CN111866377A - Stability augmentation control method and device and camera system - Google Patents
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Abstract
The invention provides a stability augmentation control method, a stability augmentation control device and a camera system, wherein the method is applied to a double-camera system, the double-camera system comprises a main camera, an auxiliary camera and a holder, at least one imaging parameter of the main camera is superior to that of the auxiliary camera, and the method comprises the following steps: acquiring second image data acquired by the auxiliary camera; determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm; and controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information. In the embodiment of the invention, the imaging quality of the second image data is lower than that of the first image data, so that the occupied computing resource is smaller when anti-shake computation is carried out, the computing efficiency can be improved, the stability-increasing effect is optimized, and the user requirements are met.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a stability augmentation control method and device and a camera system.
Background
Along with the development of visual processing technology and artificial intelligence technology, the intelligent camera can track the target to be shot and carry out anti-shake control on the shooting process so as to improve the quality of the video shot by the user.
The existing camera system usually aims at improving the view finding quality of a camera, the high view finding quality causes huge data volume of images, however, the processing capacity of a processor is limited, the images with large data volume are subjected to anti-shake calculation and control, the occupied resources are larger, the processing efficiency is lower, and the anti-shake algorithm of the existing camera cannot achieve a satisfactory anti-shake effect.
Disclosure of Invention
The invention solves the problem that the anti-shake algorithm of the existing camera cannot achieve a satisfactory anti-shake effect.
In order to solve the above problems, an embodiment of the present invention provides a stability augmentation control method, which is applied to a dual-camera system, where the dual-camera system includes a main camera, an auxiliary camera, and a pan-tilt; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data; the method comprises the following steps: acquiring second image data acquired by the auxiliary camera; determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm; and controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information.
Optionally, the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm includes: performing object recognition according to the second image data, and determining at least one target object; and if the background target object exists in the at least one target object, calculating anti-shake compensation information according to the background target object and a preset image anti-shake algorithm.
Optionally, the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm includes: if the second imaging area of the image frame in the second image data is larger than the first imaging area of the image frame in the first image data, determining a central target area of the image frame in the second image data; and calculating anti-shake compensation information according to the target object in the central target area and a preset image anti-shake algorithm.
Optionally, the imaging area of the central target region is the same as the first imaging area; alternatively, the imaging area of the central target region is smaller than the first imaging area.
Optionally, the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm includes: respectively carrying out object identification according to the first image data and the second image data, and determining the same target object in the first image data and the second image data; and calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm.
Optionally, the calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm includes: determining whether a building object exists in the same target object; and if so, calculating anti-shake compensation information according to the building object and a preset image anti-shake algorithm.
Optionally, the calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm includes: if a plurality of same target objects exist, calculating the distance between each target object and the center of the corresponding image frame; and calculating anti-shake compensation information according to the target object corresponding to the minimum distance and a preset image anti-shake algorithm.
Optionally, the dual-camera system further includes a display screen, and the method further includes: and displaying the first image data collected by the main camera through the display screen.
The embodiment of the invention also provides a stability augmentation control device which is applied to a double-camera system, wherein the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data; the device comprises: the acquisition module is used for acquiring second image data acquired by the auxiliary camera; the computing module is used for determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm; and the anti-shake module is used for controlling the holder to perform anti-shake compensation according to the anti-shake compensation information.
The present invention also provides a camera system, including: a dual camera system and a processor; the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the processor is used for executing the stability augmentation control method of any one of the above items.
The stability augmentation control method provided by the embodiment is applied to a dual-camera system comprising a main camera, an auxiliary camera and a tripod head, first image data are acquired through the main camera, second image data are acquired through the auxiliary camera, then anti-shake compensation information is determined according to the second image data and a preset image anti-shake algorithm, and the tripod head is controlled to perform stability augmentation compensation according to the anti-shake compensation information. The imaging quality of the second image data is lower than that of the first image data, so that the occupied computing resources are smaller during anti-shake computation, the computing efficiency can be improved, the stability augmentation effect is optimized, and the user requirements are met.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart of a stability augmentation control method in one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a stability augmentation control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a dual-camera system according to an embodiment of the present invention.
Description of reference numerals:
201-an acquisition module; 202-a calculation module; 203-stability augmentation module; 31-a handle; 32-a three-axis pan-tilt; 33-a main camera; 34-a secondary camera; 35-display screen.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The two-camera system in this embodiment includes main camera, vice camera and cloud platform. Wherein, at least one imaging parameter of the main camera is better than that of the auxiliary camera, and the imaging parameter comprises: angle of view, resolution, aperture. The main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data.
