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WO2018062599A1 - Système de svm, et procédé associé de saisie et de traitement d'image - Google Patents

Système de svm, et procédé associé de saisie et de traitement d'image Download PDF

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Publication number
WO2018062599A1
WO2018062599A1 PCT/KR2016/011388 KR2016011388W WO2018062599A1 WO 2018062599 A1 WO2018062599 A1 WO 2018062599A1 KR 2016011388 W KR2016011388 W KR 2016011388W WO 2018062599 A1 WO2018062599 A1 WO 2018062599A1
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WO
WIPO (PCT)
Prior art keywords
camera
image
svm
cameras
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/011388
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English (en)
Korean (ko)
Inventor
김시욱
조성훈
최명재
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chemtronics Co Ltd
Original Assignee
Chemtronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chemtronics Co Ltd filed Critical Chemtronics Co Ltd
Priority to CN201680089612.XA priority Critical patent/CN109792475B/zh
Publication of WO2018062599A1 publication Critical patent/WO2018062599A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/04—Context-preserving transformations, e.g. by using an importance map
    • G06T3/047—Fisheye or wide-angle transformations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/18—Image warping, e.g. rearranging pixels individually
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H04N23/13—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths with multiple sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising
    • H04N5/06—Generation of synchronising signals
    • H04N5/067—Arrangements or circuits at the transmitter end
    • H04N5/073—Arrangements or circuits at the transmitter end for mutually locking plural sources of synchronising signals, e.g. studios or relay stations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging

