset luminance difference value, to obtain a target dehazed image. Since each image group includes a first image captured by the first image sensor through a polarized filter region of the polarized filter and a second image captured by the second image sensor through the polarized filter region of the polarized filter, the target luminance difference value is the difference value between the luminance value of the first image and the luminance value of the second image. In this way, the sharpness of the image is improved, which facilitates safe driving of the vehicle, and in the case of not increasing the operation load of the vehicle-mounted system too much, an image with high sharpness can be obtained in a very short time, and the delay time of image imaging is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows, and other drawings can be obtained by those of ordinary skill in the art without creative labor on the premise of not paying the creative labor.

[0037] Figure 1 is a composition and connection diagram of an image imaging system provided by the embodiments of the present application;

[0038] Figure 2 is a structural schematic diagram of a camera provided by the embodiments of the present application;

[0039] Figure 3 is a circuit diagram of image signal processing provided by the embodiments of the present application;

[0040] Figure 4 is a structural schematic diagram of a polarized filter provided by the embodiments of the present application;

[0041] Figure 5 is a structural schematic diagram of an image imaging system provided by the embodiments of the present application;

[0042] Figure 6 is a schematic diagram of a polarized filter in an HDR imaging mode provided by the embodiments of the present application;

[0043] Figure 7 is a schematic diagram of a polarized filter in a polarized defogging mode provided by the embodiments of the present application. DETAILED DESCRIPTION

[0044] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0045] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0046] The term "and / or", merely describes an associated relationship, which means that there can be three relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone.

[0047] Because in real life, the traditional vehicle camera is difficult to capture clear and effective images in bad weather or environment, and the vehicle auxiliary driving system cannot assist the vehicle to drive safely based on the captured images.

[0048] In order to capture images with high clarity in bad weather and environment, so as to facilitate safe driving of vehicles, in the prior art, after obtaining images, image enhancement method is used to improve the contrast of images to improve the clarity of images, but this method can only realize low degree of image defogging, so that the clarity of the processed image is still low.

[0049] In addition, in the prior art, the image can also be processed based on image restoration technology to improve the clarity of the image, but because this method needs to be based on complex image restoration algorithm and prior knowledge, the calculation amount is too large, which leads to too long delay time of image imaging, which is also not conducive to the safe driving of vehicles.

[0050] In summary, in order to improve the image clarity while reducing the image imaging delay time, the embodiment of the present application provides an image imaging system. Since the image imaging system can include a controller and a camera, and the controller and the camera can be connected through a focal cable and a power cable, and the camera can include a first image sensor, a second image sensor and a polarized filter. Based on this, the image imaging system can output a first control signal through the controller, so that the camera can control the polarized filter to rotate to make the image imaging system enter a high dynamic range (HDR) imaging mode based on the first control signal, and acquire an HDR image collected by the first image sensor and the second image sensor through the full light transmission area of the polarized filter in the mode. The controller can determine the clarity of the HDR image, and in the case that the clarity of the HDR image is less than a preset clarity threshold, the controller can send a second control signal to the camera through the focal cable. The camera can control the polarized filter to rotate to make the image imaging system enter a polarized dehazing mode according to the second control signal, and acquire N image groups during the rotation of the polarized filter. The controller can perform polarized dehazing calculation on the first image and the second image of the target image group to obtain a target dehazing image in the case that a target brightness difference value is greater than or equal to a preset brightness difference value. Since each image group includes a first image collected by the first image sensor through the polarized filter area of the polarized filter and a second image collected by the second image sensor through the polarized filter area of the polarized filter, the target brightness difference value is the difference value between the brightness value of the first image and the brightness value of the second image. In this way, the clarity of the image is improved, which is convenient for safe driving of the vehicle, and in the case that the operation load of the vehicle-mounted system is not increased too much, the image with high clarity can be obtained in a very short time, and the image imaging delay time is reduced.

[0051] In order to describe the image imaging system provided by the embodiment of the present application in more detail, the image imaging system provided by the embodiment of the present application will be described in detail through specific embodiments. Before the specific embodiments are described, the image imaging system related to the embodiment of the present application will be introduced with reference to the accompanying drawings.

[0052] Figure 1 is a composition and connection diagram of an image imaging system provided by the embodiment of the present application.

