CN115170676A - Sensor calibration and image correction method and device, electronic equipment and storage medium - Google Patents

Abstract

The present application relates to a sensor calibration method, apparatus, computer equipment, storage medium and computer program product. The method includes: acquiring a calibration image captured by each sensor; obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor; obtaining a second image according to the first image corresponding to each sensor; for each sensor a sensor, and a compensation value of the light response non-uniformity of the sensor is determined according to the first image and the second image corresponding to the sensor. The method can shield noises other than PRNU to a large extent, and then can accurately determine the light response non-uniformity compensation value of the sensor according to the first image and the second image corresponding to the sensor.

Description

Sensor calibration and image correction method, device, electronic device and storage medium

technical field

The present application relates to the field of imaging technologies, and in particular, to a sensor calibration and image correction method, device, electronic device, and computer-readable storage medium.

Background technique

With the rapid popularization of electronic devices such as smartphones and tablet computers, electronic devices have become an indispensable part of life. An important function of electronic devices is to take pictures. With the development of camera technology, people have higher and higher requirements on the imaging quality of the captured images.

In order to achieve better imaging quality and provide more dynamic range and image details, the FWC (Full Well Capacity, full well capacitance) on the imaging sensor is also increasing. In the same situation, the larger the FWC, the more electrons it accepts, the stronger the electrical signal, the higher the signal-to-noise ratio, and the better the image quality.

However, while the FWC continues to increase, due to the influence of the PRNU (Photo Response Non-Uniformity) existing in the imaging sensor, the corresponding noise will also increase.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a sensor calibration and image correction method, apparatus, electronic device, and computer-readable storage medium, which can reduce noise generated by PRNU.

In a first aspect, the present application provides a sensor calibration method. The method includes:

Obtain the calibration images captured by each sensor;

obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor;

obtaining a second image according to the first image corresponding to each sensor;

For each sensor, a light response non-uniformity compensation value of the sensor is determined according to the first image and the second image corresponding to the sensor.

In a second aspect, the present application also provides a sensor calibration device. The device includes:

The calibration image acquisition module is used to acquire the calibration images captured by each sensor;

a first data processing module, configured to obtain a first image corresponding to the sensor according to the calibration image captured by the same sensor;

a second data processing module, configured to obtain a second image according to the first image corresponding to each sensor;

The compensation data determination module is configured to, for each sensor, determine the compensation value of the light response non-uniformity of the sensor according to the first image and the second image corresponding to the sensor.

In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the calibration images captured by each sensor;

obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor;

obtaining a second image according to the first image corresponding to each sensor;

For each sensor, a light response non-uniformity compensation value of the sensor is determined according to the first image and the second image corresponding to the sensor.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by the processor, the following steps are implemented:

Obtain the calibration images captured by each sensor;

obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor;

obtaining a second image according to the first image corresponding to each sensor;

For each sensor, a light response non-uniformity compensation value of the sensor is determined according to the first image and the second image corresponding to the sensor.

In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

Obtain the calibration images captured by each sensor;

obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor;

obtaining a second image according to the first image corresponding to each sensor;

For each sensor, a light response non-uniformity compensation value of the sensor is determined according to the first image and the second image corresponding to the sensor.

The above-mentioned sensor calibration method, device, electronic device, readable storage medium and computer program product, by acquiring the calibration image captured by each sensor, and according to the calibration image captured by the same sensor, the first image corresponding to the sensor is obtained, and the first image corresponding to each sensor is obtained according to the first image corresponding to each sensor. An image is obtained to obtain a second image, and for each sensor, the compensation value of the light response non-uniformity of the sensor is determined according to the first image and the second image corresponding to the sensor. For the calibration images captured by each sensor, the present application first processes the calibration images captured by the same sensor to obtain a first image, and then processes the first images corresponding to each sensor to obtain a second image, which can largely shield and remove the Noise other than PRNU, and then the compensation value of the light response non-uniformity of the sensor can be accurately determined according to the first image and the second image corresponding to the sensor.

In a sixth aspect, the present application provides an image correction method. The method includes:

Acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification;

When the sensor identification is the same as the calibration sensor identification, correcting the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain a target image;

When the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

Send a calibration data update request to the server according to the sensor identification;

Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the optical response corresponding to the calibration sensor identification Both the non-uniformity compensation value and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method.

In a seventh aspect, the present application further provides an image correction device. The device includes:

a calibration data acquisition module, used for acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification;

a first correction module, configured to correct the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification when the sensor identification is the same as the calibration sensor identification to obtain a target image;

a second correction module, configured to acquire default compensation data when the sensor identification is different from the calibration sensor identification, and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

an update request sending module, configured to send a calibration data update request to the server according to the sensor identifier;

an update data receiving module, configured to receive the optical response non-uniformity compensation value that matches the sensor identifier and sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the Both the optical response non-uniformity compensation value corresponding to the calibration sensor identification and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method.

In an eighth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification;

When the sensor identification is the same as the calibration sensor identification, correcting the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain a target image;

When the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

Send a calibration data update request to the server according to the sensor identification;

Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the optical response corresponding to the calibration sensor identification Both the non-uniformity compensation value and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method.

In a ninth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by the processor, the following steps are implemented:

Acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification;

When the sensor identification is the same as the calibration sensor identification, correcting the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain a target image;

When the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

Send a calibration data update request to the server according to the sensor identification;

Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the optical response corresponding to the calibration sensor identification Both the non-uniformity compensation value and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method.

In a tenth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

Acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification;

When the sensor identification is the same as the calibration sensor identification, correcting the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain a target image;

When the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

Send a calibration data update request to the server according to the sensor identification;

Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the optical response corresponding to the calibration sensor identification Both the non-uniformity compensation value and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method.

