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CN-122027897-A - Anti-shake method for observation equipment and observation equipment

CN122027897ACN 122027897 ACN122027897 ACN 122027897ACN-122027897-A

Abstract

The application provides an anti-shake method of observation equipment, which comprises the steps of acquiring a temperature value detected by a temperature sensor, compensating the motion parameter detected by the motion sensor by using the compensation parameter if the observation equipment determines the compensation parameter of the motion sensor based on the temperature value, obtaining the compensated motion parameter, carrying out anti-shake processing on an image acquired by the image sensor by using the compensated motion parameter, and carrying out anti-shake processing on the image acquired by the image sensor based on the image matching of at least two images acquired by the image sensor if the observation equipment does not determine the compensation parameter of the motion sensor based on the temperature value, thereby solving the problem of unstable anti-shake performance caused by temperature drift.

Inventors

  • WANG WEI

Assignees

  • 杭州微影软件有限公司

Dates

Publication Date
20260512
Application Date
20260127

Claims (10)

  1. 1. An anti-shake method of an observation apparatus having a motion sensor, an image sensor, and a temperature sensor, the method comprising: Acquiring a temperature value detected by the temperature sensor; if the observation equipment determines the compensation parameter of the motion sensor based on the temperature value, the compensation parameter is adopted to compensate the motion parameter detected by the motion sensor, the compensated motion parameter is obtained, and the image acquired by the image sensor is subjected to anti-shake processing by adopting the compensated motion parameter; And if the observation equipment does not determine the compensation parameters of the motion sensor based on the temperature value, performing anti-shake processing on the currently acquired image based on image matching of at least two images acquired by the image sensor.
  2. 2. The anti-shake method according to claim 1, wherein the observation device stores compensation parameters of the motion sensor corresponding to the calibration temperature; if the temperature value detected by the temperature sensor does not belong to the calibration temperature, judging that the observation equipment does not determine the compensation parameter of the motion sensor based on the temperature value; the method further comprises the steps of: And executing automatic calibration of the compensation parameters of the motion sensor, wherein the automatic calibration comprises the step of calibrating the compensation parameters corresponding to the current temperature when the observation equipment meets the preset calibration conditions, and the preset calibration conditions comprise the step of enabling the observation equipment to meet the set static conditions.
  3. 3. The method of claim 2, wherein the step of determining the position of the substrate comprises, And executing the step of automatically calibrating the compensation parameters of the motion sensor in parallel in the step of performing anti-shake processing on the currently acquired image based on the image matching of at least two images acquired by the image sensor.
  4. 4. The method according to claim 2, wherein the method further comprises: and if the observing equipment does not determine the compensation parameter of the motion sensor based on the temperature value, prompting a user to stop the observing equipment.
  5. 5. The method of claim 1, wherein the motion sensor comprises a gyroscope and/or an angular velocity meter, Compensating the motion parameters detected by the motion sensor by adopting the compensation parameters, comprising: Obtaining a current angular velocity of the gyroscope and/or the angular velocity meter, performing motion estimation on the observation device based on the compensation parameter, correcting a field angle of an output image of the observation device based on a motion estimation result, and/or, And correcting the motion offset between the pixels of adjacent rows and columns output by the observation equipment based on the current angular velocity and the compensation parameter.
  6. 6. The method according to claim 2 or 4, wherein performing automatic calibration of compensation parameters of the motion sensor comprises: acquiring a temperature value of the temperature sensor and an angular velocity of the motion sensor in a continuous preset time period; under the condition that the collection amount of the angular velocity reaches a preset collection threshold value, calculating the average value of a plurality of angular velocities recorded in the continuous preset time period to obtain an angular velocity reference value; Acquiring a current temperature value and/or a temperature value average value in the continuous preset time period as a calibration temperature; and storing the angular speed reference value and the calibration temperature serving as new addition parameters obtained through calibration into a temperature drift compensation matrix.
  7. 7. The method of claim 2, wherein the method further comprises: After the starting time of the observation equipment reaches a preset starting time threshold, collecting a temperature value detected by the temperature sensor and a plurality of angular speeds of the motion sensor; calculating an angular velocity peak-to-peak value according to the maximum value and the minimum value of the plurality of angular velocities; And if the maximum angular velocity peak value of the motion sensor exceeds the stationary state angular velocity peak value in a continuous preset time period, judging that the observation equipment meets a stationary condition, wherein the stationary state angular velocity peak value is obtained through stationary state test in a production calibration stage of the motion sensor.
  8. 8. The method of claim 7, wherein the stationary state angular velocity peak-to-peak value is obtained by a stationary state test at a production calibration stage of the motion sensor, comprising: In the static state test, under the condition that jump is not generated in the internal temperature of the motion sensor, calculating the peak value of the static state angular velocity according to the maximum value and the minimum value in a plurality of angular velocities acquired by the motion sensor, wherein the jump comprises at least one of random jump, periodic jump, gradual jump and step jump.
  9. 9. The method of claim 6, wherein the observing apparatus determining the compensation parameter of the motion sensor based on the temperature value comprises: acquiring an angular velocity reference value corresponding to the current temperature value from the temperature drift parameter compensation matrix based on the current temperature value detected by the temperature sensor; And acquiring the compensation parameters of the motion sensor based on the angular velocity reference value and the temperature drift curve of the temperature drift parameter compensation matrix by combining the following formulas: , Wherein the method comprises the steps of As a value of the current temperature of the water, For the last temperature value, the temperature interval value of the current temperature value and the last temperature value is determined according to the temperature drift curve of the temperature drift parameter compensation matrix, For the current temperature value The corresponding reference value of the angular velocity, For the current angular velocity acquired by the motion sensor, Is the compensation parameter.
  10. 10. An observation device is characterized by comprising a motion sensor, an image sensor, a temperature sensor and a processor, The processor executes a computer readable program to implement the method of any one of claims 1, 2, 3, 4, 5 and 7-9.