[0053] As Figure 1As shown, the image imaging system specifically includes multiple cameras, a controller, a display, a vehicle-mounted battery and a power module. Among them, the camera can have a double-lens double-image sensor, and the multiple cameras are independent of each other in control and imaging, the camera is connected with the controller through a law call line and a power line, the video output end of the controller is connected with the display through a standard video cable (DP / HDMI / DVI / VGA), the vehicle-mounted battery is connected with the power module, and the controller and the display are powered after DC-DC voltage reduction through the power module.

[0054] Based on this, the camera can be combined with Figure 2 The structure block diagram of the above-mentioned camera will be introduced in detail, as shown in Figure 2 The main components include: a law call joint 1, a power supply interface 2, a stepping motor 3, a first image sensor 4, a motor connecting shaft 5, a printed circuit board (PCB) 6, a second image sensor 7, a polarization filter 8, a first lens module 9 and a second lens module 10. The first image sensor 4, the second image sensor 7 and their peripheral circuits are arranged on the PCB 6, the stepping motor 3 is arranged below the PCB 6, the motor connecting shaft 5 connected with the stepping motor 3 penetrates through the PCB 6 and is connected with the polarization filter 8, the polarization filter 8 is arranged between the first lens module 9, the second lens module 10 and the first image sensor 4, the second image sensor 7, and can change the angle position under the driving of the stepping motor 3. The law call joint 1 and the power supply interface 2 are connected with the PCB 6, and are fixed on the camera shell through screws.

[0055] Among them, the structure of the first image sensor 4, the second image sensor 7 and their peripheral circuits can be as shown in Figure 3As shown, the main functional modules included in the circuit are: a Fakra port, a power supply port, a PoC (Power Over Coaxia) circuit, a power supply chip, a first image sensor, a second image sensor, an ISP (Image Signal Processor) chip, a serializer, and a motor driving module. The serializer and the PoC circuit are both connected to the Fakra port. The serializer can output image signals to the outside through the Fakra port, and the PoC circuit filters low-frequency power signals on the Fakra line. The power supply chip is arranged behind the PoC circuit and is used to modulate the DC voltage signal filtered by the PoC circuit, so as to reduce the voltage to 3.3V, 2.2V, 1.8V, 1.2V, and other voltages suitable for the operation of each chip, thereby ensuring the normal operation of each chip. The first image sensor and the second image sensor are arranged vertically, that is, one of the image sensors is rotated 90° around its own center of rotation relative to the other image sensor. Both image sensors are connected to the ISP chip, and the images collected by the image sensors are processed by the ISP. The ISP chip is connected to the serializer, which converts the image signals processed by the ISP into a signal format suitable for long-distance image signal transmission. In addition, the serializer is also connected to the motor driving module through a GPIO port, and transmits control signals to the driving module. The driving module is powered through a power supply interface to ensure sufficient power for driving the motor.

[0056] In addition, the polarization filter in the above content needs to be introduced, which can be specifically as shown in Figure 4 The polarization filter 8 mainly consists of a polarization filtering area 11, a full-transmission area 14, a non-transmission area 12, and a non-transmission calibration strip 13.

[0057] It should be noted that the HDR imaging mode can be used in a fog-free environment, i.e., a mode in which clear imaging can be achieved without starting the polarization imaging mode. Since the images used in the HDR mode are obtained by exposure of two image sensors, the frame rate of the system will not be negatively affected in the HDR mode. In theory, as long as the ISP chip has sufficient computing power, the system can achieve high-frame-rate HDR imaging. The polarization de-fogging mode can be a mode that needs to be started when the imaging system is in a foggy (e.g., fog, haze, dust, etc.) environment, i.e., when the HDR imaging mode cannot obtain a clear image, to obtain a clear image.

[0058] And, since the image imaging system provided by the embodiment of the application aims to realize the conversion of the optical signal into the electrical signal, and restore the image on the display end after processing the image electrical signal. Therefore, in combination with the above structure, the light can pass through the first lens module 9 and the second lens module 10, and project on the first image sensor 4 and the second image sensor 7 after passing through the polarization filter 8, and be exposed via the above two image sensors, and the intensity information of the light can be converted into charge information, and then the image signal is transmitted to the ISP chip through the A / D conversion circuit and the readout circuit in the above two image sensors, so as to process the image signal subsequently, so as to obtain the image with higher definition.

[0059] The image imaging system provided by the embodiment of the application will be described in detail below with reference to the specific embodiments and the accompanying drawings.