The above-mentioned image correction method, device, electronic device, readable storage medium and computer program product, by acquiring the sensor identification and sensor calibration data, wherein the sensor calibration data includes the calibration sensor identification and the calibration sensor identification corresponding to the light response inhomogeneity compensation value ; When the sensor identification is the same as the calibration sensor identification, the initial image obtained by the sensor is corrected according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification, and the target image is obtained; when the sensor identification and the calibration sensor identification are different, the Default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain the target image; send a calibration data update request to the server according to the sensor identification; receive the optical response that matches the sensor identification sent by the server according to the calibration data update request. The uniformity compensation value is stored, and the optical response non-uniformity compensation value is saved; wherein, the optical response non-uniformity compensation value corresponding to the calibration sensor identification and the optical response non-uniformity compensation value sent by the server are obtained according to the above sensor calibration method. In the present application, the light response non-uniformity compensation value corresponding to the sensor identification can be obtained in time by means of local storage and server transmission, and the initial image obtained by the sensor can be corrected by the accurate light response non-uniformity compensation value, so that it can better Improve the quality of the target image.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a schematic diagram of the comparison of signal-to-noise ratios corresponding to different PRNUs in one embodiment;

2 is an application environment diagram of a sensor calibration method and an image correction method in one embodiment;

3 is a flowchart of a sensor calibration method in one embodiment;

Fig. 4 is the photographing schematic diagram of the calibration image in one embodiment;

5 is a flowchart of step 304 in one embodiment;

6 is a flowchart of step 306 in one embodiment;

Figure 7 is a flowchart of step 308 in one embodiment;

8 is a flowchart of step 702 in one embodiment;

Figure 9 is a flowchart of step 704 in one embodiment;

10 is a flowchart of an image correction method in one embodiment;

Figure 11 is a flowchart of step 1004 in one embodiment;

12 is a flowchart of a sensor calibration method in another embodiment;

13 is a flowchart of a sensor calibration method in another embodiment;

14 is a flowchart of an image correction method in another embodiment;

Fig. 15 is a structural block diagram of a sensor calibration device in one embodiment;

16 is a structural block diagram of an image correction apparatus in one embodiment;

Figure 17 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

Due to the limitation of the volume factor of electronic equipment, it is not possible to increase the volume of the photosensitive element and the corresponding hardware processing structure to enhance the image quality. Therefore, most of the traditional methods improve the image quality by acquiring multiple frames of images for fusion. Two aspects are carried out, one is to improve the clarity, and the other is to improve the SNR (Signal-Noise Ratio, signal-to-noise ratio). However, as the FWC of the sensor continues to increase, the Nfp (fixed patternnoise, fixed noise) caused by the PRNU will also become the main noise, thereby hindering further improvement of the image quality.

In an example, the calculation method of the signal-to-noise ratio SNR is shown in the following formula (1).

SNR=20×log ₁₀ (Signal/Noise_total) Formula (1)

Nfp≈Signal×PRNU Formula (3)

Among them, Signal represents the image signal value, Noise_total represents the noise value of the image, and the noise value of the image includes Nrd (read noise, read noise), Nps (photon shot noise, photon noise), Nfp (fixed patternnoise, fixed noise), PRNU Characterize the photoresponse inhomogeneity of an image.

It should be noted that the readout noise Nrd is the error of reading the amount of detected photons; the photon noise Nps is the noise generated by the deviation of the actual situation from the theoretical situation due to the change in the number of photons reaching the sensor; the fixed noise Nfp is usually used. The signal change of a single pixel output under uniform lighting conditions indicates that in the highlighted areas of the image, Nfp mainly comes from the influence of PRNU. Since each photodiode of the photosensitive element is matched with an ADC (Analog-to-Digital Converter, analog-to-digital conversion) amplifier, if it is counted in megapixels, more than one million ADC amplifiers are required. Although it is a product manufactured in a unified manner, the size of the photodiode in each pixel structure, doping concentration, dust in the production process, and deviation of field effect transistor (MOS) parameters will cause changes in pixel output signals. Under the same other conditions, the SNR of the images with PRNU of 1% and 2% respectively is shown in Figure 1. It can be seen from Figure 1 that with the increase of brightness, the signal-to-noise ratio corresponding to 1% PRNU is the same as The gap between the signal-to-noise ratios corresponding to 2% PRNU gradually increases, that is, in the highlighted area of the image, the PRNU has a greater impact on the SNR. Therefore, it is necessary to compensate for the PRNU of the sensor.

The sensor calibration method provided in the embodiment of the present application can be applied to the application environment shown in FIG. 2 , in which the terminal 202 communicates with the server 204 through a network. The data storage system may store data that the server 204 needs to process. The data storage system can be integrated on the server 204, or it can be placed on the cloud or other network server. The terminal 202 can obtain the calibration image captured by each sensor and send it to the server 204. The server 204 obtains the first image corresponding to the sensor according to the calibration image captured by the same sensor; obtains the second image according to the first image corresponding to each sensor; For each sensor, the compensation value of the light response non-uniformity of the sensor is determined according to the first image and the second image corresponding to the sensor. Wherein, the terminal 202 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, cameras, IoT devices and portable wearable devices, and the IoT devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices equipment, etc. The portable wearable device may be a smart watch, a smart bracelet, a head-mounted device, or the like. The server 204 can be implemented by an independent server or a server cluster composed of multiple servers.

It should be noted that the sensor calibration method provided by the embodiments of the present application is not limited to the application environment shown in FIG. 2 , and may also be applied to the terminal 202 or the server 204 alone.

The image correction method provided by the embodiment of the present application can also be applied to the application environment shown in FIG. 2 . The terminal 202 obtains the sensor identification and the sensor calibration data, wherein the sensor calibration data includes the calibration sensor identification and the light response inhomogeneity compensation value corresponding to the calibration sensor identification; when the sensor identification is the same as the calibration sensor identification, then according to the calibration sensor identification corresponding The optical response non-uniformity compensation value is used to correct the initial image obtained by the sensor to obtain the target image; when the sensor identification is different from the calibration sensor identification, the default compensation data is obtained and the initial image obtained by the sensor is corrected according to the default compensation data to obtain The target image; the terminal 202 sends a calibration data update request to the server 204 according to the sensor identification; the terminal 202 receives the optical response inhomogeneity compensation value that matches the sensor identification sent by the server 204 according to the calibration data update request, and saves the optical response inhomogeneity Compensation value; wherein, the optical response non-uniformity compensation value corresponding to the calibration sensor identification and the optical response non-uniformity compensation value sent by the server are both obtained according to the above sensor calibration method.

In one embodiment, as shown in FIG. 3 , a sensor calibration method is provided, which is described by taking the method applied to the server in FIG. 2 as an example, including the following steps 302 to 308 .

Step 302, acquiring calibration images captured by each sensor.

