Frame rate adjusting method and device of photoelectric navigation equipment, equipment, medium and product

Abstract

The invention discloses a frame rate adjusting method, device and equipment of photoelectric navigation equipment, a medium and a product, and relates to the field of photoelectric navigation equipment.The method comprises the steps that two image frames continuously captured by the photoelectric navigation equipment at the current frame rate are obtained; the two image frames are matched, and the matching similarity and the image quality are calculated; when the matching similarity is smaller than a first similarity threshold value, the current frame rate is adjusted to be the highest-level frame rate, and the matching similarity is made to be larger than or equal to a fourth similarity threshold value; and when the matching similarity is greater than or equal to a first similarity threshold, adjusting the current frame rate according to the image quality and the matching similarity, so that the matching similarity is greater than or equal to a fourth similarity threshold. According to the invention, the frame rate of the photoelectric navigation equipment can be adjusted to the most appropriate frame rate, and the power consumption is reduced.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic navigation devices, and particularly to a frame rate adjustment method, device, equipment, medium and product for an optoelectronic navigation device. Background Art

[0002] Currently, by changing the image capture frequency of an image sensor, flexible and adaptive frame rate adjustment is achieved to reduce the power consumption of an optoelectronic navigation device (such as an optoelectronic mouse). For example, when the moving speed of the optoelectronic navigation device is faster, the image capture frame rate of the image sensor is adjusted to be higher; on the contrary, when the moving speed of the optoelectronic navigation device is slower, the image capture frame rate is adjusted to be lower.

[0003] In related technologies, frame rate adjustment is inaccurately matched when the image quality is poor, and the frame rate is frequently increased, and it cannot be adjusted to the most suitable frame rate gear according to the moving speed state of the optoelectronic navigation device, resulting in waste of power consumption and still unable to meet the requirements of some low-power applications. Summary of the Invention

[0004] The purpose of the present application is to provide a frame rate adjustment method, device, equipment, medium and product for an optoelectronic navigation device, which can adjust the frame rate of the optoelectronic navigation device to the most suitable frame rate and reduce power consumption.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In a first aspect, the present application provides a frame rate adjustment method for an optoelectronic navigation device, including:

[0007] Obtain two consecutive image frames captured by the optoelectronic navigation device at the current frame rate; perform matching on the two image frames and calculate the matching similarity and image quality;

[0008] When the matching similarity is less than the first similarity threshold, adjust the current frame rate to the frame rate of the highest gear to make the matching similarity greater than or equal to the fourth similarity threshold; the first similarity threshold is the minimum similarity threshold, and the fourth similarity threshold is the maximum similarity threshold; the size of the frame rate gear is positively correlated with the size of the frame rate;

[0009] When the matching similarity is greater than or equal to the first similarity threshold, adjust the current frame rate according to the image quality and the matching similarity to make the matching similarity greater than or equal to the fourth similarity threshold.

[0010] Further, when the matching similarity is greater than or equal to the first similarity threshold, adjusting the current frame rate according to the image quality and the matching similarity includes:

[0011] When the matching similarity is greater than or equal to the first similarity threshold, then determine whether the image quality is less than the image quality threshold;

[0012] When the image quality is less than the image quality threshold, the total number of matches of the two image frames is counted, and the current frame rate is adjusted according to the matching similarity and the total number of matches;

[0013] When the image quality is greater than or equal to the image quality threshold, the current frame rate is adjusted according to the matching similarity.

[0014] Further, adjusting the current frame rate according to the matching similarity and the total number of matches includes:

[0015] When the matching similarity is greater than or equal to the first similarity threshold and less than the second similarity threshold, it is determined whether the total number of matches is greater than the first preset value;

[0016] If so, the current frame rate is adjusted to the frame rate of the first gear; if not, two image frames are continuously captured again at the current frame rate and matched;

[0017] When the matching similarity is greater than or equal to the second similarity threshold and less than the third similarity threshold, it is determined whether the total number of matches is greater than the second preset value;

[0018] If so, the current frame rate is adjusted to the frame rate of the second gear; if not, two image frames are continuously captured again at the current frame rate and matched;

[0019] When the matching similarity is greater than or equal to the third similarity threshold and less than the fourth similarity threshold, it is determined whether the total number of matches is greater than the third preset value;

[0020] If so, the current frame rate is adjusted to the frame rate of the third gear; if not, two image frames are continuously captured again at the current frame rate and matched;

[0021] Wherein, the first gear, the second gear and the third gear are all greater than the current gear and decrease in sequence, and the first gear is less than the highest gear; the first preset value, the second preset value and the third preset value are positive integers that increase in sequence; the first similarity threshold, the second similarity threshold, the third similarity threshold and the fourth similarity threshold increase in sequence.