Through above-mentioned two camera systems, can improve the data processing efficiency of handheld cloud platform camera. Specifically, above-mentioned cloud platform is including increasing steady structure, and main camera and vice camera setting are on this increases steady structure, and synchronous movement under the drive of this structure of increasing steady, main camera and vice camera gather the image in step.
The main camera is generally a high-definition camera, is functionally used for beautifying/filtering/4 k60 fps/large aperture/super wide angle, can capture visual information such as images and videos, and ensures that high-quality photos/images are output. The secondary camera is generally a low-resolution camera, the resolution is lower than that of the primary camera, the secondary camera is functionally used for processing an anti-shake algorithm, the position and the direction of at least one target object can be identified and detected, and parameters such as visual angle/resolution/wide angle/aperture are inferior to those of the primary camera and are used for providing images with low data volume for processing the anti-shake algorithm.
In conclusion, the main camera is used for outputting images with high definition to a user, the auxiliary camera is used for collecting image data required by the processor for anti-shaking, and the three-axis pan-tilt motor is driven to control the three-axis pan-tilt through an image anti-shaking algorithm and in combination with data of the electronic gyroscope and the accelerometer, so that anti-shaking and stability enhancement are realized, and the images collected by the main camera are clear and attractive.
Fig. 1 is a schematic flowchart of a stability augmentation control method in an embodiment of the present invention, which is applied to the above dual-camera system, and the method includes:
and S102, acquiring second image data acquired by the auxiliary camera.
Because the hardware parameters of the main camera and the auxiliary camera are different, the imaging parameters of the main camera and the auxiliary camera can be different in the process of synchronously acquiring images, and the imaging parameters can be imaging focal length or imaging visual angle. For example, the imaging focal lengths of the first image data and the second image data are different, which causes that the first image data and the second image data are actually focused on different imaging planes, and when a subsequent anti-shake algorithm is performed, the problem of inaccurate calculation is likely to occur.
And S104, determining anti-shake compensation information according to the second image data and a preset anti-shake algorithm.
The double-camera system is connected with a main controller and used for driving the image sensor so as to track a target object on each image frame acquired by the image sensor, and the control unit determines a retrieval area of the target object tracked on each image frame of the image sensor according to the depth information and the position information of the object captured by the auxiliary camera.
Optionally, the anti-shake algorithm may sense object tracking information based on a preset object tracking control method, and the master controller performs compensation calculation according to the object tracking information to obtain a corresponding anti-shake compensation amount. The anti-shake algorithm may determine a suitable anti-shake algorithm based on a specific usage scenario, which is not limited in this embodiment.
And S106, controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information.
Alternatively, the above-mentioned head may comprise a stability-enhancing structure, such as a triaxial stabilizer having a pitch drive motor, a roll drive motor, and a yaw drive motor, and the master controller may control the movements of the pitch drive motor, the roll drive motor, and the yaw drive motor, respectively.
And a control system module in the main controller generates corresponding command information according to the corresponding compensation amount and by combining data of the electronic gyroscope and the accelerometer, and then outputs the command information to the driving controllers of the three motors to drive the corresponding motors in the stability augmentation structure to operate and compensate so as to control the double-camera system to keep stable, thereby achieving the purposes of stable shooting and stability augmentation.
The stability augmentation control method provided by the embodiment is applied to a dual-camera system comprising a main camera, an auxiliary camera and a tripod head, first image data are acquired through the main camera, second image data are acquired through the auxiliary camera, then anti-shake compensation information is determined according to the second image data and a preset image anti-shake algorithm, and the tripod head is controlled to perform stability augmentation compensation according to the anti-shake compensation information. The imaging quality of the second image data is lower than that of the first image data, so that the occupied computing resources are smaller during anti-shake computation, the computing efficiency can be improved, the stability augmentation effect is optimized, and the user requirements are met.
Considering that the anti-shake calculation requires determining the anti-shake compensation amount according to the depth information, position information, velocity information, etc. of the target object, in order to improve the accuracy of the anti-shake calculation, the anti-shake calculation may be performed according to an object that should not generally move in the image as the target object, for example, a background object is selected as the target object, the background object may be a building, etc., which generally does not move up and down or far and near. Based on this, the above S104 may include the steps of:
a1, identifying the object according to the second image data, and determining at least one target object.
A2, if there is a background target object in the at least one target object, calculating anti-shake compensation information according to the background target object and a preset image anti-shake algorithm. The background target object may be a building, a plant, or the like as a background.
Due to the fact that hardware parameters of the main camera and the auxiliary camera are different, in the process of synchronously acquiring images, imaging areas (or imaging sizes) of image frames of the main camera and the auxiliary camera are different, and the imaging area of the image frame in the second image data is possibly larger than that of the image frame in the first image data. Based on this, the above S104 may include the steps of:
B1, if the second imaging area of the image frame in the second image data is larger than the first imaging area of the image frame in the first image data, determining the central target area of the image frame in the second image data.