In this embodiment, the terminal may send the calibration image captured by each sensor to the server, and the server obtains the calibration image captured by each sensor sent by the terminal. The calibration image may be an image captured by the sensor facing the calibration plate, or may be an image captured by the sensor facing a smooth plane, for example, a wall, an open space, and the like. In this embodiment, each sensor faces the same scene at the same position and shoots under the same conditions to obtain the corresponding calibration image, that is, except for the different sensors, other factors are the same. Usually, the sensors to be calibrated are multiple sensors of the same model produced in the same batch. Each sensor can capture multiple frames of calibration images.

In an example, a single sensor is usually used for calibration, but since the sensor does not have the conditions for direct shooting and testing, it is usually necessary to assemble the sensor into a corresponding sensor module for shooting, that is, it needs to configure the corresponding lens, motor and other shooting accessories , which is helpful for shooting the calibration image.

In one example, the calibration images captured by each sensor can be obtained through the capturing schematic diagram shown in FIG. 4 . The sensor module 402 corresponding to the sensor is photographed facing the calibration plate 404 with the positioning mark to obtain a calibration image corresponding to the sensor. The other sensors are placed at the same position, that is, facing the calibration plate 404 at the same angle, so as to obtain calibration images corresponding to the other sensors.

Step 304: Obtain a first image corresponding to the sensor according to the calibration image captured by the same sensor.

The server obtains the first image corresponding to the sensor according to the calibration image captured by the same sensor. In this embodiment, each sensor has a unique sensor identifier, and the server may obtain the first image corresponding to the sensor identifier according to the calibration image corresponding to the same sensor identifier.

Optionally, the first image corresponding to the sensor identification may be obtained according to multiple frames of calibration images corresponding to the same sensor identification. For example, the first image corresponding to the sensor identification can be obtained according to the average value of the pixel values of pixels in multiple frames of calibration images corresponding to the same sensor identification.

Step 306: Obtain a second image according to the first image corresponding to each sensor.

The server obtains the second image according to the first image corresponding to each sensor. Generally, each sensor corresponds to one frame of the first image, multiple sensors correspond to multiple frames of the first image, and one frame of the second image is obtained according to the multiple frames of the first image corresponding to the multiple sensors.

Optionally, the second image may be obtained according to an average value of pixel values of pixels in multiple frames of the first image corresponding to each sensor. Wherein, the second image can represent the pixel average condition of each sensor, and the pixel average condition includes pixel signal value and noise value. Therefore, the second image can eliminate random noise of the first image.

Step 308 , for each sensor, determine a light response non-uniformity compensation value of the sensor according to the first image and the second image corresponding to the sensor.

For each sensor, the server determines a light response non-uniformity compensation value of the sensor according to the first image and the second image corresponding to the sensor. Among them, photoresponse non-uniformity (PRNU) is a source of pattern noise in digital cameras, which is regarded as the variation of pixel responsivity under illumination on the photoreceptor. The light response non-uniformity compensation value is the data for compensating the light response non-uniformity of the sensor. After compensating the light response non-uniformity of the sensor by the light response non-uniformity compensation value, the light response non-uniformity can be avoided. The effect of the image quality of the sensor.

Optionally, a third image corresponding to the PRNU noise of the sensor can be obtained according to the first image and the second image corresponding to the sensor, and then the compensation value of the light response non-uniformity of the sensor can be determined according to the first image and the third image. For example, according to the difference between the first image and the second image corresponding to the sensor, a third image corresponding to the PRNU noise of the sensor is obtained. Optionally, the pixel value difference of the pixel at the same position in the first image and the second image can be used as the pixel value of the pixel at the corresponding position in the third image, and according to the pixel value of the pixel at each position in the third image, A third image corresponding to the sensor PRNU noise is obtained.

Optionally, the compensation value of the light response non-uniformity of the sensor may be determined according to the ratio of the third image to the first image. For example, according to the ratio of the pixel in the third image to the pixel at the corresponding position in the first image, the light response non-uniformity compensation value corresponding to the corresponding pixel position is determined, and according to the light response non-uniformity compensation value corresponding to each pixel position, the Determine the light response non-uniformity compensation value corresponding to the sensor.

It should be noted here that, in this embodiment, when the calibration images are processed, the calibration images captured by each sensor are placed in the same coordinate system, and the calibration images captured by each sensor include the number of pixels and the pixel distribution. The situation is the same. Usually, the coordinates in the coordinate system are used to describe the position of the pixel in the calibration image. It is understandable that the coordinates corresponding to the pixel at the same position in different calibration images are the same.

In the above sensor calibration method, the calibration images captured by each sensor are acquired, the first image corresponding to the sensor is obtained according to the calibration image captured by the same sensor, and the second image is obtained according to the first image corresponding to each sensor, and for each sensor, The compensation value of the light response non-uniformity of the sensor is determined according to the first image and the second image corresponding to the sensor. In this embodiment, for the obtained calibration images captured by each sensor, the calibration images captured by the same sensor are first processed to obtain a first image, and then the first images corresponding to each sensor are processed to obtain a second image, which can largely shield the Noise other than PRNU, and then the compensation value of the light response non-uniformity of the sensor can be accurately determined according to the first image and the second image corresponding to the sensor.

In some embodiments, as shown in FIG. 5 , the step 304 of obtaining the first image corresponding to the sensor according to the calibration image captured by the same sensor includes the following steps 502 to 504 .

Step 502 , taking the average value of the pixel values of the pixels at the same position in the calibration image captured by the same sensor as the pixel value of the pixels at the corresponding position in the first image.

For multiple frames of calibration images captured by the same sensor, the average value of pixel values of pixels at the same position in the multiple frames of calibration images is taken as the pixel value of the pixel at the corresponding position in the first image. In an example, 10 frames of calibration images are taken by the same sensor A, and the average value of the pixel values of the first pixel of each frame of the 10 frames of images is taken as the pixel value of the first pixel in the first image, and this The average value of the pixel value of the second pixel of each frame of the 10-frame image is taken as the pixel value of the second pixel in the corresponding position in the first image, the pixel value of other pixels in the first image corresponding to sensor A, and so on get.

In one example, the pixel value of the pixel in the first image can be obtained according to the following formula (4),

In formula (4), m represents the frame number of the calibration image, p_m_i represents the pixel value of the ith pixel in the mth frame of the calibration image, and image_average_i represents the pixel value of the ith pixel in the first image.

Step 504: Obtain a first image according to pixel values of pixels at each position in the first image.