[0060] Figure 5 is a structural schematic diagram of an image imaging system provided by the embodiment of the application.

[0061] As Figure 5 shown, the image imaging system 100 can include a controller and a camera 20, and the camera 20 can further include a first image sensor 201, a second image sensor 202 and a polarization filter 203. Wherein, the controller and the camera 20 can be connected through a pull-up cable and a power line. Wherein,

[0062] the controller, configured to output a first control signal,

[0063] the camera, configured to control the polarization filter to rotate to make the image imaging system enter a high dynamic range (HDR) mode according to the first control signal, acquire an HDR image collected by the first image sensor and the second image sensor through a full light transmission area of the polarization filter, and send the HDR image to the controller,

[0064] the controller, configured to determine the definition of the HDR image, and send a second control signal to the camera through the pull-up cable in a case where the definition of the HDR image is less than a preset definition threshold,

[0065] the camera, configured to control the polarization filter to rotate to make the image imaging system enter a polarization dehazing mode according to the second control signal, and acquire N image groups in the process of rotating the polarization filter.

[0066] the controller, further configured to perform polarization dehazing calculation on the first image and the second image in the target image group to obtain a target dehazing image in a case where the target brightness difference value is greater than or equal to the preset brightness difference value.

[0067] The HDR image can be an image captured by the first image sensor and the second image sensor through the full light transmission region of the polarized filter. The first image sensor and the second image sensor can be arranged perpendicular to each other in the image imaging system, which is not specifically limited herein. The preset clarity threshold can be a threshold for judging the clarity of the image, which is set in advance based on actual experience or conditions.

[0068] In some embodiments, each of the image groups mentioned above can include a first image captured by the first image sensor through the polarized light filtering region of the polarized filter and a second image captured by the second image sensor through the polarized light filtering region of the polarized filter, wherein the exposure time of the first image and the second image in each image group is the same, and N is a positive integer.

[0069] In some embodiments, the target brightness difference value mentioned above is the difference value between the brightness value of the first image and the brightness value of the second image included in the target image group of the N image groups, and the target image group can be any one of the N image groups. Based on this, it should be noted that in the case that the brightness value of the first image in the target image group is greater than the brightness value of the second image, the target brightness difference value can be the difference value between the brightness value of the first image and the brightness value of the second image; in the case that the brightness value of the first image in the target image group is less than the brightness value of the second image, the target brightness difference value can be the absolute value of the difference value between the brightness value of the first image and the brightness value of the second image.

[0070] Specifically, when starting the image imaging system, the controller in the image imaging system can send a first control signal, and the camera can control the polarized filter to rotate based on the first control signal to make the image imaging system enter an HDR imaging mode, to obtain an HDR image of the first image sensor and the second image sensor through the full light transmission region of the polarized filter, and send the image to the controller. The controller can judge the clarity of the HDR image, and in the case that the clarity of the HDR image is less than a preset clarity threshold, send a second control signal to the camera, so that the camera can control the polarized filter to rotate based on the second control signal to make the image imaging system from the HDR mode to a polarized dehazing mode, and in the process of rotating the polarized filter, obtain N image groups. Based on this, the controller can perform polarized dehazing calculation on the first image and the second image in the target image group to obtain a target dehazing image in the case that the target brightness difference value is greater than or equal to a preset brightness difference value.

[0071] In the embodiment of the present application, since the image imaging system can include a controller and a camera, and the controller and the camera can be connected through a control cable and a power cable, and the camera can include a first image sensor, a second image sensor and a polarization filter. Based on this, the image imaging system can output a first control signal through the controller, so that the camera can control the polarization filter to rotate to make the image imaging system enter a high dynamic range (HDR) imaging mode based on the first control signal, and acquire an HDR image collected by the first image sensor and the second image sensor through the full light transmission area of the polarization filter in the mode. The controller can determine the definition of the HDR image, and in the case that the definition of the HDR image is less than a preset definition threshold, the controller can send a second control signal to the camera through the control cable. The camera can control the polarization filter to rotate to make the image imaging system enter a polarization dehazing mode according to the second control signal, and acquire N image groups in the process of rotating the polarization filter. The controller can perform polarization dehazing calculation on the first image and the second image of the target image group to obtain a target dehazing image in the case that a target brightness difference value is greater than or equal to a preset brightness difference value. Since each image group includes a first image collected by the first image sensor through the polarization filtering area of the polarization filter and a second image collected by the second image sensor through the polarization filtering area of the polarization filter, the target brightness difference value is the difference value between the brightness value of the first image and the brightness value of the second image. In this way, the definition of the image is improved, which facilitates safe driving of the vehicle, and in the case that the operation load of the vehicle-mounted system is not increased too much, the image with high definition can be obtained in a very short time, and the delay time of image imaging is reduced.

