Image processing method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of aircrafts, and provides an image processing method and device, computer equipment and a storage medium. The method comprises the steps that a to-be-processed image from an aircraft is received, the to-be-processed image is obtained by shunting an original image collected by the aircraft, and the other image obtained by shunting the original image is used for environment perception of the aircraft; and performing image enhancement processing on the to-be-processed image to obtain an enhanced image. According to the invention, the control precision and flight safety of the aircraft can be improved, and the real-time performance and accuracy of the environment perception of the aircraft can be improved.

Description

Image processing methods, apparatus, computer equipment and storage media Technical Field

[0001] This invention relates to the field of aircraft technology, and in particular to an image processing method, an image processing apparatus, a computer device, and a computer-readable storage medium. Background Technology

[0002] An aircraft is an aerial vehicle capable of autonomous or remote-controlled flight, widely used in aerial photography, surveying, logistics, and inspection. The remote control station, as the core control terminal of a remotely piloted aircraft, receives environmental images captured by the aircraft, which are crucial for operators to assess flight status, avoid obstacles, and complete tasks. However, the image acquisition capabilities of current aircraft cameras are limited by hardware performance and ambient lighting conditions, resulting in poor image quality transmitted to the remote control station. Prolonged viewing of low-quality images can easily cause visual fatigue for operators, making it difficult to accurately identify ground targets and details in the flight environment, thus affecting control precision and flight safety. Summary of the Invention

[0003] This invention provides an image processing method, an image processing device, a computer device, and a computer-readable storage medium, which can improve the control precision and flight safety of aircraft, as well as the real-time performance and accuracy of the aircraft's environmental perception.

[0004] In a first aspect, the image processing method provided by the present invention includes: receiving an image to be processed from an aircraft, wherein the image to be processed is obtained by splitting an original image acquired by the aircraft, and another image obtained by splitting the original image is used by the aircraft for environmental perception; and performing image enhancement processing on the image to be processed to obtain an enhanced image.

[0005] Secondly, the image processing apparatus provided by the present invention includes: an image receiving module for receiving an image to be processed from an aircraft, wherein the image to be processed is obtained by splitting an original image acquired by the aircraft, and another image obtained by splitting the original image is used by the aircraft for environmental perception; and an image processing module for performing image enhancement processing on the image to be processed to obtain an enhanced image.

[0006] Optionally, in one embodiment, the aircraft includes a camera, a switch, and a sensing component. The switch is communicatively connected to the sensing component and the remote control station, respectively. The image receiving module is used to receive the image to be processed transmitted by the switch. The image to be processed is obtained by the switch through port mirroring of the original image captured by the camera. Another image obtained by the switch through port mirroring of the original image is transmitted to the sensing component for environmental perception.

[0007] Optionally, in one embodiment, the image processing module is used to perform gamma correction processing on the image to be processed to obtain a gamma-corrected image.

[0008] Optionally, in one embodiment, the image processing module is used to receive an input first gamma value, perform gamma correction processing on the image to be processed according to the first gamma value, and obtain a gamma-corrected image.

[0009] Optionally, in one embodiment, the image processing module is further configured to restore the gamma value used for gamma correction processing from the first gamma value to the default value if the preset parameter restoration conditions are currently met.

[0010] Optionally, in one embodiment, the image processing module is used to evaluate the brightness of the image to be processed to obtain the brightness value of the image to be processed; determine a second gamma value corresponding to the brightness value; and perform gamma correction processing on the image to be processed according to the second gamma value to obtain a gamma-corrected image.

[0011] Optionally, in one embodiment, the image processing apparatus provided by the present invention further includes a flight control module for displaying enhanced images; receiving remote control commands based on the enhanced images; and transmitting the remote control commands to the aircraft for execution.

[0012] Thirdly, the computer device provided by the present invention includes a memory and a processor. The memory stores a computer program. When the computer device is configured as a remote control station, the processor executes the computer program in the memory to implement the image processing method provided by the present invention.

[0013] Fourthly, the computer-readable storage medium provided by the present invention stores a computer program that, when executed by a processor, implements the image processing method provided by the present invention.