其中m表示标定图像的帧数，因此可以有效减少光子噪声，同时也削减了读出噪声。After the pixel values of the pixels at each position in the first image are obtained, the first image is obtained from the pixel values of all the pixels. Since the calibration image contains readout noise Nrd and photon noise Nps, since the photon noise is random noise, after the photon noise is averaged, the theoretical value will become the original

Among them, m represents the frame number of the calibration image, so it can effectively reduce the photon noise and also reduce the readout noise.

In this embodiment, the average value of the pixel values of the pixels at the same position in the calibration image captured by the same sensor is used as the pixel value of the pixel at the corresponding position in the first image, so as to obtain the pixel values of all the pixels in the first image, and then obtain For the first image, the first image is obtained by calibrating the average value of the pixel values of the image, which can effectively reduce the readout noise and photon noise corresponding to the sensor.

In some embodiments, as shown in FIG. 6 , the step 306 of obtaining the second image according to the first image corresponding to each sensor includes the following steps 602 to 604 .

Step 602 , taking the average value of the pixel values of the pixels at the same position in the first image corresponding to each sensor as the pixel value of the pixel at the corresponding position in the second image.

Each sensor corresponds to one frame of the first image, and multiple sensors correspond to multiple frames of the first image. The average value of the pixel values of the pixels at the same position in the multiple frames of the first image is taken as the pixel of the pixel at the corresponding position in the second image. value. Among them, multiple sensors usually refer to sensors of the same type and produced in the same batch.

In one example, the pixel value of the pixel in the second image can be obtained according to the following formula (5),

In formula (5), n represents the number of sensors, that is, the number of frames of the first image, image_average_i' represents the pixel value of the ith pixel in the second image, and image_average_n_i represents the ith pixel in the nth frame of the first image pixel value.

Step 604: Obtain a second image according to pixel values of pixels at each position in the second image.

After the pixel values of the pixels at each position in the second image are obtained, the second image is obtained according to the pixel values of all the pixels.

In the above sensor calibration method, the average value of the pixel values of the pixels at the same position in the first image corresponding to each sensor is taken as the pixel value of the pixel at the corresponding position in the second image, so as to obtain the pixel values of all pixels in the second image, Therefore, the noise caused by PRNU is reduced, so that only ambient noise remains in the second image, which is beneficial to extracting the PRNU noise, so as to more accurately determine the compensation value of the light response inhomogeneity of the sensor.

In one embodiment, as shown in FIG. 7 , for each sensor, according to the first image and the second image corresponding to the sensor, the step 308 of determining the light response non-uniformity compensation value of the sensor includes the following steps 702 to 704 .

Step 702 , for each sensor, obtain a third image corresponding to the sensor according to the first image and the second image corresponding to the sensor.

For each sensor, the server obtains a third image corresponding to the sensor according to the first image and the second image corresponding to the sensor. The third image can be understood as a noise model caused by the unevenness of the light response of the sensor, and one sensor corresponds to one frame of the third image.

Optionally, the third image corresponding to the sensor may be obtained according to the difference between the first image and the second image corresponding to the sensor. Specifically, the pixel value difference of the pixel at the same position in the first image and the second image can be used as the pixel value of the pixel at the corresponding position in the third image, and according to the pixel value of the pixel at each position in the third image, we can obtain The third image corresponding to the sensor.

Step 704 , according to the first image and the third image, determine the light response non-uniformity compensation value of the sensor.

According to the first image and the third image, the server determines a compensation value of the light response non-uniformity of the sensor. Optionally, according to the ratio of the third image to the first image, a compensation value of the light response non-uniformity of the sensor corresponding to the first image is determined. For example, for the first target pixel in the first image, the pixel in the third image with the same position as the first target pixel is used as the second target pixel, and the ratio of the second target pixel to the first target pixel is used as the first target pixel. A light response non-uniformity compensation value corresponding to a target pixel position, and the light response non-uniformity compensation value of the sensor is determined according to the light response non-uniformity compensation value corresponding to each first target pixel position. The first target pixel may be any pixel in the first image.

In the above sensor calibration method, the first image and the second image corresponding to each sensor are used to obtain the third image of the sensor, and the third image represents the noise model caused by the non-uniformity of the light response of the sensor. For the third image, the compensation value of the light response non-uniformity of the sensor can be determined more accurately.

In some embodiments, as shown in FIG. 8 , the step 702 of obtaining the third image corresponding to the sensor according to the first image and the second image corresponding to the sensor includes the following steps 802 to 804 .

Step 802: Use the pixel value difference of the pixel at the same position in the first image and the second image as the pixel value of the pixel at the corresponding position in the third image.

The server may use the pixel value difference of the pixel at the same position in the first image and the second image as the pixel value of the pixel at the corresponding position in the third image. That is to say, the pixels at the same position in the first image and the second image can be made difference, and the obtained difference value can be used as the pixel value of the pixel at the same position in the third image.

Optionally, the absolute value of the pixel value difference of the pixel at the same position in the first image and the second image is used as the pixel value of the pixel at the corresponding position in the third image.

Step 804: Obtain a third image corresponding to the sensor according to the pixel value of the pixel at each position in the third image.

After obtaining the pixel values of the pixels at each position in the third image, that is, after obtaining the pixel values of all the pixels in the third image, the third image corresponding to the sensor is obtained from the pixel values of all the pixels.

The above sensor calibration method, by taking the pixel value difference of the pixel at the same position in the first image and the second image as the pixel value of the pixel at the corresponding position in the third image, according to the pixel value of the pixel at each position in the third image , the third image corresponding to the sensor is obtained, and the noise model caused by the unevenness of the light response represented by the third image can be accurately obtained, which is beneficial to the accurate calibration of the unevenness of the light response of the sensor.

In some embodiments, as shown in FIG. 9 , the step 704 of determining the light response non-uniformity compensation value of the sensor according to the first image and the third image may include the following steps 902 to 904 .

Step 902, for the first target pixel in the first image, use the pixel in the third image with the same position as the first target pixel as the second target pixel; according to the first target pixel and the second target pixel, determine the first target pixel. Compensation value of light response inhomogeneity corresponding to the target pixel position.

In this embodiment, for the first target pixel in the first image, the server uses the pixel in the third image that is at the same position as the first target pixel as the second target pixel, and according to the first target pixel and the second target pixel, Determine the light response non-uniformity compensation value corresponding to the first target pixel position. Specifically, first determine the first target pixel in the first image, where the first target pixel can be any pixel in the first image, and then determine the second target in the third image that has the same position as the first target pixel pixel, and then determine the light response non-uniformity compensation value corresponding to the position of the first target pixel according to the first target pixel and the second target pixel.