[0022] Further, when the image quality is greater than or equal to the image quality threshold, adjusting the current frame rate according to the matching similarity includes:

[0023] When the matching similarity is greater than or equal to the first similarity threshold and less than the second similarity threshold, the current frame rate is adjusted to the frame rate of the first gear;

[0024] When the matching similarity is greater than or equal to the second similarity threshold and less than the third similarity threshold, the current frame rate is adjusted to the frame rate of the second gear.

[0025] When the matching similarity is greater than or equal to the third similarity threshold and less than the fourth similarity threshold, the current frame rate is adjusted to the frame rate of the third gear.

[0026] Further, the frame rate adjustment method of the photoelectric navigation device further includes:

[0027] When the matching similarity is greater than or equal to the fourth similarity threshold, calculate the moving speed of the photoelectric navigation device at the current frame rate;

[0028] Adjust the current frame rate according to the moving speed.

[0029] Further, adjusting the current frame rate of the photoelectric navigation device according to the moving speed includes:

[0030] When the moving speed is less than the first speed threshold, the current frame rate is adjusted to the frame rate of the fourth gear; wherein, the fourth gear is the adjacent gear less than the current gear;

[0031] When the moving speed is greater than the second speed threshold, the current frame rate is adjusted to the frame rate of the fifth gear; wherein, the fifth gear is the adjacent gear greater than the current gear, and the first speed threshold is less than the second speed threshold;

[0032] When the moving speed is greater than or equal to the first speed threshold and less than the second speed threshold, or the moving speed is equal to the second speed threshold, the current frame rate is maintained.

[0033] In a second aspect, the present application provides a frame rate adjustment device for a photoelectric navigation device, including:

[0034] An acquisition module, configured to acquire two consecutive image frames captured by the photoelectric navigation device at the current frame rate; perform matching on the two image frames and calculate the matching similarity and image quality;

[0035] A first adjustment module, configured to when the matching similarity is less than the first similarity threshold, adjust the current frame rate to the frame rate of the highest gear, so that the matching similarity is greater than or equal to the fourth similarity threshold; the first similarity threshold is the minimum similarity threshold, and the fourth similarity threshold is the maximum similarity threshold;

[0036] A second adjustment module, configured to when the matching similarity is greater than or equal to the first similarity threshold, adjust the current frame rate according to the image quality and the matching similarity, so that the matching similarity is greater than or equal to the fourth similarity threshold.

[0037] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the frame rate adjustment method of the above-mentioned optoelectronic navigation device.

[0038] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the frame rate adjustment method of the above-mentioned optoelectronic navigation device.

[0039] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the frame rate adjustment method of the above-mentioned optoelectronic navigation device.

[0040] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application:

[0041] The present application provides a frame rate adjustment method, device, device, medium and product for an optoelectronic navigation device, which matches two continuously captured image frames. The matching similarity can represent the correct degree of matching between the two image frames, and the image quality of the image frame can represent the image clarity and contrast. When the image quality is high, the matching accuracy is higher and the matching is more accurate; when the image quality is low, errors are more likely to occur during matching. When the matching similarity is less than the minimum similarity threshold, it indicates that the matching is unsuccessful, and the current frame rate is directly adjusted to the frame rate of the highest gear. When the matching similarity is between the minimum similarity threshold and the maximum similarity threshold, it indicates that the matching accuracy is low. On this basis, the frame rate is further adjusted more carefully and accurately through the image quality and the matching similarity until the matching is successful, so that the frame rate of the optoelectronic navigation device is adjusted to the most suitable gear, reducing the power consumption caused by frequent frame rate adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic flowchart of a frame rate adjustment method for an optoelectronic navigation device in an embodiment of the present application;

[0044] Figure 2 It is a schematic diagram of the logical relationship of a frame rate adjustment method for an optoelectronic navigation device provided in an embodiment of the present application;

[0045] Figure 3Schematic diagram of the functional modules of a frame rate adjustment device for an optoelectronic navigation device provided in another embodiment of the present application;

[0046] Figure 4 Schematic diagram of the structure of a computer device provided in an embodiment of the present application. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0048] To make the objectives, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0049] As Figure 1 shown, the frame rate adjustment method for an optoelectronic navigation device provided in the embodiment of the present application includes the following steps 101 to 103. Among them:

[0050] Step 101, obtain two consecutive image frames captured by the optoelectronic navigation device at the current frame rate; match the two image frames and calculate the matching similarity and image quality.