[0014] The image processing scheme provided by this invention receives an image to be processed from an aircraft. This image is obtained by splitting the original image acquired by the aircraft, and the other image obtained from the split image is used by the aircraft for environmental perception. Image enhancement processing is then performed on the image to be processed to obtain an enhanced image. Thus, the aircraft does not need to perform any enhancement processing on the acquired original image; it only needs to pass the split image to the remote control station for image enhancement processing. This reduces the computational load on the aircraft and utilizes the stronger computing power of the remote control station to achieve higher-quality image enhancement, thereby improving control accuracy and flight safety during remote control. Simultaneously, the other image obtained from the split image is directly used for environmental perception, which not only avoids the delay introduced by image enhancement processing but also eliminates the interference of image distortion that may be caused by enhancement processing on environmental perception, ensuring the real-time performance and accuracy of environmental perception. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 is a flowchart illustrating the image processing method provided in an embodiment of the present invention; Figure 2 is another flowchart illustrating the image processing method provided in an embodiment of the present invention; Figure 3 is a schematic diagram illustrating the communication architecture between the aircraft and the remote control station in an embodiment of the present invention; Figure 4 is an example diagram illustrating the interactive interface of the remote control station involved in an embodiment of the present invention; Figure 5 is a structural schematic diagram illustrating the image processing device provided in an embodiment of the present invention; Figure 6 is a structural schematic diagram illustrating the computer device provided in an embodiment of the present invention. Detailed Implementation

[0017] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0018] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0019] It should also be understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0020] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0021] Furthermore, in the description of this invention and the appended claims, the terms “second”, “third”, etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0022] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0023] The present invention provides an image processing method, an image processing apparatus, a computer device, and a computer-readable storage medium. The image processing method includes: receiving an image to be processed from an aircraft, wherein the image to be processed is obtained by splitting an original image acquired by the aircraft, and another image obtained by splitting the original image is used by the aircraft for environmental perception; and performing image enhancement processing on the image to be processed to obtain an enhanced image.

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Please refer to Figure 1. Figure 1 is a flowchart of an image processing method provided by an embodiment of the present invention. As shown in Figure 1, the process of the image processing method can be as follows: In S110, an image to be processed is received from the aircraft. The image to be processed is obtained by splitting the original image acquired by the aircraft, and the other image obtained by splitting the original image is used by the aircraft for environmental perception.

[0026] An aircraft is an aerial vehicle capable of autonomous flight and / or remote control. It can perform flight maneuvers such as takeoff, hovering, forward movement, and landing through propellers, jets, or other types of propulsion mechanisms, and is usually powered by fuel or electricity.

[0027] A remote control station, also known as a ground control station, is a collection of devices used by aircraft operators to remotely control aircraft. It interacts with the aircraft via a wireless communication link to monitor the aircraft's flight status and issue control commands.

[0028] The following section uses a remote control station as the execution subject to illustrate the image processing method provided by this invention in detail.

[0029] In this embodiment of the invention, the aircraft continuously acquires images of the flight environment according to a configured image acquisition strategy, obtaining raw images of the flight environment. The configuration of the image acquisition strategy is not specifically limited here; the acquisition frequency, resolution, and image format can be set according to the actual application scenario to ensure that the raw images accurately reflect the visual information of the environment in which the aircraft is located. For example, the aircraft can acquire 4K resolution RAW format raw images at a frequency of 60 frames per second to retain the maximum dynamic range for subsequent processing.

[0030] As mentioned above, after acquiring the raw images, the aircraft can split the acquired raw images into at least two streams, either through software or hardware splitting: one stream for environmental perception, and the other stream as the image to be processed, transmitted in real time to the remote control station via a wireless communication link. For example, when using software splitting, the aircraft can generate two identical image data streams from the raw images through an image copying operation. One stream is directly used for environmental perception, while the other is directly sent to the remote control station via a wireless communication link for subsequent processing.

[0031] It should be noted that the aircraft can split the original image into two streams each time it acquires the original image, or it can split the image only at specific time intervals or when preset conditions are met. For example, during the landing phase of the aircraft, the original image is split once every frame to reduce the communication load. The original image without splitting is only used for environmental perception, while the image with splitting is used for both environmental perception and image processing tasks.