Step 904 , according to the light response non-uniformity compensation value corresponding to each first target pixel position, determine the light response non-uniformity compensation value of the sensor.

After obtaining the light response non-uniformity compensation values corresponding to each first target pixel in the first image, the light response non-uniformity compensation values of the sensor are obtained according to the light response non-uniformity compensation values corresponding to all the first target pixels.

In this embodiment, the compensation value of the light response non-uniformity corresponding to the position of the first target pixel is determined by the first target pixel in the first image and the second target pixel in the third image having the same position as the first target pixel , so as to obtain the photoresponse non-uniformity compensation value of the sensor, that is, first determine the photoresponse non-uniformity compensation value of the sensor by the photoresponse non-uniformity compensation value corresponding to each pixel, and the smallest unit pixel that can image the sensor can be imaged. The light response non-uniformity is compensated, thereby greatly increasing the accuracy of the sensor's light response non-uniformity compensation value.

In some embodiments, in step 902, determining the light response non-uniformity compensation value corresponding to the position of the first target pixel according to the first target pixel and the second target pixel includes: comparing the difference between the second target pixel and the first target pixel The ratio is used as the compensation value of the light response inhomogeneity corresponding to the position of the first target pixel.

In this embodiment, the ratio of the second target pixel to the first target pixel may be used as the compensation value of the light response non-uniformity corresponding to the position of the first target pixel. Optionally, the ratio of the pixel value of the second target pixel to the pixel value of the first target pixel is used as the compensation value of the light response inhomogeneity corresponding to the position of the first target pixel. In practical application, the pixel value of the first target pixel may be the pixel value of any pixel in the first image, or may be the average value of the pixel values of multiple pixels in the same channel as the first target pixel in the first image, For example, it is the average value of pixel values of N×N pixels in the same channel, such as N=5.

It can be understood that a first target pixel position corresponds to a light response non-uniformity compensation value, and the light response non-uniformity compensation value can compensate for the light response non-uniformity of the corresponding first target pixel position. The light response non-uniformity compensation values corresponding to different first target pixel positions may be the same or different.

In an example, the light response non-uniformity compensation value R corresponding to the first target pixel position can be obtained by the following formula (6):

R=p ₂ /p ₁ Formula (6)

Wherein, p ₁ represents the pixel value of the first target pixel, and p ₂ represents the pixel value of the second target pixel.

In this embodiment, the ratio of the second target pixel to the first target pixel is used as the light response non-uniformity compensation value corresponding to the first target pixel position, and the light response non-uniformity noise corresponding to the first target pixel position can be obtained. The ratio of the value to the signal value can more accurately reflect the light response non-uniformity compensation value corresponding to the first target pixel position, thereby obtaining a more accurate light response non-uniformity compensation value of the sensor.

In one embodiment, as shown in FIG. 10 , an image correction method is provided, which is described by taking the method applied to the terminal in FIG. 2 as an example, including the following steps 1002 to 1010 .

Step 1002: Acquire a sensor identification and sensor calibration data, wherein the sensor calibration data includes a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification.

When the terminal is shipped from the factory, the sensor calibration data such as the sensor identification in the terminal and the optical response non-uniformity compensation value corresponding to the sensor identification are usually programmed into the storage unit of the terminal. After the terminal is turned on, the sensor calibration is read from the storage unit. data, so as to compensate the sensor of the terminal, that is, to correct the initial image acquired by the sensor.

The terminal can obtain the sensor identification and sensor calibration data locally, where the sensor identification is the sensor identification in the terminal, and the sensor calibration data includes the calibration sensor identification and the light response inhomogeneity compensation value corresponding to the calibration sensor identification. The identifier corresponding to the sensor calibrated according to the above sensor calibration method. Usually, in order to enable the sensor calibration data to correct the initial image acquired by the terminal's sensor in time and obtain a target image with better image quality, the terminal's sensor identification and the calibration sensor identification are the same.

Step 1004 , when the sensor identification is the same as the calibration sensor identification, correct the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain the target image.

When the terminal recognizes that the sensor identification of the terminal is the same as that of the calibration sensor, it means that the optical response non-uniformity compensation value corresponding to the calibration sensor matches the sensor identification of the terminal. The initial image obtained by the sensor of the terminal is corrected by the compensation value, so as to obtain the target image.

Optionally, some or all pixels of the initial image may be corrected according to the light response non-uniformity compensation value corresponding to the calibration sensor identification to obtain the target image.

Optionally, a pixel in the initial image may be multiplied by a light response non-uniformity compensation value corresponding to the pixel to obtain a pixel at a corresponding position in the target image.

Step 1006, when the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image.

When the sensor identification of the terminal is different from the calibration sensor identification, the default compensation data is obtained locally, and the initial image obtained by the sensor is corrected according to the default compensation data to obtain the target image. In this embodiment, the default compensation data may be stored in the terminal in advance, for example, in the shooting module of the terminal, the default compensation data may be the average value of the compensation values of the optical response non-uniformity corresponding to the calibration sensors of the same batch, or it may be The optical response non-uniformity compensation value obtained by processing according to the optical response non-uniformity compensation value corresponding to each calibration sensor.

Step 1008: Send a calibration data update request to the server according to the sensor identifier.

When the terminal recognizes that the sensor identification of the terminal is different from the calibration sensor identification, a calibration data update request is sent to the server according to the sensor identification. The calibration data update request is used to apply to the server for a compensation value of light response non-uniformity that matches the sensor identification, so that the terminal uses the light response non-uniformity compensation that matches the sensor identification when the terminal starts the shooting application next time. The target image is obtained by correcting the initial image obtained by the sensor of the terminal.

Step 1010: Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; wherein, calibrate the optical response non-uniformity compensation value corresponding to the sensor identification Both the optical response non-uniformity compensation value sent by the server and the server are obtained according to the above-mentioned sensor calibration method.

The terminal receives the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and saves the optical response non-uniformity compensation value, for example, it can be stored in the storage unit of the terminal or the storage unit of the shooting module etc., the application does not specifically limit the storage location. Wherein, the optical response non-uniformity compensation value corresponding to the locally calibrated sensor identification and the optical response non-uniformity compensation value sent by the server are both obtained according to the above sensor calibration method.