[0072] In one embodiment, the camera mentioned above can further include:

[0073] a first lens module corresponding to the first image sensor, the polarization filter being located between the first lens module and the first image sensor, so that light passes through the full light transmission area or the polarization filtering area of the polarization filter through the first lens module and is projected to the first image sensor for imaging by the first image sensor,

[0074] a second lens module corresponding to the second image sensor, the polarization filter being located between the second lens module and the second image sensor, so that light passes through the full light transmission area or the polarization filtering area of the polarization filter through the second lens module and is projected to the second image sensor for imaging by the second image sensor.

[0075] In one example, as Figure 2As shown, the first lens module 9, the polarized filter 8 is arranged between the first lens module 9 and the first image sensor 4, based on which, the light can pass through the full light transmission area or the polarized light transmission area of the polarized filter through the first lens module to the first image sensor for imaging of the first image sensor, so that the first image can be collected subsequently.

[0076] Correspondingly, continue as Figure 2 As shown, the second lens module 10, the polarized filter 8 is arranged between the second lens module 10 and the second image sensor 7. Based on this, the light can pass through the full light transmission area or the polarized light transmission area of the polarized filter through the second lens module to the second image sensor for imaging of the second image sensor, so that the second image can be collected subsequently.

[0077] In this embodiment, since the camera can also include a first lens module corresponding to the first image sensor, a second lens module corresponding to the second image sensor, and the polarized filter is located between the first lens module and the first image sensor, and at the same time, the polarized filter is located between the second lens module and the second image sensor. Based on this structure, so that the first image sensor and the second image sensor can better image subsequently.

[0078] In one embodiment, as Figure 3 As shown, the above-mentioned camera can also include an ISP chip, the ISP chip is electrically connected with the first image sensor and the second image sensor respectively,

[0079] The first image sensor is used to obtain a third image exposed through the full light transmission area of the polarized filter for a first exposure time,

[0080] The second image sensor is used to obtain a fourth image exposed through the full light transmission area of the polarized filter for a second exposure time,

[0081] The ISP chip is used to weight and fuse the brightness value of each pixel point included in the third image and the brightness value of each pixel point included in the fourth image based on a preset weight, to obtain the HDR image.

[0082] Wherein, the first exposure time is greater than the second exposure time. The image format of the third image and the fourth image can be raw format, RGB format or YUV format, and the specific image format is not limited here. The above-mentioned preset weight can be a weight set in advance based on actual experience, for weight fusion of the third image and the fourth image to obtain the HDR image.

[0083] Specifically, in the case that the image imaging system enters the HDR imaging mode, the first image sensor can collect a third image exposed through the full light transmission region of the polarized filter for a first exposure time, and the second image sensor can collect a fourth image exposed through the full light transmission region of the polarized filter for a second exposure time. After the third image and the fourth image are acquired, the ISP chip can weight and fuse the brightness value of each pixel point included in the third image and the brightness value of each pixel point included in the fourth image based on preset weights to obtain an HDR image.

[0084] In this embodiment, the dark state details of the image can be better acquired through the third image, and the bright state details can be better acquired through the fourth image to avoid overexposure of the image. Based on this, the ISP chip can weight and fuse the brightness value of each pixel point in the third image and the brightness value of each pixel point in the fourth image based on preset weights to obtain a more accurate and effective HDR image.

[0085] In one embodiment, as shown in Figure 3 The camera mentioned above further includes:

[0086] The serializer is connected with the ISP chip and the controller respectively, and is used to convert the HDR image from a CSI signal to a GMSL signal, and transmit the converted HDR image to the controller.

[0087] In one example, since the image imaging system in the embodiment of the present application includes two image sensors, the exposure of two images can be realized at the same time, that is, the third image and the fourth image can be collected. Based on this, the image imaging system can transmit the third image and the fourth image in RAW format to the ISP chip, and after the processing of the ISP chip, the image format of the third image and the fourth image is converted to RGB format or YUV format, and is transmitted to the serializer. The serializer can convert the third image and the fourth image in the CSI signal format to the GMSL signal format to realize the long-distance and high-speed transmission of the image signal. And since the image output port of the serializer is connected with the FPC connector, the serializer can transmit the third image and the fourth image to the controller through the FPC to facilitate the subsequent acquisition of a clear image. And the controller can also be connected with one or more cameras to simultaneously acquire one or more video signals, and then transmit the multiple video signals to the display through the standard transmission cable (DP / DVI / HDMI / VGA) for display.

