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EP-3893489-B1 - IMAGE PROCESSING METHOD, CONTROLLER, IMAGE ACQUISITION APPARATUS, UNMANNED AERIAL VEHICLE AND READABLE STORAGE MEDIUM

EP3893489B1EP 3893489 B1EP3893489 B1EP 3893489B1EP-3893489-B1

Inventors

  • LI, ZHAOZAO

Dates

Publication Date
20260506
Application Date
20191226

Claims (10)

  1. An image processing method, applicable to a controller (10) of an image acquisition apparatus (102), the image acquisition apparatus (102) further comprising a camera apparatus (20) communicatively connected to the controller (10), characterized in that the image processing method comprises: converting (101) an original image signal obtained by the camera apparatus (20) to a digital image signal; splitting (102) the digital image signal into two paths to obtain a first-path digital image signal and a second-path digital image signal; performing (103) image processing on the first-path digital image signal to obtain first image data satisfying quality requirements for a video file, wherein the image processing for obtaining the first image data includes an intra-frame image processing and an inter-frame image processing; performing (103) compression processing on the first image data to obtain a video file; performing (104) image processing on the second-path digital image signal to obtain second image data satisfying quality requirements for a picture file, wherein the image processing for obtaining the second image data includes only an intra-frame image processing; and performing (104) compression processing on the second image data to obtain a picture file.
  2. The image processing method according to claim 1, characterized in that before the performing (103) image processing on the first-path digital image signal to obtain first image data, the method further comprises: performing shrinking processing on the first-path digital image signal to obtain third image data; and the performing (103) image processing on the first-path digital image signal to obtain first image data comprises: performing image processing on the third image data to obtain the first image data.
  3. The image processing method according to claim 2, characterized in that the method further comprises: obtaining current brightness information based on the third image data; and setting an exposure parameter of the camera apparatus according to the current brightness information.
  4. The image processing method according to claim 3, characterized in that the obtaining current brightness information based on the third image data comprises: obtaining an average brightness of the third image data.
  5. The image processing method according to claim 3 or 4, characterized in that the obtaining current brightness information based on the third image data comprises: obtaining a histogram of the third image data; and obtaining the current brightness information according to the histogram of the third image data.
  6. The image processing method according to claim 5, characterized in that the obtaining a histogram of the third image data comprises: dividing an image corresponding to the third image data into m×n regions, and obtaining average brightnesses of the regions, m representing a quantity of rows, and n representing a quantity of columns; equally dividing the regions in a range from a preset minimum brightness value to a preset maximum brightness value into at least two range intervals; for each of the range intervals, performing summation on ones of the average brightnesses of the regions that fall within the range interval to obtain a statistical brightness of the range interval; and obtaining the histogram of the third image data according to the range intervals and the statistical brightnesses corresponding to the range intervals.
  7. A controller (10), characterized by comprising: at least one processor (11), and a memory (12), communicatively connected to the at least one processor (11), the memory (12) storing instructions executable by the at least one processor (11), the instructions, when executed by the at least one processor (11), causing the at least one processor (11) to perform the method according to any of claims 1 to 6.
  8. An image acquisition apparatus (102), characterized by comprising: a camera apparatus (20), configured to obtain an image of a target area; the controller (10) according to claim 7, which is communicatively connected to the camera apparatus (20).
  9. An unmanned aerial vehicle (UAV), characterized by comprising: a body (101); an arm, connected to the body (101); a power apparatus, disposed on the arm; and the image acquisition apparatus (102) according to claim 8, the image acquisition apparatus (102) being disposed on the body (101).
  10. A non-volatile computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, the computer-executable instructions, when executed by an unmanned aerial vehicle (UAV), causing the UAV (100) to perform the method according to any of claims 1 to 6.

Description

Cross Reference The present application is a continuation of the International Application No. PCT/CN2019/128768, filed on December 24, 2019, which claims priority of Chinese patent No. 2018116009767, filed on December 26, 2018. BACKGROUND Technical Field Embodiments of the present invention relate to the field of unmanned aerial vehicles (UAV) technologies, and in particular, to an image processing method, apparatus and UAV. Related Art With the development of UAV technologies, a UAV is widely used in aerial photography. The UAV takes an image of a target area by using a camera apparatus disposed on the UAV and transmits the image to an electronic device on the ground for viewing by a user. In order to satisfy various application requirements, the image taken by the camera apparatus is usually split into two paths. One of the paths is processed into a video file and the other of the paths is processed into a picture file, so that the user can view the picture or the video of the target area on the electronic device. In a current processing method, a controller converts an original image signal obtained by the camera apparatus to a digital image signal, performs image processing on the digital image signal and then splits a processed image into two paths. One of the paths is processed into a video file and the other of the paths is processed into a picture file. During implementation of the present invention, it is found that there are at least the following problems in the related art: good image quality is preferentially required when the controller performs the image processing on the digital image signal. Otherwise, image quality of an obtained video file cannot be guaranteed. US 20150364158 A1 discloses a method includes receiving a plurality of image frames corresponding to a video stream, a first image frame having a first resolution and a second image frame having a second resolution that is lower than the first resolution, detecting a trigger by analyzing the second image frame, and designating the first image frame as an action frame based on the trigger. EP 2627074 A1 discloses an image capture method and image capture system, with the aid of separating data paths for generating preview frames, for generating video frames, and for generating encoded camera frames of an image fetching system in a concurrent and mutually-independent manner, the image fetching system is free from introducing unnecessary shutter lags. CN 101399924 A discloses an automatic exposure method based on a brightness column diagram including dividing an input image into N*N image blocks, calculating the average imaging brightness, dividing the bright column diagram into three areas; for the N*N average bright values, judging whether each average brightness value falls in each sub-area of the underexposure area or the overexposure area, and calculating the overexposure value. CN 109040840 A discloses an image transmission method comprising getting the original image, converting the original image into a first image, the first image being an image conforming to an audio and video interface format, converting the first image into a second image, the second image being an image conforming to an image receiving end interface format, and encoding the second image to obtain an encoded image. US 20130209056 A1 discloses a digital photographing apparatus including a central processing unit/digital signal processor, an analog signal processor, a moving image resizing unit, a still image correcting unit, and a photographing unit, where the analog signal processor performs analog-to-digital conversion, the moving image resizing unit resizes the moving image frame to have resolution of a moving image file, the moving image encoder encodes moving image frames to generate a moving image file, and the still image correcting unit performs processes and generates a still image file. SUMMARY Embodiments of the present invention are intended to provide an image processing method, apparatus and UAV, which can improve image quality of a video while ensuring image quality of a picture. In a first aspect, an embodiment of the present invention provides an image processing method applicable to a controller of an image acquisition apparatus as defined by the appended set of claims. In a second aspect, an embodiment of the present invention provides a controller as defined by the appended set of claims. In a third aspect, an embodiment of the present invention provides an image acquisition apparatus as defined by the appended set of claims. In a fourth aspect, an embodiment of the present invention provides a UAV as defined by the appended set of claims. In a fifth aspect, an embodiment of the present invention provides a non-volatile computer-readable storage medium as defined by the appended set of claims. By means of the image processing method, apparatus and UAV in the embodiments of the present invention, the digital image signal is split into tw