Definitions

  • the present invention relates to an SVM system and an image input and processing method thereof, and more particularly, to synchronize V-syncs of a plurality of cameras by a frame sync generated by one image processor, and through the synchronized output data.
  • the present invention relates to a SVM system capable of obtaining a high quality image by synthesizing a high quality image and a video input method therefor.
  • the SVM (Surround View Monitoring) system is an image system that can monitor the surrounding 360-degree view at a glance, and is used to take a picture of the surrounding image and visually confirm it.
  • the SVM system when the SVM system is implemented as a device for displaying the surrounding image of the vehicle, cameras are installed at the front, rear, left, and right sides of the vehicle, respectively, and the surrounding environment is photographed through the camera, and the image is duplicated based on the captured image. The surroundings of the car are displayed on the screen by the correction process so that the area looks natural.
  • the driver can accurately recognize the surrounding situation of the vehicle through the displayed surrounding environment, and can conveniently park or drive without looking at the side mirror or the rear mirror.
  • the SVM system receives images captured by cameras installed in front, rear, left and right, respectively, in order to display images captured by different cameras on a single screen or to implement 3D images. It must be processed into a composite image.
  • a camera image processing apparatus capable of synthesizing images taken from at least four cameras and cameras is required.
  • the camera image processing apparatus requires an SVM processor for receiving images from four or more cameras, respectively, and four or more camera interfaces for receiving images from the four or more cameras.
  • a memory having a minimum frame size or more is required.
  • a plurality of camera images can be synthesized even with a small memory, and thus the memory can be efficiently used. It is to provide an SVM system and an image processing method thereof that can eliminate the junction error and lighting error caused by the.
  • another aspect of the present invention provides an SVM system and an image processing method thereof capable of controlling a plurality of cameras in real time and obtaining a high quality image by synthesizing them into images of the SVM system through synchronized output data. It is to.
  • another aspect of the present invention is to connect the frame sync generated from the SVM processor of the camera image processing module to the frame sync input of the camera sensor embedded in each camera to use as a reference signal of the camera image output
  • the present invention provides a SVM system capable of synchronizing V-Syncs of a plurality of cameras and synthesizing them into images of an SVM system using image data outputted therefrom, and an image processing method thereof.
  • another aspect of the present invention is to control a plurality of cameras in real time, and when synthesizing the SVM image with each of the camera images input in real time by AE (Automatic exposure) and AWB (Auto White Balance) state value
  • An object of the present invention is to provide an SVM system and an image processing method thereof capable of controlling the difference between brightness and color to be minimized.
  • An SVM system is an SVM system including an image processing module for synthesizing images captured by a plurality of cameras into an SVM image, wherein camera image data of the plurality of cameras is provided from the image processing module.
  • the image processing module may be synchronized with each other by frame sync, and the image processing module may synthesize image data synchronized and output from the plurality of cameras into SVM images.
  • the camera image processing module of the SVM system is a line buffer for synthesizing image data of a plurality of cameras synchronized by the frame sink and a camera interface for transmitting and receiving signals with the plurality of cameras in real time, respectively.
  • a camera image synthesizing unit configured to synthesize SVM images through the line buffer unit, and a frame sync for synchronizing images of the plurality of cameras.
  • each of the plurality of cameras includes a camera sensor, an image signal processing (ISP), and a camera interface for transmitting and receiving signals in real time with the camera image processing module.
  • ISP image signal processing
  • frame sinks generated by an SVM processor are transmitted to the camera sensors, respectively, and the plurality of cameras are synchronized by the frame sinks, and are simultaneously output as image data.
  • the camera image synthesizing unit reads values of automatic exposure (AE) and auto white balance (AWB) states of each camera image input in real time with respect to the plurality of cameras in units of frames, and SVM.
  • AE and AWB of the ISP (Image Signal Process) of the camera are controlled to minimize the difference in brightness and color during image synthesis.
  • An image input and processing method of an SVM is an image input and processing method of an SVM that synthesizes images captured by a plurality of cameras into an SVM image.
  • a frame sync sending step for sending each, a camera video data synchronizing step for synchronizing respective camera image data by the frame sync, and image synthesis for synthesizing the video data synchronized by the plurality of cameras using a line buffer; Steps.
  • the frame sync sending step transmits the frame sync generated in the SVM processor to a camera sensor through a camera interface of a camera image processing module and a camera interface embedded in a plurality of cameras. do.
  • the plurality of cameras synchronize the V-Sync using the frame sync of the SVM processor as a reference signal of the video output, respectively, and the plurality of cameras respectively synchronize the synchronized video data. Outputs simultaneously.
  • the image synthesizing step includes an AE for controlling AE and AWB of an ISP (Image Signal Process) of a camera such that a difference in brightness and color is minimized when the SVM image is synthesized; AWB control step further comprises.
  • the present invention is the achievement of the research and development task of the "Development of automobile driving safety power transmission core parts" project of the industrial technology base agency support project in 2015.
  • the memory can be used efficiently, and the joint error and illumination of the composite image
  • high quality images can be obtained, and the brightness and color difference of the synthesized images can be controlled to be minimal.
  • FIG. 1 is a configuration diagram schematically showing a basic concept for an SVM system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing in more detail a detailed technical configuration in the SVM system shown in FIG.
  • FIG. 3 is a diagram illustrating a state of use of a camera input image according to an embodiment synchronized to a frame sync in the SVM system shown in FIG.
  • FIG. 4 is a diagram illustrating a state of use of camera image data according to an exemplary embodiment which is synchronized to a frame sync and output in the SVM system shown in FIG.
  • FIG. 5 is a diagram schematically illustrating a line buffer for image synthesis according to an embodiment in the SVM system shown in FIG. 2;
  • FIG. 5 is a diagram schematically illustrating a line buffer for image synthesis according to an embodiment in the SVM system shown in FIG. 2;
  • FIG. 6 is a state diagram schematically showing a composite image using a line buffer according to an embodiment in the SVM system shown in FIG.
  • FIG. 7A to 7E are diagrams schematically illustrating an actual input image synthesized using a line buffer according to an embodiment in the SVM system shown in FIG. 2.