[0032] On the other hand, the remote control station will continuously receive images to be processed from the aircraft via a wireless communication link. After receiving the images, the remote control station can cache them in its local storage unit for subsequent processing.

[0033] In S120, image enhancement processing is performed on the image to be processed to obtain an enhanced image.

[0034] In this embodiment of the invention, after receiving the image to be processed from the aircraft, the remote control station immediately performs image enhancement processing on the image according to the configured image enhancement strategy, resulting in an enhanced image, denoted as the enhanced image. It should be noted that the configuration of the image enhancement strategy is not specifically limited here; enhancement parameters and algorithms can be set according to actual needs, such as dynamic range adjustment, noise reduction, sharpening, and color correction, to improve image visual quality and the usability of subsequent processing. For example, for RAW format images in low-light environments, the remote control station can apply multi-frame synthesis and an AI denoising model for joint enhancement, effectively improving the signal-to-noise ratio and detail clarity.

[0035] Optionally, in one embodiment, referring to FIG2, after performing image enhancement processing on the image to be processed to obtain an enhanced image, the method further includes: in S130, displaying the enhanced image; in S140, receiving a remote control command based on the enhanced image input, and transmitting the remote control command to the aircraft for execution.

[0036] In this embodiment of the invention, after the remote control station completes the image enhancement processing of the image to be processed and obtains the enhanced image, the enhanced image can be displayed in real time on the display interface of the remote control station for the operator to observe and make decisions.

[0037] Based on the enhanced images displayed by the remote control station, the operator can input corresponding remote control commands, such as adjusting the aircraft's attitude, changing the flight path, or performing specific tasks. The remote control station then transmits the received remote control commands to the aircraft in real time via a wireless communication link, where the aircraft's flight control system parses and executes the corresponding operations.

[0038] The above achieves closed-loop control from image acquisition and enhanced display to remote control command feedback, which can improve the accuracy and reliability of remote control of aircraft in complex environments.

[0039] Optionally, in one embodiment, referring to FIG3, the aircraft includes a camera, a switch, and a sensing component. The switch is communicatively connected to the sensing component and the remote control station. In this embodiment of the invention, receiving the image to be processed from the aircraft includes: receiving the image to be processed transmitted by the switch. The image to be processed is obtained by the switch through port mirroring of the original image captured by the camera. Another image obtained by the switch through port mirroring of the original image is transmitted to the sensing component for environmental perception.

[0040] The camera is a core component for image acquisition in aircraft, and its performance directly affects the quality of the original image. In practical applications, cameras can be configured as various types, such as visible light, infrared, or depth cameras, depending on mission requirements, and support different resolutions and frame rates. In this embodiment of the invention, the camera can be a visible light camera used to acquire color image information from the environment.

[0041] The perception component is the core module for an aircraft to achieve environmental perception. It is responsible for real-time environmental perception based on raw images captured by cameras, including but not limited to tasks such as obstacle detection, distance estimation and localization, and dynamic target tracking. For example, the perception component can be the aircraft's flight control unit or a dedicated AI acceleration chip.

[0042] A switch is a network device that supports multiplexed data forwarding. It can replicate and distribute the data stream from a single input port to multiple output ports through port mirroring, enabling parallel data transmission. For example, a switch can be an Ethernet switch that supports multiplexed data distribution. This Ethernet switch can be wired to the aircraft's cameras and sensing components via Gigabit Ethernet, and wirelessly connected to the remote control station via Gigabit Ethernet.

[0043] Port mirroring is a hardware-level function of a switch. It refers to the use of a dedicated chip on the switch to copy input data from one input port to one or more output ports in real time, without modifying the data content or adding latency. Its core is to achieve "transparent copying" of data at the physical layer, ensuring that the data stream received at the output port is completely consistent with that at the input port.

[0044] In this embodiment of the invention, after the aircraft's camera acquires the original image, it transmits the original image to the switch in real time as a data stream through a wired connection between itself and the switch. The switch uses port mirroring to simultaneously copy the received original image data into two paths. One path is forwarded to the port connected to the sensing component for transmission to the sensing component for environmental perception, and the other path is forwarded as an image to be processed to the port connected to the remote control station for transmission to the remote control station for subsequent image enhancement processing.