Description

Anti-shake method for observation equipment and observation equipment Technical Field The present application relates to the field of image processing technologies, and in particular, to an anti-shake method for an observation device and an observation device. Background In observation devices (such as smartphones, motion cameras, unmanned aerial vehicle holders), anti-shake can be performed through gyroscopes. However, the gyroscope output signal may generate non-target deviation due to environmental temperature change (such as equipment heating and low-temperature environment), so as to cause angular velocity measurement error, and this phenomenon is called temperature drift (Temperature Drift), which is abbreviated as temperature drift. This offset is not caused by actual physical movement, but rather by changes in parameters inside the sensor caused by temperature fluctuations, and therefore may cause the anti-shake system to misjudge the posture of the device, misidentify the temperature drift as "false shake". Thus, if the observer compensates for erroneous data based on "false jitter", picture jitter or delay (e.g., slow drift in video) may instead be introduced. How to solve the problem of picture jitter or delay caused by temperature drift when using a gyroscope for anti-shake becomes an anti-shake dilemma to be solved in the present stage. Disclosure of Invention The application aims to provide an anti-shake method for an observation device, which is used for solving the problem of picture shake or delay caused by temperature drift in the anti-shake process of the observation device. In a first aspect, the present application provides an anti-shake method for an observation apparatus having a motion sensor, an image sensor, and a temperature sensor, the method comprising: Acquiring a temperature value detected by the temperature sensor; if the observation equipment determines the compensation parameter of the motion sensor based on the temperature value, the compensation parameter is adopted to compensate the motion parameter detected by the motion sensor, the compensated motion parameter is obtained, and the image acquired by the image sensor is subjected to anti-shake processing by adopting the compensated motion parameter; And if the observation equipment does not determine the compensation parameters of the motion sensor based on the temperature value, performing anti-shake processing on the currently acquired image based on image matching of at least two images acquired by the image sensor. Optionally, the observation device stores compensation parameters of the motion sensor corresponding to the calibration temperature; if the temperature value detected by the temperature sensor does not belong to the calibration temperature, judging that the observation equipment does not determine the compensation parameter of the motion sensor based on the temperature value; the method further comprises the steps of: And executing automatic calibration of the compensation parameters of the motion sensor, wherein the automatic calibration comprises the step of calibrating the compensation parameters corresponding to the current temperature when the observation equipment meets the preset calibration conditions, and the preset calibration conditions comprise the step of enabling the observation equipment to meet the set static conditions. Optionally, the step of performing automatic calibration of compensation parameters of the motion sensor is performed in parallel during the step of performing anti-shake processing on the currently acquired image based on image matching of at least two images acquired by the image sensor. Optionally, the method further comprises: and if the observing equipment does not determine the compensation parameter of the motion sensor based on the temperature value, prompting a user to stop the observing equipment. Optionally, the motion sensor comprises a gyroscope and/or an angular velocity meter, Compensating the motion parameters detected by the motion sensor by adopting the compensation parameters, comprising: Obtaining a current angular velocity of the gyroscope and/or the angular velocity meter, performing motion estimation on the observation device based on the compensation parameter, correcting a field angle of an output image of the observation device based on a motion estimation result, and/or, And correcting the motion offset between the pixels of adjacent rows and columns output by the observation equipment based on the current angular velocity and the compensation parameter. Optionally, performing automatic calibration of compensation parameters of the motion sensor includes: acquiring a temperature value of the temperature sensor and an angular velocity of the motion sensor in a continuous preset time period; under the condition that the collection amount of the angular velocity reaches a preset collection threshold value, calculating the average value of a plurality