Optical flow computation system and method
Optical flow computation system and method
 CN 102,509,071 B
 Filed: 10/14/2011
 Issued: 04/13/2016
 Est. Priority Date: 10/14/2011
 Status: Active Grant
First Claim
1. an optical flow computation system, is characterized in that, it comprises:
 Characteristic extracting module, successively the pixel characteristic of correspondence value of calculating input image;
Characteristic matching module, the Optic flow information that the pixel of calculating input image is corresponding successively;
Features monitor module, by from described characteristic extracting module pixel characteristic of correspondence value and carry out synchronously from the Optic flow information that the pixel of described characteristic matching module is corresponding, and determine whether based on a pixel characteristic of correspondence value Optic flow information exporting this pixelDescribed characteristic extracting module, described characteristic matching module and described features monitor module work under same clock,Described characteristic extracting module every N number of clock period exports a pixel characteristic of correspondence value,Described characteristic matching module every N number of clock period exports Optic flow information corresponding to a pixel,Described features monitor module every N number of clock period determines whether based on the eigenwert of a pixel Optic flow information exporting this pixel, wherein N be more than or equal to 1 natural number,Described characteristic matching module also comprises pixel value difference computing module, multiple image block difference calculating module and minimum value and selects module,Described pixel value difference computing module calculates the margin of image element of the pixel of a pixel of the present frame input picture all position candidate corresponding in previous frame input picture with this pixel, and this pixel and the margin of image element of the pixel of each position candidate are exported to a corresponding image block difference calculating module;
Each image block difference calculating module add up margin of image element corresponding to all pixels in the image block centered by a pixel of present frame input picture and;
The margin of image element that all pixels in the same image block of the present frame input picture that described minimum value selects module to add up from each image block difference calculating module are corresponding and find minimum value, using the central pixel point location of pixels in previous frame input picture of position candidate corresponding for image block difference calculating module corresponding for this minimum value as this image block of present frame input picture, and then the Optic flow information that the central pixel point of this image block obtaining present frame input picture is correspondingDescribed image block difference calculating module comprises row accumulation module, row buffer module and row accumulation module,Described row accumulation module add up the margin of image element corresponding with a pixel uptodate M the pixel that be row center of present frame input picture and, and row accumulated result accumulated result being used as described row central pixel point corresponding exports to row buffer module;
Described row buffer module is pushup storage, the row accumulated result of the capable pixel of its buffer memory L;
Described row accumulation module calculate with a pixel be the row accumulated result of row L the pixel at row center and, and accumulated result is used as row accumulated result output corresponding to described row central pixel point,Row accumulated result corresponding to this row central pixel point be exactly margin of image element corresponding to all pixels in the high image block of M the wide L of a pixel pixel centered by this row central pixel point and, L and M be more than or equal to 3 odd number,Described characteristic extracting module comprises horizontal gradient computing module, VG (vertical gradient) computing module, the first multiplication unit, the second multiplication unit, the 3rd multiplication unit, the first cumulative unit, the second cumulative unit, the 3rd cumulative unit and characteristic value calculating module, whereinThe horizontal gradient of the described horizontal gradient computing module pixel of calculating input image successively;
The VG (vertical gradient) of the described VG (vertical gradient) computing module pixel of calculating input image successively;
First multiplication unit calculates the square value of the horizontal gradient of the pixel from described horizontal gradient computing module successively, and result of calculation is exported to the first cumulative unit;
Second multiplication unit calculates the product from the horizontal gradient of the pixel of described horizontal gradient computing module and the VG (vertical gradient) from the corresponding pixel points of described VG (vertical gradient) computing module successively, and result of calculation is exported to the second cumulative unit;
3rd multiplication unit calculates the square value of the VG (vertical gradient) of the pixel from described VG (vertical gradient) computing module successively, and result of calculation is exported to the 3rd cumulative unit;
First cumulative unit add up the square value of the horizontal gradient of all pixels in the window centered by a pixel of described input picture and, second cumulative unit add up the horizontal gradient of all pixels in the window centered by a pixel of described input picture and the product of VG (vertical gradient) and, the 3rd cumulative unit add up the square value of the VG (vertical gradient) of all pixels in the window centered by a pixel of described input picture and;
Described characteristic value calculating module calculates the eigenwert of this window according to the accumulated result for the same window of the first cumulative unit, the second cumulative unit and the 3rd cumulative unit, and using the central pixel point characteristic of correspondence value of the eigenwert of this window as this window,Described characteristic matching module also comprises the first memory module and the second memory module, in the memory module that present frame input picture is stored therein, next frame input picture then can be stored in another memory module, what one of them memory module stored like this is present frame input picture, another memory module stores previous frame input pictureFirst memory module comprises the first memory module and the first cache module, second memory module comprises the second memory module and the second cache module, cache module in described memory module is pushup storage, it stores the pixel value of the pixel of predetermined row, memory module in described memory module stores the pixel value of the pixel of the remaining row of a two field picture, the pixel value of the pixel of storage exports in the cache module with group by memory module successively that store in the memory module of previous frame input pictureThe pixel value of the pixel of all position candidate corresponding in previous frame input picture with the pixel of present frame input picture is obtained in the cache module of described pixel value difference computing module from the memory module storing previous frame input picture.
Chinese PRB Reexamination
Abstract
The invention discloses a kind of optical flow computation system and method, described optical flow computation system comprises: characteristic extracting module, successively the pixel characteristic of correspondence value of calculating input image; Characteristic matching module, the Optic flow information that the pixel of calculating input image is corresponding successively; Features monitor module, is undertaken pixel characteristic of correspondence value and Optic flow information corresponding to pixel synchronously, and determines whether based on a pixel characteristic of correspondence value Optic flow information exporting this pixel.Have employed the hardware account form of streaming in the present invention to realize characteristic matching and the feature extraction of the pixel of input picture, along with the input of each pixel of image, each pixel characteristic of correspondence value and Optic flow information can complete by flowing water, therefore can provide dense Optic flow information.And owing to there being the instruction of eigenwert, the light stream only with the pixel of desirable features just can be output, and can react the real motion situation of target so preferably.
2 Claims