[0045] Accordingly, the remote control station will receive the image to be processed transmitted by the switch through its wireless connection with the switch, and perform image enhancement processing on the image to obtain an enhanced image. For details on how the remote control station performs image enhancement processing on the image to obtain the enhanced image, please refer to the relevant descriptions in the above embodiments; they will not be repeated here.

[0046] The image offloading architecture described above enables parallel processing and low-latency distribution of raw images within the aircraft. This ensures the real-time performance required for environmental perception while providing a complete data foundation for high-quality image enhancement on the ground. It effectively separates the data paths for perception and enhancement tasks, avoiding resource contention.

[0047] Optionally, in one embodiment, image enhancement processing of the image to be processed includes: performing gamma correction processing on the image to be processed to obtain a gamma-corrected image.

[0048] It is understandable that when an aircraft flies during the day or in high-light environments, if it encounters intense light (such as direct sunlight at high altitudes or cloud reflections) or faces directly towards the sun, the original images acquired are prone to overexposure, resulting in the loss of image details (such as obstacle outlines and the boundary between the sky and the ground). Conversely, when the aircraft flies at night or in low-light environments (such as dimly lit cities or unlit mountainous areas), the original images acquired are prone to underexposure, resulting in large areas of darkness, and details (such as road markings and low-altitude obstacles) are also difficult to discern. Therefore, to solve the image quality degradation problem caused by the above lighting conditions, this embodiment of the invention provides an optional image enhancement scheme.

[0049] When performing image enhancement processing on the image to be processed, the aircraft performs at least gamma correction processing on the image to be processed. By adjusting the gamma value, it compresses the highlight area or enhances the brightness of the shadow area, thereby expanding the effective dynamic range of the image.

[0050] It should be noted that gamma correction processing adjusts the brightness value of image pixels through nonlinear transformation, which can be expressed as: Output = Input^γ; where γ is the gamma value, Input represents the normalized pixel brightness value, and Output represents the pixel brightness value after gamma correction. That is, gamma correction processing applies a power-law transformation to each pixel of the input image using the gamma value as the unit.

[0051] For example, when the aircraft's camera acquires raw images, it can perform a brightness assessment of the flight environment to obtain a brightness assessment result describing the flight environment as a bright, dark, or moderately lit environment. This brightness assessment result is then embedded as metadata into the header of the raw image. Correspondingly, the remote control station parses the header of the image to be processed, obtains the brightness assessment result, and adaptively selects the gamma value accordingly: if the brightness assessment result indicates a bright environment, the remote control station performs a darkening gamma correction (gamma value < 1) to suppress the brightness of overexposed areas and restore highlight details; if the brightness assessment result indicates a dark environment, the remote control station performs a brightening gamma correction (gamma value > 1) to enhance the visibility of dark areas and restore shadow details. Furthermore, if the brightness assessment result indicates a moderately lit environment, the remote control station does not actually perform gamma correction processing on the image to be processed, maintaining the original brightness distribution of the image and directly treating the image to be processed as a gamma-corrected image.

[0052] Optionally, in one embodiment, performing gamma correction processing on the image to be processed to obtain a gamma-corrected image includes: receiving an input first gamma value, performing gamma correction processing on the image to be processed according to the first gamma value, and obtaining a gamma-corrected image.

[0053] To meet the personalized adjustment needs of remote station operators, this embodiment of the invention provides an optional manual gamma correction mode.

[0054] The remote control station is equipped with input components, which can be physical input components such as knobs, dials, or sliders, or virtual input components such as input boxes or touch sliders on a touchscreen. The operator can manually input the desired gamma value through the input components according to actual observation needs. Correspondingly, when the remote control station receives the input gamma value through the configured input components, it records that gamma value as the first gamma value.