In this embodiment, the optical response non-uniformity compensation value corresponding to the sensor identification can be acquired in time by means of local storage and server transmission, and the initial image acquired by the sensor is corrected by the accurate optical response non-uniformity compensation value, thereby It can better improve the quality of the target image.

In some embodiments, as shown in FIG. 11 , in step 1004 , the initial image acquired by the sensor is corrected according to the light response non-uniformity compensation value corresponding to the calibration sensor identifier to obtain the target image, including the following steps 1102 to 1106 .

Step 1102: Acquire a first pixel in the initial image that is greater than a preset brightness threshold.

For the initial image acquired by the sensor, a pixel whose pixel brightness is greater than a preset brightness threshold is selected as the first pixel. The first pixel can be all the pixels in the original image. Among them, the preset brightness threshold may be different according to different usage scenarios of the sensor, that is, the preset brightness threshold may be different in different scenarios, and the preset brightness threshold may be set according to actual processing needs, which is not further described in this application. limited.

Step 1104: Correct the first pixel according to the optical response non-uniformity compensation value corresponding to the position of the first pixel in the optical response non-uniformity compensation value to obtain the corrected first pixel.

In the light response non-uniformity compensation value corresponding to the calibration sensor identification, the light response non-uniformity compensation value corresponding to the first pixel position is selected, and the first pixel is corrected accordingly, thereby obtaining the corrected first pixel. Optionally, the product of the light response non-uniformity compensation value corresponding to the first pixel position and the pixel value of the first pixel may be used as the corrected pixel value of the first pixel, thereby realizing the correction of the first pixel.

Step 1106: Obtain a target image according to the second pixel and the corrected first pixel, wherein the second pixel is a pixel other than the first pixel in the initial image.

The terminal obtains the target image according to the second pixel and the corrected first pixel, where the second pixel is a pixel other than the first pixel in the initial image. It can be understood that the original position of the second pixel remains unchanged, the position of the corrected first pixel is the same as that of the first pixel, and the target image can be obtained by placing the second pixel and the corrected first pixel at the corresponding positions.

In this embodiment, some first pixels in the initial image are selected by a preset brightness threshold, and the first pixels with higher brightness are corrected according to the light response non-uniformity compensation value at the corresponding position to obtain the corrected target image, which can be While improving the correction accuracy of the initial image, the computational complexity is reduced, so that a target image with better image quality can be obtained more quickly.

In one embodiment, the image correction method is shown in FIG. 12 and is applied to a terminal. When the terminal is powered on for the first time, the sensor identification of the terminal and the sensor calibration data stored in the terminal are obtained, wherein the sensor calibration data includes the calibration sensor identification. And the PRNU compensation value corresponding to the calibration sensor identification. When the terminal recognizes that the sensor ID is the same as the calibration sensor ID, it uses the PRNU compensation value corresponding to the calibration sensor ID to compensate the sensor, that is, corrects the initial image obtained by the sensor to obtain the target image; When the calibration sensor identification is different, the default compensation data is used to compensate the PRNU of the sensor, and the calibration data update request is sent to the server at the same time, and the PRNU compensation value matching the sensor identification sent according to the data update request is received from the server and saved. When the terminal is powered on for the second time, the PRNU compensation value corresponding to the calibrated sensor identification stored in the terminal and consistent with the sensor identification can be directly obtained, and then the PRNU of the sensor is compensated. In this embodiment, when the sensor is replaced during use of the terminal, thereby changing the sensor identification, the initial image acquired by the sensor can be corrected in a timely and accurate manner, thereby obtaining a target image with better image quality.

In one example, the sensor calibration and image correction method may be implemented through the following steps 1302 to 1314 and steps 1402 to 1410 . The schematic flowchart of the sensor calibration method is shown in FIG. 13 , and the schematic flowchart of the image correction method is shown in FIG. 14 .

Step 1302 , under preset conditions, acquire calibration images captured by each sensor.

The preset conditions in this embodiment may be as follows: color temperature: 6500K (Kelvin); light source illumination of calibration board: 400lux (lux); distance between calibration board and sensor: 10-20 cm; sensor focusing distance is infinite; sensor The shutter time satisfies that the brightness of the captured calibration image is 800LSB (least significant bit), and each sensor captures 20 frames of calibration images. Under the preset conditions, the sensor is assembled into a sensor module, that is, the sensor module also includes shooting accessories such as a lens and a motor. Calibration image. The calibration plate is a uniform surface light source with positioning marks.

Step 1304: Perform preprocessing on the acquired calibration images captured by each sensor.

For example, to perform Defect Pixel Correction (DPC) on the calibration image, a dead pixel may refer to a point in an image output after being exposed by a sensor under uniform lighting conditions that has a significant difference in brightness from its surroundings. If it is a Bayer sensor, it is necessary to perform Bayer array compensation processing on the calibration image. All existing preprocessing methods can be used in this embodiment, which is not limited here.

Step 1306, taking the average value of the pixel values of the pixels at the same position in the calibration image captured by the same sensor as the pixel value of the pixel at the corresponding position in the first image; according to the pixel value of the pixel at each position in the first image, obtain the first image.

Step 1308, align the calibration images corresponding to different sensors.

The center pixel of the calibration image can be determined according to the positioning marks on the calibration board, so that the calibration images corresponding to different sensors are aligned, so that the coordinates of the pixels at the corresponding positions in the calibration images corresponding to different sensors are the same.

Step 1310: Take the average value of the pixel values of the pixels at the same position in the first image corresponding to each sensor as the pixel value of the pixel at the corresponding position in the second image; obtain the first pixel value according to the pixel value of the pixel at each position in the second image. Second image.

Step 1312: Use the pixel value difference of the pixel at the same position in the first image and the second image as the pixel value of the pixel at the corresponding position in the third image; obtain the sensor according to the pixel value of the pixel at each position in the third image The corresponding third image.

Step 1314, for the first target pixel in the first image, use the pixel in the third image with the same position as the first target pixel as the second target pixel; use the ratio of the second target pixel and the first target pixel as Compensation value of light response non-uniformity corresponding to the first target pixel position; according to the light response non-uniformity compensation value corresponding to each first target pixel position, the light response non-uniformity compensation value of the sensor is obtained.

Step 1402, the terminal acquires the sensor identification and sensor calibration data, wherein the sensor calibration data includes the calibration sensor identification and the optical response inhomogeneity compensation value corresponding to the calibration sensor identification.