  • FIG. 8A and 8B are diagrams illustrating a state of use of the AE controlled comparative image in real time in the SVM system shown in FIG. 2;
  • FIG. 9 is a flowchart schematically illustrating a video input and processing method of an SVM system according to an embodiment of the present invention.
  • FIG. 1 is a configuration diagram schematically showing a basic concept for an SVM system according to an embodiment of the present invention.
  • the SVM system 1000 includes a camera module 1100 and a camera image processing module 1200.
  • the SVM system according to an embodiment of the present invention is the achievement of the research and development task of the "car driving safety power transmission core parts development project" of the 2015 industrial technology base agency support project.
  • the camera module 1100 includes a plurality of camera modules, and transmits image data captured by the camera module to the camera image processing module 1200.
  • the plurality of cameras are synchronized with the V-sync by the frame sync provided from the camera image processing module 1200, respectively, and the image data are simultaneously output from the plurality of cameras.
  • the image data output from the camera module 1100 is transferred to the camera image processing module 1200 and synthesized into an SVM image by the camera image processing module.
  • FIG. 2 is a block diagram showing the detailed technical configuration of the SVM system shown in FIG. 1 in more detail.
  • the camera module 1100 includes a first camera 1110, a second camera 1120, a third camera 1130, and a fourth camera 1140. That is, the camera module 1100 includes a plurality of cameras, and FIG. 2 illustrates a camera module including four cameras as an example thereof.
  • the camera image processing module 1200 includes a camera interface 1210, a camera image synthesizer 1220, a line buffer unit 1230, and an SVM processor 1240.
  • the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 each include a camera sensor, an image signal processing (ISP), and a camera interface.
  • ISP image signal processing
  • the respective photographing directions may be arranged differently.
  • the image data photographed by the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 may be displayed in the camera interface and the camera image processing module 1200.
  • the image is transmitted to the camera image synthesizer 1220 through the camera interface 1210.
  • first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 may transmit a frame sync generated by the SVM processor 1240 to a camera sensor. Connect to the frame sync input, and use this as a reference signal of the video output to synchronize V-Sync, and the first camera 1110, the second camera 1120, the third camera 1130 and the fourth camera 1140. At the same time output video data.
  • the synchronized camera image is shown as an example in FIG. 3 and is output as image data as an example in FIG. 4.
  • the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 when synchronized using the frame sync generated by the SVM processor 1240 as described above, the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140.
  • the image data of) is synchronized and input in accordance with V-Sync and H-Sync, each time one line of image is input using line buffer memory, all four lines are synthesized and output as one line. Even if the image is transmitted to the camera interface 1210 of the processing module 1200, the image may be transmitted without being synchronized with the image.
  • the camera interface 1210 is for implementing bidirectional communication with the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140.
  • the SVM processor 1240 transmits frame sync to the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 as described above. Each camera status must be monitored at all times.
  • the camera interface 1210 is connected to the camera interfaces of the first camera 1110, the second camera 1120, the third camera 1130, and the fourth camera 1140 as described above.
  • the module 1100 is connected to the camera image processing module 1200.
  • the camera interface may be implemented as a bidirectional communication module such as an inter-integrated circuit (I2C).
  • I2C inter-integrated circuit
  • the line buffer unit 1230 is for synthesizing the synchronized camera image data, and is connected to the camera image synthesis unit 1220. As shown in FIG. 5 as an example, and as shown in FIG. 6, images of a camera are synthesized.
  • the line buffer unit 1230 may process only the line memory, and thus the memory size may be significantly reduced.
  • the design is simplified and the cost is significantly reduced.
  • four images of a size of 1280 ⁇ 720 are combined into one image of 5120 ⁇ 720.
  • the actual data is synthesized by only one line and transmitted to the SVM processor 1200, and the SVM processor 1200 is input as an image as shown in FIG. 6.
  • FIGS. 7A to 7E illustrate images synthesized by line buffers of images actually photographed by each camera. More specifically, FIGS. 7A to 7D show images captured by the first to fourth cameras, respectively, and FIG. 7E shows images synthesized by the line buffer.
  • the input image photographed by each camera is synthesized by a line buffer as shown in FIG. 7E, and appears as a composite image of the SVM system.
  • the SVM system reads the values of the automatic exposure (AE) and the auto white balance (AWB) state of each camera image input in real time to a plurality of cameras in units of frames, and thus the brightness at the time of SVM image synthesis.
  • the AE and AWB of the ISP (Image Signal Process) of the camera can be controlled to minimize the difference between the color and the color.
  • the composite image of the SVM system controlled in real time may be compared with the composite image of the AE uncontrolled SVM system illustrated in FIG. 8A, and thus the difference in brightness and color may be minimized. .
  • the SVM system can not only eliminate the junction error and the illumination error of the synthesized image, but also obtain a high quality image and the brightness of the synthesized image. It can be controlled to minimize the difference between and colors.
  • FIG. 9 is a flowchart schematically illustrating a video input and processing method of an SVM system according to an embodiment of the present invention.
  • the image input and processing method of the SVM system includes a step (S1100) for sending to the frame sink camera of the SVM processor, the step of synchronizing the camera image data to the frame sink (S1200) and the image synthesis using the line buffer (S1300). do.
  • the frame sync generated by the SVM processor is a frame sync input to the camera sensor embedded in each camera as a frame sync input.
  • the frame sink generated by the SVM processor may be transferred to the camera sensor through a camera interface embedded in each of the plurality of cameras through the camera interface of the camera image processing module.
  • step S1200 of synchronizing the camera image data to the frame sync a plurality of cameras are used as reference signals for video output by the frame sync of the SVM processor to synchronize V-Sync, and the plurality of cameras are synchronized images, respectively. Output data at the same time.
  • the image synthesis using the line buffer (S1300) is a step of synthesizing the image data output from the respective cameras into the SVM system image using the line buffer.
  • the image input and processing method of the SVM system may further include controlling the AE and AWB of the ISP (Image Signal Process) of the camera.
  • the control step of the AE and AWB is a step of controlling the AE and AWB of the ISP (Image Signal Process) of the camera so that the difference in brightness and color is minimized during SVM image synthesis.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Image Processing (AREA)