[0055] For example, please refer to Figure 4, which shows the interactive interface of the remote control station. It includes a touch slider-type input component and a real-time preview window. As shown in Figure 4, the gamma value adjustable by the touch slider ranges from 0.3 to 2.0. The operator can adjust the gamma value in real time by sliding the touch slider. After receiving the first input gamma value, the remote control station immediately performs the corresponding gamma correction processing on the image to be processed and dynamically refreshes and displays the generated gamma-corrected image in the real-time preview window. In addition, the remote control station can also display environmental type indicators on the interactive interface to indicate the flight environment. The three environmental type indicators from left to right in Figure 3 represent "bright light environment," "dark light environment," and "medium light environment," respectively, thus visually helping the operator to intuitively understand the lighting conditions of the current scene.

[0056] Optionally, in one embodiment, after the input first gamma value is used to perform gamma correction processing on the image to be processed to obtain a gamma-corrected image, the method further includes: if the current preset parameter restoration conditions are met, then the gamma value used for gamma correction processing is restored from the first gamma value to the default value.

[0057] To avoid parameter residue, this embodiment of the invention also provides a parameter restoration mechanism.

[0058] The remote control station receives the first gamma value and completes the corresponding gamma correction process. It then monitors in real time whether the preset parameter restoration conditions are met. If the parameter restoration conditions are met, the gamma value is automatically restored from the first gamma value to the default value, ensuring that subsequent image processing is not affected by the previous manual adjustment.

[0059] It should be noted that the embodiments of the present invention do not impose specific restrictions on the configuration of parameter restoration conditions. For example, parameter restoration conditions may include: no new adjustment operation after a preset time period following the last manual gamma value input operation; receiving an input instruction to restore default parameters; and the current flight mission ending.

[0060] Among them, the parameter is automatically restored by preset time of no operation, so that the operator does not need to manually reset the gamma value after each adjustment. This is especially suitable for long-term high-intensity flight missions and reduces the operational burden. The restoration is achieved by receiving the command to restore the default parameter, which can meet the operator's active control needs and improve the flexibility of interaction. The restoration triggered by the end of the flight mission ensures that the gamma values ​​of different missions are independent of each other and avoids cross-mission interference.

[0061] Furthermore, it should be noted that the default value can be pre-configured according to typical flight environments, and can also be customized and saved by the operator. For example, the default value can be set to 1.0. In this case, the remote control station will not actually perform gamma correction, but will directly treat the image to be processed as a gamma-corrected image.

[0062] Optionally, in one embodiment, performing gamma correction processing on the image to be processed to obtain a gamma-corrected image includes: evaluating the brightness of the image to be processed to obtain a brightness value of the image to be processed; determining a second gamma value corresponding to the brightness value; and performing gamma correction processing on the image to be processed according to the second gamma value to obtain a gamma-corrected image.

[0063] To improve the intelligence level of gamma correction, this invention provides an optional automatic gamma correction mode.

[0064] The remote control station first evaluates the brightness of the image to be processed according to the configured brightness evaluation strategy, obtaining the overall brightness value of the image. The configuration of the brightness evaluation strategy is not specifically limited here; methods such as global average brightness, weighted center brightness, or histogram analysis can be used to adapt to different scenario requirements.

[0065] Subsequently, the remote control station determines the second gamma value corresponding to the brightness value of the image to be processed based on the preset correspondence between brightness value and gamma value, and automatically completes the gamma correction process accordingly to obtain a gamma-corrected image, achieving adaptive optimization of image brightness without manual intervention.

[0066] For example, an upper limit threshold and a lower limit threshold for brightness can be set. When the evaluated brightness value is lower than the lower limit threshold, the remote control station selects a second gamma value greater than 1.0 to increase the image brightness; when the brightness value is higher than the upper limit threshold, a second gamma value less than 1.0 is selected to reduce the image brightness; when the brightness value is between the upper and lower limit thresholds, the second gamma value is determined to be the default value of 1.0, keeping the image brightness unchanged, that is, no gamma correction processing is actually performed, and the image to be processed is directly regarded as a gamma-corrected image output.

[0067] For example, the lower limit threshold for brightness can range from 40 to 60 cd / m², with a default of 50 cd / m²; the upper limit threshold for brightness can range from 180 to 220 cd / m², with a default of 200 cd / m². Correspondingly, when the brightness value of the image to be processed is greater than 200 cd / m², the second gamma value ranges from 0.3 to 0.8, with a default of 0.5. When the brightness value of the image to be processed is less than 50 cd / m², the second gamma value ranges from 1.2 to 2.0, with a default of 1.5. When the brightness value is between 50 cd / m² and 200 cd / m², the second gamma value defaults to 1.0. In this case, no gamma correction processing is actually performed, and the image to be processed is directly treated as a gamma-corrected image for output.