[0051] For example, the two consecutive image frames captured are the first image frame F 1 and the second image frame F 2 . The overlapping part of the first image frame F 1 and the second image frame F 2 can be determined according to the moving displacement of the first image frame F 1 and the second image frame F 2 at the current frame rate, that is, the most relevant area. The most relevant area represents the matching similarity between the first image frame F 1 and the second image frame F 2 .

[0052] The error degree during the matching process is judged through the matching similarity. The higher the matching similarity value, the more accurate the matching. The lower the matching similarity value, the greater the error degree of the matching. Multiple similarity thresholds are set to represent different error degrees. In this embodiment, four similarity thresholds are set, and other numbers of similarity thresholds can also be set. This embodiment does not make a limitation. Specifically, the four similarity thresholds are the first similarity threshold t h1 , the second similarity threshold t h2 , the third similarity threshold t h3 , and the fourth similarity threshold th4 and t h1 <t h2 <t h3 <t h4 。

[0053] The image quality can be calculated by any method among peak signal-to-noise ratio, mean square error, mean absolute error, and signal-to-noise ratio, which is not limited in this embodiment.

[0054] If the image quality value is high, it indicates that the image frame is clear and has good contrast, and the matching accuracy is higher. If the image quality value is low, it indicates that the image frame is blurred and has poor contrast, and the matching is prone to errors. Therefore, an image quality threshold F th1 is set to characterize the clarity and contrast of the image frame through the image quality threshold, thereby indicating whether errors are likely to occur during the matching process.

[0055] Step 102, when the matching similarity is less than the first similarity threshold, the current frame rate is adjusted to the frame rate of the highest gear to make the matching similarity greater than or equal to the fourth similarity threshold.

[0056] The first similarity threshold t h1 is the minimum similarity threshold, and the fourth similarity threshold t h4 is the maximum similarity threshold. In this embodiment, the size of the frame rate gear is positively correlated with the frame rate, and the higher the frame rate gear, the larger the corresponding frame rate.

[0057] When the matching similarity is less than the first similarity threshold t h1 , it indicates that the matching is unsuccessful. At this time, the current frame rate is adjusted to the frame rate of the highest gear, and when the matching similarity is greater than or equal to the first similarity threshold t h1 , the process of adjusting the current frame rate in step 103 is entered until the matching similarity is greater than or equal to the fourth similarity threshold t h4 .

[0058] Step 103, when the matching similarity is greater than or equal to the first similarity threshold, adjust the current frame rate according to the image quality and the matching similarity to make the matching similarity greater than or equal to the fourth similarity threshold.

[0059] By executing step 101 to step 103, the optoelectronic navigation device can be adjusted more meticulously and precisely, so that the frame rate of the optoelectronic navigation device is adjusted to the most suitable gear, reducing the power consumption caused by frequent frame rate adjustment.

[0060] In an exemplary embodiment, step 103 specifically includes steps 201 to 203:

[0061] Step 201, when the matching similarity is greater than or equal to the first similarity threshold, determine whether the image quality is less than the image quality threshold.

[0062] When the matching similarity is greater than or equal to the first similarity threshold, it indicates that the matching is inaccurate. At this time, it is judged whether it is easy to make mistakes during matching through the image quality. When the image quality is less than the image quality threshold, it indicates that it is easy to make mistakes during matching, and then enter the process of adjusting the current frame rate in step 202; when the image quality is greater than or equal to the image quality threshold, it indicates that it is not easy to make mistakes during matching, and then enter the process of adjusting the current frame rate in step 203.

[0063] Step 202, when the image quality is less than the image quality threshold, the total number of matches of the two image frames is counted, and the current frame rate is adjusted according to the matching similarity and the total number of matches.

[0064] When the image quality is less than the image quality threshold F th1 it indicates that the image quality of the image frame is poor, and enter the loop adjustment process. In the actual operation process, add the cumulative statistics of the number of matches, that is, count the total number of matches. As Figure 2 shown, cnt represents the total number of matches statistics. If entering the loop adjustment, the value of cnt will increase gradually according to the number of matches. Its calculation expression is cnt = cnt + 1. For example, Figure 2 in it represents that two image frames have been matched once, and cnt = 0; if entering the loop adjustment process and having two matches, then use the calculation formula cnt = cnt + 1, that is, add 1 to the basis of cnt = 0; flag represents the image quality. When flag = 1, it indicates that the image quality is less than the image quality threshold F th1 and the image quality of the image frame is poor; when flag = 0, it indicates that the image quality is greater than or equal to the image quality threshold F th1 and the image quality of the image frame is poor.