Step 1404, when the sensor identification is the same as the calibration sensor identification, the product of the light response inhomogeneity compensation value corresponding to the calibration sensor identification and the pixel at the corresponding position with a brightness of 400LSB or more in the initial image obtained by the sensor is used as the corresponding value in the target image. position in pixels.

Step 1406, when the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image.

Step 1408, the terminal sends a calibration data update request to the server according to the sensor identifier.

Step 1410: The terminal receives the optical response non-uniformity compensation value that matches the sensor identifier and is sent by the server according to the calibration data update request, and saves the optical response non-uniformity compensation value.

The optical response non-uniformity compensation value corresponding to the calibration sensor identifier and the optical response non-uniformity compensation value sent by the server are both obtained according to steps 1302 to 1314 .

It should be noted here that, steps 1302 to 1314 may be processed by the terminal, or may be processed by the server. Optionally, if it is processed by the terminal, the obtained optical response non-uniformity compensation value can be exported and saved to the terminal corresponding to each sensor identification, and uploaded to the server for saving; if it is processed by the server, it needs to be downloaded from the server and saved. The derived light response non-uniformity compensation value is saved to the terminal corresponding to each sensor identification.

Optionally, in the process of obtaining the target image, before correcting the initial image according to the light response non-uniformity compensation value, the dead pixels in the image obtained by the sensor can be removed first, that is, after processing by the DPC module, and then according to the light response. The initial image is corrected in response to the non-uniformity compensation value, and then processed by an LSC (Lens Shade Correction, lens shading correction) module to obtain a target image.

The above sensor calibration and image correction method, for the calibration images captured by each sensor obtained under preset conditions, firstly process the calibration images captured by the same sensor to obtain a first image, remove photon noise and readout noise, and then correspond to each sensor. The first image is processed to obtain the second image, which can largely shield the noise except PRNU. The noise value caused by PRNU is obtained according to the first image and the second image corresponding to the sensor. According to the noise value of PRNU and the first image The ratio of the corresponding pixels in the sensor can accurately determine the light response non-uniformity compensation value of the sensor; the terminal can obtain the light response non-uniformity compensation value corresponding to the sensor identification in time through local storage and server sending. The initial image acquired by the sensor is corrected in response to the non-uniformity compensation value, so that the image quality of the target image can be better improved.

It should be understood that, although the steps in the flowcharts involved in the above embodiments are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be performed at different times The execution order of these steps or phases is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or phases in the other steps.

Based on the same inventive concept, an embodiment of the present application also provides a sensor calibration device for implementing the above-mentioned sensor calibration method. The solution to the problem provided by the device is similar to the implementation described in the above method, so the specific limitations in the embodiments of one or more sensor calibration devices provided below can refer to the above limitations on the sensor calibration method. This will not be repeated here.

In one embodiment, as shown in FIG. 15, a sensor calibration device is provided, including: a calibration image acquisition module 1502, a first data processing module 1504, a second data processing module 1506 and a compensation data determination module 1508, wherein:

A calibration image acquisition module 1502, configured to acquire calibration images captured by each sensor;

a first data processing module 1504, configured to obtain a first image corresponding to the sensor according to the calibration image captured by the same sensor;

The second data processing module 1506 is configured to obtain the second image according to the first image corresponding to each sensor;

The compensation data determination module 1508 is configured to, for each sensor, determine a compensation value of the light response non-uniformity of the sensor according to the first image and the second image corresponding to the sensor.

In one embodiment, the first data processing module 1504 is further configured to: take the average value of the pixel values of the pixels at the same position in the calibration image captured by the same sensor as the pixel of the pixel at the corresponding position in the first image value; the first image is obtained according to the pixel value of the pixel at each position in the first image.

In one embodiment, the second data processing module 1506 is further configured to: take the average value of the pixel values of the pixels at the same position in the first image corresponding to each sensor as the pixel value of the pixel at the corresponding position in the second image ; Obtain the second image according to the pixel value of the pixel at each position in the second image.

In one embodiment, the compensation data determination module 1508 is further configured to: for each sensor, obtain a third image corresponding to the sensor according to the first image and the second image corresponding to the sensor; From the first image and the third image, a light response non-uniformity compensation value of the sensor is determined.

In one embodiment, the compensation data determination module 1508 is further configured to: use the pixel value difference of the pixel at the same position in the first image and the second image as the pixel at the corresponding position in the third image The third image corresponding to the sensor is obtained according to the pixel value of the pixel at each position in the third image.

In one embodiment, the compensation data determination module 1508 is further configured to: for the first target pixel in the first image, use the pixel in the third image that is at the same position as the first target pixel as the pixel in the third image. the second target pixel; according to the first target pixel and the second target pixel, determine the light response non-uniformity compensation value corresponding to the first target pixel position; according to the corresponding first target pixel position The optical response non-uniformity compensation value of the sensor is determined, and the optical response non-uniformity compensation value of the sensor is determined.

In one embodiment, the compensation data determination module 1508 is further configured to: use the ratio of the second target pixel to the first target pixel as the light response non-uniformity compensation corresponding to the position of the first target pixel value.

Based on the same inventive concept, an embodiment of the present application also provides an image correction device for implementing the above-mentioned image correction method. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one of the embodiments provided below or the image correction device can refer to the above limitations on the image correction method, here No longer.

In one embodiment, as shown in FIG. 16, an image correction apparatus is provided, including: a calibration data acquisition module 1602, a first correction module 1604, a second correction module 1606, an update request sending module 1608, and an update data receiving module 1610, of which:

A calibration data acquisition module 1602, configured to acquire sensor identification and sensor calibration data, where the sensor calibration data includes a calibration sensor identification and a compensation value of light response inhomogeneity corresponding to the calibration sensor identification;

The first correction module 1604 is configured to correct the initial image obtained by the sensor according to the light response non-uniformity compensation value corresponding to the calibration sensor identification when the sensor identification is the same as the calibration sensor identification, to obtain target image;

The second correction module 1606 is configured to acquire default compensation data when the sensor identification is different from the calibration sensor identification, and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image;

an update request sending module 1608, configured to send a calibration data update request to the server according to the sensor identifier;

The update data receiving module 1610 is configured to receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; The optical response non-uniformity compensation value corresponding to the calibration sensor identifier and the optical response non-uniformity compensation value sent by the server are both obtained according to the above sensor calibration method.