[0088] In one embodiment, the Figure 2 and Figure 3The camera further comprises a stringer, a motor driving module, a stepping motor and a motor connecting shaft. The stringer is connected with the controller. The motor driving module is connected with the stringer. The stepping motor is connected with the motor driving module. The stepping motor is connected with the polarized filter through the motor connecting shaft.

[0089] The stepping motor is used to drive the polarized filter to rotate based on the first control signal so that the image imaging system enters the HDR mode.

[0090] Alternatively,

[0091] The stepping motor is used to drive the polarized filter to rotate based on the second control signal so that the image imaging system enters the polarized de-fogging mode.

[0092] Specifically, since the camera further comprises a stringer, a motor driving module, a stepping motor and a motor connecting shaft, and the stringer is connected with the controller, the motor driving module is connected with the stringer, the stepping motor is connected with the motor driving module, and the stepping motor is connected with the polarized filter through the motor connecting shaft, based on this, the stepping motor can drive the polarized filter to rotate based on the first control signal so that the image imaging system enters the HDR mode. Alternatively, the stepping motor can drive the polarized filter to rotate based on the second control signal so that the image imaging system enters the polarized de-fogging mode, that is,

[0093] In one example, based on this, when the controller receives the first control signal, the system is working in the dynamic range imaging (High Dynamic Range Image, HDR) mode, as shown in Figure 6 The stepping motor drives the filter to rotate to ensure that the full light transmission area 14 is located above the image sensor to image a normal non-polarized image; as shown in Figure 7 When the controller receives the second control signal, the system is about to enter the polarized de-fogging mode, the stepping motor drives the polarized filter to rotate so that the polarized filter area 11 is located above the image sensor to image two polarized images. In this process, the polarized filter rotates from the horizontal polarization position to the vertical polarization position and then rotates to the horizontal polarization position. The rotation angle of the whole process is 180°.

[0094] In some embodiments, the camera further comprises a PCB board. The first image sensor and the second image sensor are arranged perpendicularly on one side of the PCB board. The stepping motor is arranged on the other side of the PCB board. The motor connecting shaft passes through the PCB board to connect the stepping motor and the polarized filter.

[0095] To describe the image imaging system provided by the embodiments of the application more accurately and in detail, in one embodiment, the controller described above is configured to:

[0096] determine an MTF value of the HDR image based on the HDR image and a modulation transfer function (MTF);

[0097] determine that the sharpness of the HDR image is less than a preset sharpness threshold value if the MTF value is less than a preset MTF threshold value;

[0098] determine that the sharpness of the HDR image is greater than the preset sharpness threshold value if the MTF value is greater than the preset MTF threshold value

[0099] The modulation transfer function (MTF) value can be used to represent the sharpness of the HDR image, that is, the higher the MTF value, the higher the sharpness of the HDR image, and correspondingly, the lower the MTF value, the lower the sharpness of the HDR image. The preset MTF threshold value can be an MTF threshold value preset based on actual experience or conditions for evaluating whether the sharpness of the HDR image meets the minimum sharpness requirement, and the preset MTF threshold value is generally in the range of 0.3 to 0.5. Specifically, the controller can determine the MTF value of the HDR image based on the HDR image and the modulation transfer function (MTF), and determine that the sharpness of the HDR image is less than the preset sharpness threshold value if the MTF value is less than the preset MTF threshold value, and determine that the sharpness of the HDR image is greater than the preset sharpness threshold value if the MTF value is greater than the preset MTF threshold value.

[0100] In one example, when the image imaging system is in the HDR imaging mode, the controller in the image imaging system can calculate the MTF value of the HDR image based on the acquired HDR image, and compare the MTF value with the preset MTF threshold value. If the calculated MTF value of the HDR image is lower than the preset MTF threshold value, it indicates that the sharpness of the HDR image is poor. Based on this, the controller can start the polarization imaging mode and output a corresponding control signal. The control signal is transmitted to the adder through the FPC, and then the control signal is transmitted to the motor control module through the GPIO port of the adder, so as to control the rotation of the stepping motor, so as to realize the rotation of the polarization filter under the driving of the stepping motor, so that the image imaging system enters the polarization defogging mode, and then the image imaging system can acquire the image group at N moments through the first image sensor and the second image sensor.

