Electronic image stabilization method and device for vehicle-mounted camera and readable storage medium

Abstract

The invention provides electronic image stabilization method and device of the vehicle-mounted camera and readable storage medium. The method comprises determining a moving object recognition area ofa first reference image collected at the last moment and a plurality of feature points in an area outside the moving object recognition area of the first reference image; obtaining reference points corresponding to the feature points from a second reference image collected at the current moment; determining a first affine transformation matrix according to each feature point and each correspondingreference point; determining a compensation parameter according to a difference value between an observed quantity and a state quantity in the first affine transformation matrix; determining a secondaffine transformation matrix according to the compensation parameter, transforming the second reference image through the second affine transformation matrix to obtain the stable image at the current moment, and therefore the feature points in the moving object recognition area where the moving object in the image is located are removed, the influence of the moving object on moving parameter estimation is avoided, and the image stabilization accuracy is improved.

Description

technical field [0001] The invention relates to digital image processing technology, in particular to an electronic image stabilization method, device and readable storage medium for a vehicle-mounted camera. Background technique [0002] With the rapid development of assisted driving technology and unmanned driving technology, on-board cameras with image processing functions have become an indispensable part of its technical composition. Generally, the bumps generated when the vehicle is driving will cause the image collected by the on-board camera to shake, which will affect the accuracy of the positioning results obtained based on the image in assisted driving and unmanned driving. Therefore, how to ensure the stability of the image captured by the vehicle camera has become the focus of research. [0003] Electronic stabilization is a method of estimating and compensating for camera shake in successive frames. In the existing electronic image stabilization methods, the ...

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Problems solved by technology

[0004] However, since there will be a large number of moving objects such as pedestrians and vehicles in the images captured by the vehicle-mounted camera, the existing electronic image stabilization methods need to use the feature points in the reference frame as the basis and compare the corresponding feature points in the current frame. And calculation, it is not very suitable for images with a large number of moving objects, which makes the existing electronic image stabilization methods have reliability problems when processing images of the type mentioned above

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