CN116134484A - Image processing method and device - Google Patents

Abstract

Translated fromChinese

一种图像处理方法以及装置，用于根据不同的时长需求得到更清晰的图像。该方法包括：获取运动信息，所述运动信息包括目标对象在运动传感器的检测范围内进行运动时的运动轨迹的信息；根据所述运动信息生成至少一帧事件图像，所述至少一帧事件图像包括表示所述目标对象在所述检测范围内产生运动时的运动轨迹的图像；获取目标任务，并根据所述目标任务获取迭代时长；对所述至少一帧事件图像进行迭代更新，得到更新后的至少一帧事件图像，且对所述至少一帧事件图像进行迭代更新的时长不超过所述迭代时长。

An image processing method and device for obtaining clearer images according to different time length requirements. The method includes: acquiring motion information, the motion information including information on the motion trajectory of the target object when it moves within the detection range of the motion sensor; generating at least one frame of event image according to the motion information, and the at least one frame of event image Including an image representing the motion track of the target object when it moves within the detection range; acquiring the target task, and obtaining the iteration duration according to the target task; performing iterative update on the at least one frame of the event image to obtain the updated At least one frame of the event image, and the duration for iteratively updating the at least one frame of the event image does not exceed the iteration duration.

Description

Translated fromChinese

PCT国内申请，说明书已公开。PCT domestic application, specification has been published.

Claims (23)

1. An image processing method, comprising:

   acquiring motion information, wherein the motion information comprises information of a motion track of a target object when the target object moves within a detection range of a motion sensor;

   generating at least one frame of event image according to the motion information, wherein the at least one frame of event image comprises an image representing a motion track of the target object when generating motion in the detection range;

   acquiring a target task, and acquiring iteration time according to the target task;

   and carrying out iterative updating on the at least one frame of event image to obtain at least one updated frame of event image, wherein the time for carrying out iterative updating on the at least one frame of event image does not exceed the iterative time.
2. The method of claim 1, wherein said iteratively updating any one of said at least one frame of event images comprises:

   acquiring motion parameters representing parameters of relative motion between the motion sensor and the target object;

   and carrying out iterative updating on the target event image in the at least one frame of event image according to the motion parameters to obtain an updated target event image.
3. The method of claim 2, wherein the acquiring motion parameters comprises:

   acquiring a value of an optimization model preset in the last iteration updating process;

   and calculating according to the value of the optimization model to obtain the motion parameter.
4. A method according to claim 3, wherein iteratively updating a target event image in the at least one frame of event images according to the motion parameter comprises:

   and compensating the motion trail of the target object in the target event image according to the motion parameters to obtain a target event image obtained by current iteration updating.
5. The method according to any one of claims 2-4, wherein the motion parameters comprise one or more of: depth, optical flow information, acceleration of the motion sensor or angular velocity of the motion sensor, the depth representing a distance between the motion sensor and the target object, the optical flow information representing information of a motion velocity of a relative motion between the motion sensor and the target object.
6. The method according to any one of claims 1-5, wherein during the any one iteration update, the method further comprises:

   If the result of the current iteration meets a preset condition, terminating the iteration, wherein the termination condition comprises at least one of the following: and iteratively updating the at least one frame of event images for a preset number of times or enabling the value change of the optimization model in the updating process of the at least one frame of event images to be smaller than a preset value.
7. An image processing method, comprising:

   generating at least one frame of event image according to motion information, wherein the motion information comprises information of a motion track of a target object when the target object moves within a detection range of a motion sensor, and the at least one frame of event image comprises an image representing the motion track of the target object when the target object moves within the detection range;

   acquiring motion parameters representing parameters of relative motion between the motion sensor and the target object;

   initializing a preset value of the optimization model according to the motion parameters to obtain the value of the optimization model;

   and updating the at least one frame of event image according to the value of the optimization model to obtain the updated at least one frame of event image.
8. The method of claim 7, wherein the motion parameters include one or more of: depth, optical flow information, acceleration of the motion sensor or angular velocity of the motion sensor, the depth representing a distance between the motion sensor and the target object, the optical flow information representing information of a motion velocity of a relative motion between the motion sensor and the target object.
9. The method according to claim 7 or 8, wherein the acquiring motion parameters comprises:

   acquiring data acquired by an Inertial Measurement Unit (IMU) sensor;