Abstract

La présente invention concerne, selon un de ses modes de réalisation, un système de SVM comportant un module de traitement d'image servant à combiner, en une image SVM, des images capturées par une pluralité de caméras. Des données d'image de caméras de la pluralité de caméras sont respectivement synchronisées par une synchronisation de trames émanant du module de traitement d'image, et le module de traitement d'image combine, pour donner l'image SVM, des données d'image délivrées en synchronisation avec chaque caméra de la pluralité de caméras.
PCT/KR2016/011388 2016-09-27 2016-10-12 Système de svm, et procédé associé de saisie et de traitement d'image Ceased WO2018062599A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201680089612.XA CN109792475B (zh) 2016-09-27 2016-10-12 Svm系统及其图像输入和处理方法

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KR10-2016-0124274 2016-09-27
KR1020160124274A KR101809727B1 (ko) 2016-09-27 2016-09-27 Svm 시스템 및 그의 영상입력 및 처리방법

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KR101949658B1 (ko) 2018-12-17 2019-02-18 진수태 Cctv 야간차량번호 인식을 위한 동기화 컨트롤러가 탑재된 조명장치
WO2021132739A1 (fr) * 2019-12-23 2021-07-01 (주)비전에스티 Système et procédé de tramission d'image multicanal
KR102850320B1 (ko) * 2020-02-12 2025-08-26 주식회사 케이티 비디오그래메트리 영상을 제공하는 서버, 방법 및 컴퓨터 프로그램
KR20250136092A (ko) * 2024-03-07 2025-09-16 네이버 주식회사 버드 아이 뷰 정보 추출 방법 및 시스템

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CN109792475B (zh) 2021-05-11
KR101809727B1 (ko) 2017-12-15

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