[0068] As can be seen from the above, the image processing scheme provided by this invention receives an image to be processed from an aircraft. This image is obtained by splitting the original image acquired by the aircraft, and the other image obtained by splitting the original image is used by the aircraft for environmental perception. Image enhancement processing is then performed on the image to be processed to obtain an enhanced image. Therefore, for the aircraft, it does not need to perform any enhancement processing on the acquired original image; it only needs to hand over the split image to the remote control station for image enhancement processing. This reduces the computational load on the aircraft and utilizes the stronger computing power of the remote control station to achieve higher quality image enhancement effects, thereby improving control accuracy and flight safety during remote control. Simultaneously, the other image obtained by splitting the original image is directly used for environmental perception, which not only avoids the delay introduced by image enhancement processing but also eliminates the interference of image distortion that may be caused by enhancement processing on environmental perception, ensuring the real-time performance and accuracy of environmental perception.

[0069] To facilitate better implementation of the above image processing methods, this embodiment of the invention also provides a corresponding image processing apparatus. The meanings of the terms used are the same as in the above image processing methods; for specific implementation details, please refer to the descriptions in the above method embodiments.

[0070] Please refer to Figure 5, which is a structural schematic diagram of an image processing device provided in an embodiment of the present invention. As shown in Figure 5, the image processing device may include an image receiving module 210 and an image processing module 220. The image receiving module 210 is used to receive an image to be processed from an aircraft. The image to be processed is obtained by splitting the original image acquired by the aircraft, and the other image obtained by splitting the original image is used by the aircraft for environmental perception. The image processing module 220 is used to perform image enhancement processing on the image to be processed to obtain an enhanced image.

[0071] Optionally, in one embodiment, the aircraft includes a camera, a switch, and a sensing component. The switch is communicatively connected to the sensing component and the remote control station, respectively. The image receiving module 210 is used to receive the image to be processed transmitted by the switch. The image to be processed is obtained by the switch through port mirroring of the original image captured by the camera. Another image obtained by the switch through port mirroring of the original image is transmitted to the sensing component for environmental perception.

[0072] Optionally, in one embodiment, the image processing module 220 is used to perform gamma correction processing on the image to be processed to obtain a gamma-corrected image.

[0073] Optionally, in one embodiment, the image processing module 220 is used to receive the input first gamma value, perform gamma correction processing on the image to be processed according to the first gamma value, and obtain a gamma-corrected image.

[0074] Optionally, in one embodiment, the image processing module 220 is further configured to restore the gamma value used for gamma correction processing from the first gamma value to the default value if the preset parameter restoration conditions are currently met.

[0075] Optionally, in one embodiment, the image processing module 220 is used to evaluate the brightness of the image to be processed to obtain the brightness value of the image to be processed; determine a second gamma value corresponding to the brightness value; and perform gamma correction processing on the image to be processed according to the second gamma value to obtain a gamma-corrected image.

[0076] Optionally, in one embodiment, the image processing apparatus provided by the present invention further includes a flight control module for displaying enhanced images; receiving remote control commands based on the enhanced images; and transmitting the remote control commands to the aircraft for execution.

[0077] It should be noted that specific limitations regarding the image processing device can be found in the limitations regarding the image processing method described above, and will not be repeated here. Each module in the aforementioned image processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0078] In one embodiment, a computer device is provided, which may be a remote control station, and its internal structure diagram may be as shown in Figure 6.

[0079] The computer device may include a processor 101 with one or more processing cores, a memory 102 with one or more computer-readable storage media, a power supply 103, and an input unit 104, etc. Those skilled in the art will understand that the computer device structure shown in FIG6 does not constitute a limitation on the computer device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Specifically, the processor 101 is the control center of the computer device, connecting various parts of the entire computer device through various interfaces and lines. It performs various functions and processes data by running or executing software programs and / or modules stored in the memory 102, and by calling data stored in the memory 102. Optionally, the processor 101 may include one or more processing cores; optionally, the processor 101 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may also not be integrated into the processor 101.