[0065] Adjust the current frame rate according to the matching similarity and the total number of matches, which specifically includes steps 301 to 303:

[0066] Step 301, when the matching similarity is greater than or equal to the first similarity threshold and less than the second similarity threshold, it is judged whether the total number of matches is greater than the first preset value.

[0067] If so, adjust the current frame rate to the frame rate of the first gear; if not, continuously capture two image frames again at the current frame rate and perform matching.

[0068] Step 302, when the matching similarity is greater than or equal to the second similarity threshold and less than the third similarity threshold, it is judged whether the total number of matches is greater than the second preset value.

[0069] If so, adjust the current frame rate to the frame rate of the second gear; if not, continuously capture two more image frames at the current frame rate and perform matching.

[0070] Step 303, when the matching similarity is greater than or equal to the third similarity threshold and less than the fourth similarity threshold, determine whether the total number of matches is greater than the third preset value.

[0071] If so, adjust the current frame rate to the frame rate of the third gear; if not, continuously capture two more image frames at the current frame rate and perform matching.

[0072] Wherein, the first gear, the second gear, and the third gear are all greater than the current gear and decrease in sequence, and the first gear is less than the highest gear; the first preset value, the second preset value, and the third preset value are positive integers that increase in sequence; the first similarity threshold, the second similarity threshold, the third similarity threshold, and the fourth similarity threshold increase in sequence.

[0073] Step 203, when the image quality is greater than or equal to the image quality threshold, adjust the current frame rate according to the matching similarity.

[0074] In an exemplary embodiment, step 203 specifically includes steps 401 to 403:

[0075] Step 401, when the matching similarity is greater than or equal to the first similarity threshold and less than the second similarity threshold, adjust the current frame rate to the frame rate of the first gear.

[0076] Step 402, when the matching similarity is greater than or equal to the second similarity threshold and less than the third similarity threshold, adjust the current frame rate to the frame rate of the second gear.

[0077] Step 403, when the matching similarity is greater than or equal to the third similarity threshold and less than the fourth similarity threshold, adjust the current frame rate to the frame rate of the third gear.

[0078] In this embodiment, the frame rate gears of the optoelectronic navigation device are set to 10 gears in total. The specific number of gears in this embodiment is not limited and can also be set to other values.

[0079] As Figure 2 shown, when the matching similarity is greater than or equal to the first similarity threshold t h1 , and less than the second similarity threshold t h2 , if the image quality and the total number of matches meet the first condition, adjust the current frame rate to the frame rate of the first gear; if the image quality and the total number of matches do not meet the first condition, continuously capture two more image frames at the current frame rate and perform matching.

[0080] Among them, the first condition is that the image quality is greater than or equal to the image quality threshold F th1 , or the image quality is less than the image quality threshold F th1 and the total number of matches is greater than the first preset value. In this embodiment, the first gear is three gears higher than the current frame rate gear, and the first preset value is 1

[0081] When the matching similarity is greater than or equal to the second similarity threshold t h2 , and less than the third threshold similarity threshold t h3 , if the image quality and the total number of matches meet the second condition, the current frame rate is adjusted to the frame rate of the second gear; if the image quality and the total number of matches do not meet the second condition, two image frames are continuously captured again at the current frame rate and matched

[0082] Among them, the second condition is that the image quality is greater than or equal to the image quality threshold F th1 , or the image quality is less than the image quality threshold F th1 and the total number of matches is greater than the second preset value. In this embodiment, the first gear is two gears higher than the current frame rate gear, and the second preset value is 2

[0083] When the matching similarity is greater than or equal to the third similarity threshold t h3 , and less than the fourth similarity threshold t h4 , if the image quality and the total number of matches meet the third condition, the current frame rate is adjusted to the frame rate of the second gear; if the image quality and the total number of matches do not meet the third condition, two image frames are continuously captured again at the current frame rate and matched

[0084] Among them, the third condition is that the image quality is greater than or equal to the image quality threshold F th1 , or the image quality is less than the image quality threshold F th1 and the total number of matches is greater than the third preset value. In this embodiment, the first gear is one gear higher than the current frame rate gear, and the third preset value is 3