In one embodiment, the first correction module 1604 is further configured to: acquire a first pixel in the initial image that is greater than a preset brightness threshold; Corresponding light response non-uniformity compensation value, correct the first pixel to obtain the corrected first pixel; obtain the target image according to the second pixel and the corrected first pixel; the first pixel Two pixels are pixels other than the first pixel in the initial image.

Each module in the above-mentioned sensor calibration device or image correction device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 17 . The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. Wherein, the processor, the memory and the input/output interface are connected through the system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer equipment is used for wired or wireless communication with an external terminal, and the wireless communication can be realized by WIFI, mobile cellular network, NFC (Near Field Communication) or other technologies. The computer program, when executed by the processor, implements a sensor calibration method or an image correction method. The display unit of the computer equipment is used to form a visually visible picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment, or a An external keyboard, trackpad, or mouse, etc.

Those skilled in the art can understand that the structure shown in FIG. 17 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

Embodiments of the present application also provide a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions that, when executed by one or more processors, cause the processors to perform a sensor calibration method or an image correction method A step of.

Embodiments of the present application also provide a computer program product containing instructions, which, when run on a computer, cause the computer to execute a sensor calibration method or an image correction method.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all It is the information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data need to comply with the relevant laws, regulations and standards of the relevant countries and regions.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to a memory, a database or other media used in the various embodiments provided in this application may include at least one of a non-volatile memory and a volatile memory. Non-volatile memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Memory) Access Memory, MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration and not limitation, the RAM may be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The database involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a blockchain-based distributed database, etc., but is not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., and are not limited to this.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent of the present application. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the present application should be determined by the appended claims.

Claims (13)

1. a sensor calibration method, is characterized in that, comprises: Obtain the calibration images captured by each sensor; obtaining a first image corresponding to the sensor according to the calibration image captured by the same sensor; obtaining a second image according to the first image corresponding to each sensor; For each sensor, a light response non-uniformity compensation value of the sensor is determined according to the first image and the second image corresponding to the sensor. 2. The method according to claim 1, wherein obtaining the first image corresponding to the sensor according to the calibration image captured by the same sensor, comprising: Taking the average value of the pixel values of the pixels at the same position in the calibration image captured by the same sensor as the pixel value of the pixel at the corresponding position in the first image; The first image is obtained according to pixel values of pixels at each position in the first image. 3. The method according to claim 1, wherein the obtaining the second image according to the first image corresponding to each sensor comprises: Taking the average value of the pixel values of the pixels at the same position in the first image corresponding to each sensor as the pixel value of the pixel at the corresponding position in the second image; The second image is obtained according to pixel values of pixels at each position in the second image. 4 . The method according to claim 1 , wherein, for each sensor, the compensation value of the light response non-uniformity of the sensor is determined according to the first image and the second image corresponding to the sensor. 5 . ,include: For each sensor, obtain a third image corresponding to the sensor according to the first image and the second image corresponding to the sensor; Based on the first image and the third image, a compensation value for the light response non-uniformity of the sensor is determined. The method according to claim 4, wherein the obtaining a third image corresponding to the sensor according to the first image and the second image corresponding to the sensor, comprising: Taking the pixel value difference of the pixel at the same position in the first image and the second image as the pixel value of the pixel at the corresponding position in the third image; A third image corresponding to the sensor is obtained according to the pixel value of the pixel at each position in the third image. 6 . The method according to claim 4 , wherein the determining, according to the first image and the third image, a compensation value for light response non-uniformity of the sensor comprises: 6 . For the first target pixel in the first image, use the pixel in the third image that is at the same position as the first target pixel as the second target pixel; According to the first target pixel and the second target pixel, determine the light response non-uniformity compensation value corresponding to the position of the first target pixel; According to the light response non-uniformity compensation value corresponding to each of the first target pixel positions, the light response non-uniformity compensation value of the sensor is determined. 7 . The method according to claim 6 , wherein, according to the first target pixel and the second target pixel, determining a light response non-uniformity compensation value corresponding to the position of the first target pixel. 8 . ,include: The ratio of the second target pixel to the first target pixel is used as the compensation value of the light response inhomogeneity corresponding to the position of the first target pixel. 8. An image correction method, characterized in that, comprising: Acquiring a sensor identification and sensor calibration data, the sensor calibration data including a calibration sensor identification and a light response inhomogeneity compensation value corresponding to the calibration sensor identification; When the sensor identification is the same as the calibration sensor identification, correcting the initial image obtained by the sensor according to the light response inhomogeneity compensation value corresponding to the calibration sensor identification to obtain a target image; When the sensor identification is different from the calibration sensor identification, obtain default compensation data and correct the initial image obtained by the sensor according to the default compensation data to obtain a target image; Send a calibration data update request to the server according to the sensor identification; Receive the optical response non-uniformity compensation value that matches the sensor identification sent by the server according to the calibration data update request, and save the optical response non-uniformity compensation value; the optical response corresponding to the calibration sensor identification Both the non-uniformity compensation value and the optical response non-uniformity compensation value sent by the server are obtained according to the sensor calibration method described in any one of claims 1 to 7 . 9 . The method according to claim 8 , wherein the correcting the initial image obtained by the sensor according to the light response non-uniformity compensation value corresponding to the calibration sensor identifier to obtain the target image, comprising: 10 . acquiring the first pixel in the initial image that is greater than a preset brightness threshold; Correcting the first pixel according to the optical response non-uniformity compensation value corresponding to the position of the first pixel in the optical response non-uniformity compensation value, to obtain a corrected first pixel; The target image is obtained according to the second pixel and the corrected first pixel; the second pixel is a pixel other than the first pixel in the initial image. 10. A sensor calibration device, comprising: The calibration image acquisition module is used to acquire the calibration images captured by each sensor; a first data processing module, configured to obtain a first image corresponding to the sensor according to the calibration image captured by the same sensor; a second data processing module, configured to obtain a second image according to the first image corresponding to each sensor; The compensation data determination module is configured to, for each sensor, determine a compensation value of the light response inhomogeneity of the sensor according to the first image and the second image corresponding to the sensor. 11. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, characterized in that, when the computer program is executed by the processor, the processor is made to execute as claimed in claims 1 to 9 The steps of any one of the methods. 12. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented. 13. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the method of any one of claims 1 to 9.

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