[0080] The memory 102 can be used to store software programs and modules. The processor 101 executes various functional applications and data processing by running the software programs and modules stored in the memory 102. The memory 102 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 102 may also include a memory controller to provide the processor 101 with access to the memory 102.

[0081] Specifically, in this embodiment, when the computer device is configured as a remote control station, the processor 101 loads one or more executable codes corresponding to computer programs into the memory 102, and the processor 101 executes the image processing method provided in the embodiment corresponding to FIG6, such as: receiving an image to be processed from the aircraft, the image to be processed is obtained by splitting the original image collected by the aircraft, and another image obtained by splitting the original image is used by the aircraft for environmental perception; performing image enhancement processing on the image to be processed to obtain an enhanced image.

[0082] It should be noted that the computer device provided in the embodiments of the present invention and the image processing method provided in the present invention belong to the same concept, and the specific implementation process can be found in the above related embodiments, which will not be repeated here.

[0083] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the image processing method described above.

[0084] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0085] The present invention also provides a computer program product comprising a computer program that, when executed on a processor, causes the processor to implement the steps in the image processing method provided by the present invention.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0087] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

[0088] It should be noted that when the above embodiments of the present invention are applied to specific products or technologies, and user-related data is involved, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

Claims

1. An image processing method, applicable to remote control stations, characterized in that, include: The system receives an image to be processed from the aircraft. The image to be processed is obtained by splitting the original image acquired by the aircraft, and the other image obtained by splitting the original image is used by the aircraft for environmental perception. The image to be processed is subjected to image enhancement processing to obtain an enhanced image.

2. The image processing method according to claim 1, characterized in that, The aircraft includes a camera, a switch, and a sensing component. The switch is communicatively connected to the sensing component and the remote control station. Receiving the image to be processed from the aircraft includes receiving the image to be processed transmitted by the switch. The image to be processed is obtained by the switch through port mirroring of the original image captured by the camera. Another image obtained by the switch through port mirroring of the original image is transmitted to the sensing component for environmental perception.

3. The image processing method according to claim 1, characterized in that, The image enhancement processing of the image to be processed includes: performing gamma correction processing on the image to be processed to obtain a gamma-corrected image.

4. The image processing method according to claim 3, characterized in that, The step of performing gamma correction processing on the image to be processed to obtain a gamma-corrected image includes: receiving an input first gamma value, performing gamma correction processing on the image to be processed according to the first gamma value, and obtaining a gamma-corrected image.

5. The image processing method according to claim 4, characterized in that, After receiving the first gamma value as input and performing gamma correction processing on the image to be processed based on the first gamma value to obtain a gamma-corrected image, the method further includes: if the current preset parameter restoration conditions are met, then the gamma value used for gamma correction processing is restored from the first gamma value to the default value.

6. The image processing method according to claim 3, characterized in that, The step of performing gamma correction processing on the image to be processed to obtain a gamma-corrected image includes: evaluating the brightness of the image to be processed to obtain a brightness value of the image to be processed; determining a second gamma value corresponding to the brightness value; and performing gamma correction processing on the image to be processed according to the second gamma value to obtain a gamma-corrected image.

7. The image processing method according to any one of claims 1-6, characterized in that, The step of performing image enhancement processing on the image to be processed to obtain an enhanced image includes: displaying the enhanced image; receiving a remote control command input based on the enhanced image, and transmitting the remote control command to the aircraft for execution.

8. An image processing apparatus suitable for a remote control station, characterized in that, include: An image receiving module is used to receive images to be processed from the aircraft. The images to be processed are obtained by splitting the original images acquired by the aircraft, and another image obtained by splitting the original images is used by the aircraft for environmental perception. The image processing module is used to perform image enhancement processing on the image to be processed to obtain an enhanced image.

9. A computer device, characterized in that, The device includes a memory and a processor, the memory storing a computer program, wherein when the computer device is configured as a remote control station, the processor executes the computer program in the memory to implement the image processing method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the image processing method according to any one of claims 1 to 7.

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