[0085] It is analyzed that the number of gears increased by the current frame rate should make the matching similarity after the increase greater than or equal to the fourth similarity threshold t h4 , and the number of gears increased should be the smallest. When the matching similarity is greater than or equal to the fourth similarity threshold, it indicates successful matching. In this embodiment, the first gear, the second gear, and the third gear are respectively set to adjust the amplitude of three gears, two gears, or one gear higher than the current frame rate gear. Different adjustment amplitudes can also be set according to the specific gears of the optoelectronic navigation device. This embodiment does not make specific limitations. The values of the first preset value, the second preset value, and the third preset value in this embodiment are also not specifically limited

[0086] After step 103, steps 1031-1032 are further included:

[0087] Step 1031, when the matching similarity is greater than or equal to the fourth similarity threshold, calculate the moving speed of the optoelectronic navigation device at the current frame rate.

[0088] Step 1032, adjust the current frame rate according to the moving speed.

[0089] Specifically, as Figure 2 shown, when the moving speed is less than the first speed threshold, the current frame rate is adjusted to the frame rate of the fourth gear; wherein, the fourth gear is the adjacent gear less than the current gear.

[0090] When the moving speed is greater than the second speed threshold, the current frame rate is adjusted to the frame rate of the fifth gear; wherein, the fifth gear is the adjacent gear greater than the current gear, the first speed threshold is less than the second speed threshold, and in this embodiment, the first speed threshold and the second speed threshold are not limited and corresponding values can be set according to the needs in the actual application process.

[0091] When the moving speed is greater than or equal to the first speed threshold and less than the second speed threshold, or the moving speed is equal to the second speed threshold, the current frame rate is maintained.

[0092] Based on the same inventive concept, an embodiment of the present application further provides a frame rate adjustment device for an optoelectronic navigation device for implementing the frame rate adjustment method of the optoelectronic navigation device involved above. The implementation solution provided by this device to solve the problem is similar to the implementation solution recorded in the above method. Therefore, the specific limitations in one or more embodiments of the frame rate adjustment device for an optoelectronic navigation device provided below can refer to the limitations on the frame rate adjustment method of the optoelectronic navigation device in the above text, and will not be repeated here.

[0093] In an exemplary embodiment, as Figure 3 shown, a frame rate adjustment device for an optoelectronic navigation device is provided, including:

[0094] An acquisition module 31, configured to acquire two consecutive image frames captured by the optoelectronic navigation device at the current frame rate; perform matching on the two image frames and calculate the matching similarity and image quality.

[0095] A first adjustment module 32, configured to, when the matching similarity is less than the first similarity threshold, adjust the current frame rate to the frame rate of the highest gear, so that the matching similarity is greater than or equal to the fourth similarity threshold; the first similarity threshold is the minimum similarity threshold, and the fourth similarity threshold is the maximum similarity threshold.

[0096] The second adjustment module 33 is configured to adjust the current frame rate according to the image quality and the matching similarity when the matching similarity is greater than or equal to the first similarity threshold, so that the matching similarity is greater than or equal to the fourth similarity threshold.

[0097] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 4 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store two consecutive image frames captured by the optoelectronic navigation device at the current frame rate. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a frame rate adjustment method for an optoelectronic navigation device.

[0098] Those skilled in the art can understand that Figure 4 the structure shown in

[0099] is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0100] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0101] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, it implements the steps in the above method embodiments.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0103] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random-access memories (ReRAM), magnetoresistive random-access memories (MRAM), ferroelectric random-access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random-access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random-access memory (SRAM) or dynamic random-access memory (DRAM), etc.

[0104] The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0105] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0106] In this text, specific examples are used to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A frame rate adjustment method for an optoelectronic navigation device, characterized in that: The frame rate adjustment method of the optoelectronic navigation device comprises: Acquire two image frames captured continuously by the optoelectronic navigation device at the current frame rate; match the two image frames and calculate the matching similarity and image quality; When the matching similarity is less than the first similarity threshold, the current frame rate is adjusted to the highest frame rate so that the matching similarity is greater than or equal to the fourth similarity threshold; the first similarity threshold is the minimum similarity threshold, and the fourth similarity threshold is the maximum similarity threshold; the frame rate gear size is positively correlated with the frame rate size; When the matching similarity is greater than or equal to the first similarity threshold, the current frame rate is adjusted according to the image quality and the matching similarity so that the matching similarity is greater than or equal to the fourth similarity threshold.