[0101] In this embodiment, the MTF value calculated by the HDR image and the modulation transfer function MTF can be used to accurately reflect the definition of the HDR image.

[0102] Since the first image sensor and the second image sensor are arranged perpendicular to each other in the embodiments of the present application, when imaging in a fog environment, the images obtained by the first image sensor and the second image sensor with the same exposure time have different brightness values, which may cause the finally output target dehazing image to be not clear and effective. Based on this, in order to obtain a clearer target dehazing image.

[0103] Based on this, in some embodiments, the target brightness difference value can be the maximum brightness difference value in N brightness difference values, each brightness difference value in the N brightness difference values being a difference value between the brightness value of the first image and the brightness value of the second image in the image group corresponding to the each brightness difference value.

[0104] The controller is further configured to, in a case where the target brightness difference value is greater than or equal to a preset brightness difference value, control the polarizing filter to rotate to a position at which the target brightness difference value is maintained, determine an atmospheric light intensity based on the target brightness difference value, and remove the atmospheric light intensity from the light intensity of the first image and the light intensity of the second image included in the target image group in units of pixel points based on a polarized dehazing model to obtain a target dehazing image.

[0105] The atmospheric light intensity can be the intensity of stray light caused by the haze.

[0106] Specifically, the controller can control the polarizing filter to rotate to a position at which the target brightness difference value is maintained in a case where the target brightness difference value is greater than or equal to a preset brightness difference value, and can calculate the atmospheric light intensity based on the target brightness difference value. Then, the first image and the second image in the target image group and the atmospheric light intensity can be input into the polarized dehazing model, the atmospheric light intensity can be removed from the light intensity of the first image and the light intensity of the second image included in the target image group in units of pixel points based on the polarized dehazing model, and then the target dehazing image can be obtained based on the first image and the second image after the atmospheric light intensity is removed.

[0107] More specifically, in the process of calculating the atmospheric light intensity based on the target brightness difference value, the atmospheric light polarization degree can be calculated based on the target brightness difference value, and then the theoretically atmospheric light intensity can be calculated based on the atmospheric light polarization degree. It should be noted that since the atmospheric light intensity can be the intensity of stray light caused by the haze, correspondingly, the atmospheric light polarization degree can be the polarization degree of stray light caused by the haze.

[0108] In one example, the controller can record the difference value between the brightness value of the first image and the brightness value of the second image in each image group in real time during the process of the rotating polarization filter entering the polarization defogging mode from the HDR imaging mode, and select the maximum brightness difference value, i.e. the target brightness difference value, from the difference values. The rotating filter can be kept at the angle position at which the target brightness difference value is determined. At the angle position, two polarization images perpendicular to each other are acquired by the two image sensors, and the two polarization images are transmitted to the controller, so that the controller calculates the atmospheric light polarization degree according to the two polarization images, and further calculates the atmospheric light intensity. Subsequently, the atmospheric light intensity is removed from the light intensity of the first image and the light intensity of the second image included in the target image group in units of pixel points by the polarization defogging model, and then the target defogging image can be obtained based on the first image and the second image after the atmospheric light intensity is removed.

[0109] In this embodiment, the controller can control the polarization filter to keep the position of the target brightness difference value when the target brightness difference value is greater than or equal to the preset brightness difference value, and determine the atmospheric light intensity based on the target brightness difference value. Subsequently, the atmospheric light intensity can be removed from the light intensity of the first image and the light intensity of the second image included in the target image group in units of pixel points by the polarization defogging model. Since the light intensity in the image acquired by the image sensor includes the transmission light intensity of the measured target in the image and the light intensity of the stray light caused by the haze, the target defogging image can be obtained more clearly by removing the atmospheric light intensity from the light intensity of the first image and the second image in the target image group respectively by the polarization defogging model.

[0110] In order to more clearly and completely describe the image imaging system provided by the embodiments of the present application, in one embodiment, the controller is further configured to control the polarization filter to rotate so that the image imaging system enters the HDR imaging mode when the target brightness difference value is less than the preset brightness difference value, and control the first image sensor and the second image sensor to collect images through the full light transmission area of the polarization filter after the polarization filter rotates.