It is to be understood that the central target region is located in the center of the image frame in the second image data, and the imaging area of the central target region may be the same as the first imaging area, or the imaging area of the central target region may be smaller than the first imaging area.
And B2, calculating anti-shake compensation information according to the target object in the central target area and a preset image anti-shake algorithm.
By employing the target object in the above-described central target region, it is possible to ensure that the target object is also in the image frame of the first image data, thereby improving the accuracy of the anti-shake control.
In order to ensure that the target object also appears in the image frame of the first image data, it is also possible to perform object recognition with respect to the image frame of the first image data, and compare the recognition object of the image frame of the first image data with the recognition object of the image frame of the second image data, selecting the same recognition object among them. The S104 may include the steps of:
c1, performing object recognition according to the first image data and the second image data respectively, and determining the same target object in the first image data and the second image data;
C2, calculating the anti-shake compensation information according to the same target object and the preset image anti-shake algorithm.
Alternatively, anti-shake calculations may be performed based on building objects: determining whether a building object exists in the same target object; and if the building object exists, calculating anti-shake compensation information according to the building object and a preset image anti-shake algorithm. Alternatively, the anti-shake calculation may be performed based on a target object located closest to the center of the image frame: and if a plurality of same target objects exist, calculating the distance between each target object and the center of the corresponding image frame, and calculating anti-shake compensation information according to the target object corresponding to the minimum distance and a preset image anti-shake algorithm.
With the function separation of main camera and vice camera in this embodiment, main camera can adopt big wide angle high resolution to be used for exporting high definition image data, vice camera is used for gathering the required image data of anti-shake calculation, the treater carries out anti-shake operation according to the image data of vice camera, and control stabilization structure realizes increasing steady, it is stable clear to ensure main camera output video and photo, can effectively improve the treatment effeciency, it is clear to divide the worker, can improve the anti-shake function when guaranteeing the high definition image quality, shooting performance and user experience have been improved.
Fig. 2 is a schematic structural diagram of a stability augmentation control device in an embodiment of the present invention, which is applied to a dual-camera system, where the dual-camera system includes a main camera, a sub-camera, and a pan-tilt; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data; the device comprises:
an obtaining module 201, configured to obtain second image data acquired by the secondary camera;
the computing module 202 is configured to determine anti-shake compensation information according to the second image data and a preset image anti-shake algorithm;
and the stability augmentation module 203 is used for controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information.
According to the stability augmentation control device provided by the embodiment, the imaging quality of the second image data is lower than that of the first image data, the calculation resources occupied during anti-shake calculation are smaller, the calculation efficiency can be improved, the stability augmentation effect is optimized, and the user requirements are met.
Optionally, as an embodiment, the calculating module 202 is specifically configured to: performing object recognition according to the second image data, and determining at least one target object; and if the background target object exists in the at least one target object, calculating anti-shake compensation information according to the background target object and a preset image anti-shake algorithm.
Optionally, as an embodiment, the calculating module 202 is specifically configured to: if the second imaging area of the image frame in the second image data is larger than the first imaging area of the image frame in the first image data, determining a central target area of the image frame in the second image data; and calculating anti-shake compensation information according to the target object in the central target area and a preset image anti-shake algorithm.
Optionally, as an embodiment, an imaging area of the central target region is the same as the first imaging area; alternatively, the imaging area of the central target region is smaller than the first imaging area.
Optionally, as an embodiment, the calculating module 202 is specifically configured to: respectively carrying out object identification according to the first image data and the second image data, and determining the same target object in the first image data and the second image data; and calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm.
Optionally, as an embodiment, the calculating module 202 is specifically configured to: determining whether a building object exists in the same target object; and if so, calculating anti-shake compensation information according to the building object and a preset image anti-shake algorithm.
Optionally, as an embodiment, the calculating module 202 is specifically configured to: if a plurality of same target objects exist, calculating the distance between each target object and the center of the corresponding image frame; and calculating anti-shake compensation information according to the target object corresponding to the minimum distance and a preset image anti-shake algorithm.
Optionally, as an embodiment, the dual-camera system further includes a display screen, and the apparatus further includes a display module, configured to display, through the display screen, the first image data acquired by the main camera.
The present embodiment further provides a camera system, including: a dual camera system and a processor; the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the processor is used for executing the stability augmentation control method.
Referring to fig. 3, a schematic structural diagram of a dual-camera system includes a handle 31 and a three-axis pan-tilt 32 mounted on the handle 31, and the three-axis pan-tilt 32 is provided with a dual-camera system, which includes a main camera 33 and a sub-camera 34.