   and calculating the motion parameters according to the data acquired by the IMU sensor.
10. The method of claim 9, wherein after initializing the values of the preset optimization model according to the motion parameters, the method further comprises:

    and updating parameters of the IMU sensor according to the value of the optimization model, wherein the parameters of the IMU sensor are used for acquiring data by the IMU sensor.
11. An image processing apparatus, comprising:

    the acquisition module is used for acquiring motion information, wherein the motion information comprises information of a motion track of a target object when the target object moves within a detection range of the motion sensor;

    the processing module is used for generating at least one frame of event image according to the motion information, wherein the at least one frame of event image comprises an image representing a motion track of the target object when the target object moves within the detection range;

    the acquisition module is also used for acquiring a target task and acquiring iteration time according to the target task;

    The processing module is further configured to perform iterative update on the at least one frame of event image to obtain an updated at least one frame of event image, where a duration of performing iterative update on the at least one frame of event image does not exceed the iterative duration.
12. The apparatus according to claim 11, wherein the processing module is specifically configured to:

    acquiring motion parameters representing parameters of relative motion between the motion sensor and the target object;

    and carrying out iterative updating on the target event image in the at least one frame of event image according to the motion parameters to obtain an updated target event image.
13. The apparatus according to claim 12, wherein the processing module is specifically configured to:

    acquiring a value of an optimization model preset in the last iteration updating process;

    and calculating according to the value of the optimization model to obtain the motion parameter.
14. The apparatus according to claim 13, wherein the processing module is specifically configured to:

    and compensating the motion trail of the target object in the target event image according to the motion parameters to obtain a target event image obtained by current iteration updating.
15. The apparatus of any one of claims 12-14, wherein the motion parameters include one or more of: depth, optical flow information, acceleration of the motion sensor or angular velocity of the motion sensor, the depth representing a distance between the motion sensor and the target object, the optical flow information representing information of a motion velocity of a relative motion between the motion sensor and the target object.
16. The device according to any one of claims 11-15, wherein,

    the processing module is further configured to terminate an iteration if a result of a current iteration meets a preset condition in the process of updating the arbitrary iteration, where the termination condition includes at least one of the following: and iteratively updating the at least one frame of event images for a preset number of times or enabling the value change of the optimization model in the updating process of the at least one frame of event images to be smaller than a preset value.
17. An image processing apparatus, comprising:

    the processing module is used for generating at least one frame of event image according to the motion information, wherein the motion information comprises information of a motion track of a target object when the target object moves within a detection range of the motion sensor, and the at least one frame of event image comprises an image representing the motion track of the target object when the target object moves within the detection range;

    An acquisition module for acquiring motion parameters representing parameters of relative motion between the motion sensor and the target object;

    the processing module is further used for initializing a preset value of the optimization model according to the motion parameters to obtain the value of the optimization model;

    and the processing module is further used for updating the at least one frame of event image according to the value of the optimization model to obtain the updated at least one frame of event image.
18. The apparatus of claim 17, wherein the motion parameters comprise one or more of: depth, optical flow information, acceleration of the motion sensor or angular velocity of the motion sensor, the depth representing a distance between the motion sensor and the target object, the optical flow information representing information of a motion velocity of a relative motion between the motion sensor and the target object.
19. The apparatus according to claim 17 or 18, wherein the acquisition module is specifically configured to:

    acquiring data acquired by an Inertial Measurement Unit (IMU) sensor;

    and calculating the motion parameters according to the data acquired by the IMU sensor.
20. The apparatus of claim 19, wherein the device comprises a plurality of sensors,

    the processing module is further configured to update parameters of the IMU sensor according to the value of the optimization model after initializing the value of the preset optimization model according to the motion parameter, where the parameters of the IMU sensor are used for the IMU sensor to collect data.
21. An image processing apparatus comprising a processor and a memory, said processor being coupled to said memory, characterized in that,

    the memory is used for storing programs;

    the processor configured to execute a program in the memory, so that the image processing apparatus performs the method according to any one of claims 1 to 6 or 7 to 10.
22. A computer readable storage medium comprising a program which, when run on a computer, causes the computer to perform the method of any of claims 1-6 or 7-10.
23. A computer program product containing instructions which, when run on a computer, cause the computer to perform the method of any of claims 1-6 or 7-10.

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