[0111] Specifically, when the target brightness difference value is less than the preset brightness difference value, it indicates that the clarity of the acquired image is high, and there is no need to perform polarization defogging calculation on the first image and the second image in the target image in the polarization defogging mode. Therefore, the polarization filter can be controlled to rotate so that the image imaging system enters the HDR imaging mode, and then the first image sensor and the second image sensor can be controlled to collect images through the full light transmission area of the polarization filter after the polarization filter rotates.

[0112] In one example, the controller can make a judgment on the luminance difference value through the images acquired by the first image sensor and the second image sensor every preset time period in the polarization defogging mode. If the luminance difference value is lower than a preset luminance difference value, the image imaging system can exit the polarization defogging mode and enter the HDR imaging mode. Correspondingly, the controller of the image imaging system can rotate the polarization filter to the position in the HDR imaging mode and adjust the exposure time of the first image sensor and the second image sensor.

[0113] In this embodiment, the controller can timely adjust the mode of the image imaging system based on the comparison result between the target luminance difference value and the preset luminance threshold value, so as to avoid the waste of resources or the failure to acquire a clear and effective image due to untimely adjustment of the mode of the image imaging system.

[0114] In order to clearly and completely describe the image imaging system provided by the embodiments of the present application, in another embodiment, the image imaging system mentioned above can also include a system as follows. The image imaging system further includes a display device, the display device is electrically connected to the controller,

[0115] The display device is configured to display the HDR image when the MTF value of the HDR image is greater than or equal to a preset MTF threshold value.

[0116] The display device is further configured to display the target defogging image when the MTF value of the HDR image is less than the preset MTF threshold value.

[0117] The display device can be a display or other device for displaying images as mentioned in the above structure.

[0118] In this embodiment, when the MTF value of the HDR image is greater than or equal to the preset MTF threshold value, it indicates that the clarity of the HDR image is high. In this case, the image imaging system can directly display the HDR image through the display device in the image imaging system. The display device can be a display or other device for displaying images as mentioned in the above structure. In addition, when the MTF value of the HDR image is less than the preset MTF threshold value, the target defogging image can be displayed through the display device in the image imaging system.

[0119] In one example, the display device is further configured to display a prompt such as "low visibility" on the screen of the display device when the target defogging image is acquired in the polarization defogging mode and displayed through the display device, so as to remind relevant personnel.

[0120] In this embodiment, the image imaging system can display the target defogging image through a display device in the image imaging system after the image imaging system can acquire the target defogging image in the polarization defogging mode, so as to intuitively remind the relevant personnel to pay attention to the driving safety.

[0121] It should be noted that the present application is not limited to the specific configurations and processes described above and illustrated in the drawings. For the sake of brevity, detailed descriptions of known methods are omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions, or change the order of the steps, after understanding the spirit of the present application.

[0122] The functional blocks shown in the structural block diagram above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. The "machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0123] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0124] The computer program instructions can also be loaded onto a computer, other programmable image processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable image processing apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable image processing apparatus implement the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer program instructions can also be stored in a computer readable medium that can direct a computer, other programmable image processing apparatus, or other processing device to operate in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0125] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described herein. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An image imaging system, characterized in that, The system includes: The controller is used to output the first control signal. A camera, connected to the controller via a faka cable and a power cable, includes a first image sensor, a second image sensor, and a polarizing filter. Based on a first control signal, the camera controls the rotation of the polarizing filter to put the image imaging system into High Dynamic Range (HDR) mode, acquires HDR images through the full light-transmitting area of ​​the polarizing filter by the first and second image sensors, and sends the HDR images to the controller. The controller is used to determine the sharpness of the HDR image, and if the sharpness of the HDR image is less than a preset sharpness threshold, it sends a second control signal to the camera via the faka cable. The camera is configured to control the rotation of the polarizing filter according to a second control signal to put the image imaging system into a polarization dehazing mode, and to acquire N image groups during the rotation of the polarizing filter. Each image group includes a first image acquired by a first image sensor through the polarization filtering area of ​​the polarizing filter and a second image acquired by a second image sensor through the polarization filtering area of ​​the polarizing filter. The first and second images in each image group have the same exposure time. The controller is further configured to perform polarization dehazing calculations on the first and second images in the target image group when the target brightness difference value is greater than or equal to a preset brightness difference value, to obtain a target dehazed image. The target brightness difference value is the difference between the brightness value of the first image and the brightness value of the second image included in the target image group of N image groups. The target brightness difference value is the largest brightness difference value among the N brightness difference values. The first image sensor and the second image sensor are arranged perpendicularly to each other. The polarization filter includes a polarization filtering area, a fully transparent area, an opaque area, and an opaque calibration strip. The target image group is an image group composed of the first image and the second image corresponding to the target brightness difference value. Each of the N brightness difference values ​​represents the difference between the brightness value of the first image and the brightness value of the second image in the image group corresponding to that value. The controller is further configured to, when the target brightness difference value is greater than or equal to a preset brightness difference value, control the polarization filter to rotate to a position that maintains the target brightness difference value, determine the atmospheric light intensity based on the target brightness difference value, and, based on the polarization dehazing model, remove the atmospheric light intensity from the light intensity of the first image and the light intensity of the second image included in the target image group, respectively, on a pixel-by-pixel basis, to obtain the target dehazed image.