A display screen 35 for displaying the shot content of the dual-camera system is provided on the handle 31.
Through setting up display screen 35 at handle 31, this display screen can show main camera 33's shooting content to realize that the user can browse the picture or the video that main camera 33 was taken through this display screen 35 fast, thereby improve double-camera and user's interactivity and interest, satisfy user's diversified demand.
The present embodiment further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned stability augmentation control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
Of course, those skilled in the art will understand that all or part of the processes in the methods of the above embodiments may be implemented by instructing the control device to perform operations through a computer, and the programs may be stored in a computer-readable storage medium, and when executed, the programs may include the processes of the above method embodiments, where the storage medium may be a memory, a magnetic disk, an optical disk, and the like.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The stability augmentation control device and the camera system disclosed by the embodiment correspond to the stability augmentation control method disclosed by the above embodiment, so that the description is relatively simple, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The stability augmentation control method is characterized by being applied to a double-camera system, wherein the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data; the method comprises the following steps:
Acquiring second image data acquired by the auxiliary camera;
determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm;
and controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information.
2. The stability augmentation control method according to claim 1, wherein the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm comprises:
performing object recognition according to the second image data, and determining at least one target object;
and if the background target object exists in the at least one target object, calculating anti-shake compensation information according to the background target object and a preset image anti-shake algorithm.
3. The stability augmentation control method according to claim 1, wherein the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm comprises:
if the second imaging area of the image frame in the second image data is larger than the first imaging area of the image frame in the first image data, determining a central target area of the image frame in the second image data;
and calculating anti-shake compensation information according to the target object in the central target area and a preset image anti-shake algorithm.
4. The stability augmentation control method according to claim 3, wherein an imaging area of the central target region is the same as the first imaging area; or,
the imaging area of the central target region is smaller than the first imaging area.
5. The stability augmentation control method according to claim 1, wherein the determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm comprises:
respectively carrying out object identification according to the first image data and the second image data, and determining the same target object in the first image data and the second image data;
and calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm.
6. The stability augmentation control method according to claim 5, wherein the calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm comprises:
determining whether a building object exists in the same target object;
and if so, calculating anti-shake compensation information according to the building object and a preset image anti-shake algorithm.
7. The stability augmentation control method according to claim 5, wherein the calculating anti-shake compensation information according to the same target object and a preset image anti-shake algorithm comprises:
If a plurality of same target objects exist, calculating the distance between each target object and the center of the corresponding image frame;
and calculating anti-shake compensation information according to the target object corresponding to the minimum distance and a preset image anti-shake algorithm.
8. The stability-augmentation control method according to any one of claims 1 to 7, wherein the dual-camera system further comprises a display screen, the method further comprising:
and displaying the first image data collected by the main camera through the display screen.
9. A stability augmentation control device is characterized by being applied to a double-camera system, wherein the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture; the main camera is used for collecting first image data, and the auxiliary camera is used for collecting second image data; the device comprises:
the acquisition module is used for acquiring second image data acquired by the auxiliary camera;
the computing module is used for determining anti-shake compensation information according to the second image data and a preset image anti-shake algorithm;
And the stability augmentation module is used for controlling the holder to perform stability augmentation compensation according to the anti-shake compensation information.
10. A camera system, comprising: a dual camera system and a processor;
the double-camera system comprises a main camera, an auxiliary camera and a holder; at least one imaging parameter of the primary camera is superior to the secondary camera, the imaging parameters including: view angle, resolution, aperture;
the processor is used for executing the stability augmentation control method of any one of claims 1 to 8.
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| CN105173102A (en) * | 2015-09-18 | 2015-12-23 | 西北农林科技大学 | Four-rotor aircraft stability augmentation system and method based on multiple images |
| US20190320118A1 (en) * | 2016-12-02 | 2019-10-17 | Hangzhou Hikvision Digital Technology Co., Ltd. | Anti-Shake Method for Camera and Camera |
| CN108259736A (en) * | 2016-12-29 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Holder stability augmentation system and holder increase steady method |
| CN107682630A (en) * | 2017-09-30 | 2018-02-09 | 努比亚技术有限公司 | Dual camera anti-fluttering method, mobile terminal and computer-readable recording medium |
| CN109688323A (en) * | 2018-11-29 | 2019-04-26 | 深圳市中科视讯智能系统技术有限公司 | Unmanned plane Visual Tracking System and its control method |
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| CN114040116A (en) * | 2021-11-30 | 2022-02-11 | 安徽精研塑胶制品有限公司 | Plastic mould good product monitoring feedback system |
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