2. The frame rate adjustment method of the optoelectronic navigation device according to claim 1, characterized in that: When the matching similarity is greater than or equal to the first similarity threshold, adjusting the current frame rate according to the image quality and the matching similarity, including: When the matching similarity is greater than or equal to the first similarity threshold, determining whether the image quality is less than the image quality threshold; When the image quality is less than the image quality threshold, the total number of matches between the two image frames is counted, and the current frame rate is adjusted according to the matching similarity and the total number of matches; When the image quality is greater than or equal to the image quality threshold, the current frame rate is adjusted according to the matching similarity.

3. The frame rate adjustment method of the optoelectronic navigation device according to claim 2, characterized in that: Adjust the current frame rate based on the matching similarity and the total number of matches, including: When the matching similarity is greater than or equal to the first similarity threshold and less than the second similarity threshold, determining whether the total number of matches is greater than a first preset value; If yes, adjust the current frame rate to the frame rate of the first gear; if no, capture two image frames again continuously at the current frame rate and perform matching; When the matching similarity is greater than or equal to a second similarity threshold and less than a third threshold similarity threshold, determining whether the total number of matches is greater than a second preset value; If yes, the current frame rate is adjusted to the frame rate of the second gear; if no, two image frames are captured again continuously at the current frame rate and matched; When the matching similarity is greater than or equal to a third similarity threshold and less than a fourth similarity threshold, it is determined that the total number of matches is greater than a third preset value; If yes, the current frame rate is adjusted to the frame rate of the third gear; if no, two image frames are captured again continuously at the current frame rate and matched; Among them, the first gear, the second gear and the third gear are all greater than the current gear and decrease in sequence, and the first gear is less than the highest gear; the first preset value, the second preset value and the third preset value are positive integers that increase in sequence; the first similarity threshold, the second similarity threshold, the third similarity threshold and the fourth similarity threshold increase in sequence.

4. The frame rate adjustment method of the optoelectronic navigation device according to claim 3, characterized in that: When the image quality is greater than or equal to the image quality threshold, adjusting the current frame rate according to the matching similarity includes: When the matching similarity is greater than or equal to a first similarity threshold and less than a second similarity threshold, adjusting the current frame rate to a frame rate of a first gear; When the matching similarity is greater than or equal to a second similarity threshold and less than a third similarity threshold, adjusting the current frame rate to a frame rate of a second gear; When the matching similarity is greater than or equal to the third similarity threshold and less than the fourth similarity threshold, the current frame rate is adjusted to a frame rate of the third gear.

5. The frame rate adjustment method of the optoelectronic navigation device according to claim 1, characterized in that: The frame rate adjustment method of the optoelectronic navigation device also includes: When the matching similarity is greater than or equal to a fourth similarity threshold, calculating a moving speed of the optoelectronic navigation device at a current frame rate; The current frame rate is adjusted according to the moving speed.

6. The frame rate adjustment method of the optoelectronic navigation device according to claim 5, characterized in that: Adjusting the current frame rate of the optoelectronic navigation device according to the moving speed includes: When the moving speed is less than the first speed threshold, the current frame rate is adjusted to a frame rate of a fourth gear; wherein the fourth gear is an adjacent gear that is less than the current gear; When the moving speed is greater than the second speed threshold, the current frame rate is adjusted to the frame rate of the fifth gear; wherein the fifth gear is an adjacent gear greater than the current gear, and the first speed threshold is less than the second speed threshold; When the moving speed is greater than or equal to the first speed threshold and less than the second speed threshold, or when the moving speed is equal to the second speed threshold, the current frame rate is maintained.

7. A frame rate adjustment device for an optoelectronic navigation device, characterized in that: The frame rate adjustment device of the photoelectric navigation device comprises: An acquisition module is used to acquire two image frames continuously captured by the optoelectronic navigation device at a current frame rate; match the two image frames and calculate the matching similarity and image quality; A first adjustment module, configured to adjust the current frame rate to a highest-level frame rate when the matching similarity is less than a first similarity threshold, so that the matching similarity is greater than or equal to a fourth similarity threshold; the first similarity threshold is a minimum similarity threshold, and the fourth similarity threshold is a maximum similarity threshold; The second adjustment module is used to adjust the current frame rate according to the image quality and the matching similarity when the matching similarity is greater than or equal to the first similarity threshold, so that the matching similarity is greater than or equal to the fourth similarity threshold.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the frame rate adjustment method of the optoelectronic navigation device described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the frame rate adjustment method of the optoelectronic navigation device described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the frame rate adjustment method of the optoelectronic navigation device described in any one of claims 1 to 6 is implemented.

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