2. The system according to claim 1, characterized in that, The camera includes: A first lens module corresponding to the first image sensor, wherein the polarizing filter is located between the first lens module and the first image sensor, so as to allow light to pass through the fully transparent area or polarizing filtering area of ​​the polarizing filter through the first lens module and be projected onto the first image sensor for imaging by the first image sensor. The second lens module corresponding to the second image sensor has a polarizing filter located between the second lens module and the second image sensor, so that light passes through the fully transparent area or polarizing filter area of ​​the polarizing filter through the second lens module and is projected onto the second image sensor for imaging by the second image sensor.

3. The system according to claim 2, characterized in that, The camera also includes an ISP chip, which is electrically connected to both the first image sensor and the second image sensor. The first image sensor is used to acquire a third image by exposing it to the full light-transmitting area of ​​the polarizing filter for a first exposure time. The second image sensor is used to capture a fourth image by exposing it through the fully transparent area of ​​the polarizing filter for a second exposure time, wherein the first exposure time is longer than the second exposure time. The ISP chip is used to perform weighted fusion of the brightness values ​​of each pixel in the third image and the brightness values ​​of each pixel in the fourth image based on preset weights to obtain the HDR image.

4. The system according to claim 3, characterized in that, The camera also includes: A serializer, connected to the ISP chip and the controller respectively, is used to convert the HDR image from a CSI signal to a GMSL signal and send the converted HDR image to the controller.

5. The system according to claim 1, characterized in that, The camera also includes a polarizing filter, a motor drive module, a stepper motor, and a motor connecting shaft. The polarizing filter is connected to the controller, the motor drive module is connected to the polarizing filter, the stepper motor is connected to the motor drive module, and the stepper motor is connected to the polarizing filter via the motor connecting shaft. The stepper motor is used to drive the polarizing filter to rotate based on the first control signal, so that the image imaging system enters HDR mode. or, The stepper motor is used to drive the polarization filter to rotate based on the second control signal so that the image imaging system enters the polarization dehazing mode.

6. The system according to claim 5, characterized in that, The camera also includes a PCB board, with the first image sensor and the second image sensor arranged perpendicularly to each other on one side of the PCB board, and the stepper motor arranged on the other side of the PCB board. The motor connecting shaft passes through the PCB board and connects the stepper motor and the polarizing filter.

7. The system according to claim 1, characterized in that, The controller is used for: Based on the HDR image and its modulation transfer function (MTF), the MTF value of the HDR image is determined. If the MTF value is less than a preset MTF threshold, then the sharpness of the HDR image is determined to be less than a preset sharpness threshold. If the MTF value is greater than a preset MTF threshold, the sharpness of the HDR image is determined to be greater than a preset sharpness threshold.

8. The system according to claim 1, characterized in that, The controller is also configured to control the polarizing filter to rotate so that the image imaging system enters HDR imaging mode when the target brightness difference value is less than a preset brightness difference value, and after the polarizing filter is rotated, control the first image sensor and the second image sensor to acquire images through the full light-transmitting area of ​​the polarizing filter.

9. The system according to claim 7, characterized in that, The system also includes a display device, which is electrically connected to the controller. The display device is configured to display the HDR image when the MTF value of the HDR image is greater than or equal to a preset MTF threshold; The display device is further configured to display the target dehazed image when the MTF value of the HDR image is less than a preset MTF threshold.

Images