1. an optical flow computation system, is characterized in that, it comprises:

Characteristic extracting module, successively the pixel characteristic of correspondence value of calculating input image; Characteristic matching module, the Optic flow information that the pixel of calculating input image is corresponding successively; Features monitor module, by from described characteristic extracting module pixel characteristic of correspondence value and carry out synchronously from the Optic flow information that the pixel of described characteristic matching module is corresponding, and determine whether based on a pixel characteristic of correspondence value Optic flow information exporting this pixel Described characteristic extracting module, described characteristic matching module and described features monitor module work under same clock, Described characteristic extracting module every N number of clock period exports a pixel characteristic of correspondence value, Described characteristic matching module every N number of clock period exports Optic flow information corresponding to a pixel, Described features monitor module every N number of clock period determines whether based on the eigenwert of a pixel Optic flow information exporting this pixel, wherein N be more than or equal to 1 natural number, Described characteristic matching module also comprises pixel value difference computing module, multiple image block difference calculating module and minimum value and selects module, Described pixel value difference computing module calculates the margin of image element of the pixel of a pixel of the present frame input picture all position candidate corresponding in previous frame input picture with this pixel, and this pixel and the margin of image element of the pixel of each position candidate are exported to a corresponding image block difference calculating module; Each image block difference calculating module add up margin of image element corresponding to all pixels in the image block centered by a pixel of present frame input picture and; The margin of image element that all pixels in the same image block of the present frame input picture that described minimum value selects module to add up from each image block difference calculating module are corresponding and find minimum value, using the central pixel point location of pixels in previous frame input picture of position candidate corresponding for image block difference calculating module corresponding for this minimum value as this image block of present frame input picture, and then the Optic flow information that the central pixel point of this image block obtaining present frame input picture is corresponding Described image block difference calculating module comprises row accumulation module, row buffer module and row accumulation module, Described row accumulation module add up the margin of image element corresponding with a pixel uptodate M the pixel that be row center of present frame input picture and, and row accumulated result accumulated result being used as described row central pixel point corresponding exports to row buffer module; Described row buffer module is pushup storage, the row accumulated result of the capable pixel of its buffer memory L; Described row accumulation module calculate with a pixel be the row accumulated result of row L the pixel at row center and, and accumulated result is used as row accumulated result output corresponding to described row central pixel point, Row accumulated result corresponding to this row central pixel point be exactly margin of image element corresponding to all pixels in the high image block of M the wide L of a pixel pixel centered by this row central pixel point and, L and M be more than or equal to 3 odd number, Described characteristic extracting module comprises horizontal gradient computing module, VG (vertical gradient) computing module, the first multiplication unit, the second multiplication unit, the 3rd multiplication unit, the first cumulative unit, the second cumulative unit, the 3rd cumulative unit and characteristic value calculating module, wherein The horizontal gradient of the described horizontal gradient computing module pixel of calculating input image successively; The VG (vertical gradient) of the described VG (vertical gradient) computing module pixel of calculating input image successively; First multiplication unit calculates the square value of the horizontal gradient of the pixel from described horizontal gradient computing module successively, and result of calculation is exported to the first cumulative unit; Second multiplication unit calculates the product from the horizontal gradient of the pixel of described horizontal gradient computing module and the VG (vertical gradient) from the corresponding pixel points of described VG (vertical gradient) computing module successively, and result of calculation is exported to the second cumulative unit; 3rd multiplication unit calculates the square value of the VG (vertical gradient) of the pixel from described VG (vertical gradient) computing module successively, and result of calculation is exported to the 3rd cumulative unit; First cumulative unit add up the square value of the horizontal gradient of all pixels in the window centered by a pixel of described input picture and, second cumulative unit add up the horizontal gradient of all pixels in the window centered by a pixel of described input picture and the product of VG (vertical gradient) and, the 3rd cumulative unit add up the square value of the VG (vertical gradient) of all pixels in the window centered by a pixel of described input picture and; Described characteristic value calculating module calculates the eigenwert of this window according to the accumulated result for the same window of the first cumulative unit, the second cumulative unit and the 3rd cumulative unit, and using the central pixel point characteristic of correspondence value of the eigenwert of this window as this window, Described characteristic matching module also comprises the first memory module and the second memory module, in the memory module that present frame input picture is stored therein, next frame input picture then can be stored in another memory module, what one of them memory module stored like this is present frame input picture, another memory module stores previous frame input picture First memory module comprises the first memory module and the first cache module, second memory module comprises the second memory module and the second cache module, cache module in described memory module is pushup storage, it stores the pixel value of the pixel of predetermined row, memory module in described memory module stores the pixel value of the pixel of the remaining row of a two field picture, the pixel value of the pixel of storage exports in the cache module with group by memory module successively that store in the memory module of previous frame input picture The pixel value of the pixel of all position candidate corresponding in previous frame input picture with the pixel of present frame input picture is obtained in the cache module of described pixel value difference computing module from the memory module storing previous frame input picture.


2. optical flow computation system according to claim 1, is characterized in that, the modules in described characteristic extracting module or cell operation are under same clock, and modules or unit every N number of clock period export a result of calculation.
Specification(s)