Abstract:
The invention relates to an image pickup apparatus ( 70 ) comprising an image pickup means ( 700 ) for forming a plurality of image signals (S,L) having different exposure conditions, combining means for combining said plurality of image signals (L,S) to form a combined image signal having an extended dynamic range, further comprising display and/or recording means ( 701 ) for displaying and/or recording said combined image signal, further comprising a function module ( 79 ) correcting at least one of the image signals (L,S) in order to achieve a smooth transition between the image signals (S, L) at a transition point.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    The present invention relates to an image pickup apparatus which enlarges the dynamic range of image data to be processed. Furthermore the present invention relates to a method of processing image data with a large dynamic range. 
         [0002]    The dynamic range of an image signal generated by an image sensor in CCD- or CMOS-technology is limited by its noise level on the one hand, and the saturation voltage on the other hand. For a CCD-sensor typically a dynamic range of 74 dB can be obtained which is sufficient for most applications. For applications with a very large contrast ratio, however, e.g. where outdoor scenes with bright sunlight are involved, a greater dynamic range is required in order to obtain images of a satisfactory quality. For example the contrast ratio in a sunny outdoor scene can be as high as 1000× (60 dB). For the lowest level in that scene the signal to noise ratio (SNR) needs to be 40 dB in order to achieve an acceptable quality. Therefore the total dynamic range should be about 100 dB. There were already some solutions proposed in literature to achieve this goal. A very popular idea known from the state of the art (U.S. Pat. No. 4,647,975 A1) is a double exposure solution where two pictures are taken with a short time interval in between. One picture is taken with a short exposure time and the second picture is taken with a longer exposure time. Combining the two pictures results in a good SNR in the dark parts of the picture due to the long exposure time of the second picture. In addition there is almost no saturation in the bright parts of the picture due to the first picture taken with a short exposure time. The ratio of the exposure times varies from 4 to 32. 
       SUMMARY OF THE INVENTION 
       [0003]    The present invention has been made in consideration of the above situation, and has as its object to provide an image data processing apparatus which obtains high-quality image data with an enlarged dynamic range. 
         [0004]    This object is achieved by an image pickup apparatus comprising an image pickup means for forming a plurality of image signals having different exposure conditions, combining means for combining said plurality of image signals to form a combined image signal having an extended dynamic range, further comprising display and/or recording means for displaying and/or recording said combined image signal, further comprising a function module correcting at least one of the image signals in order to achieve a smooth transition between the image signals at a transition point between the image signals. 
         [0005]    Furthermore additional function modules are provided, said additional function modules deriving parameters from signal samples of the said image signals and feeding these parameters as correction factors into the first function module mentioned above. 
         [0006]    In a first embodiment of the invention said signal samples are taken from the image signals available at the output of a sensor transforming optical signals into electrical signals. 
         [0007]    In a further preferred embodiment of the invention said signal samples are taken from a first image signal available at the output of the said sensor, and from a third image signal, which is derived from a second output signal of said sensor by multiplying this second signal with the ratio of the exposure times used for generating said image signals. Preferably a CCD device is used as a sensor. 
         [0008]    In a preferred embodiment of the invention a smooth transition between the said image signals at a transition point is achieved while using a second order correction function. 
         [0009]    In a preferred embodiment of the invention the image pickup apparatus comprises at least two accumulators wherein the first accumulator generates an output derived from the first image signal, and wherein the second accumulator generates an output derived from a third signal wherein this third signal is derived from the second image signal. 
         [0010]    In order to easily process the various signals storage means are provided for storing the output signals of the first and second accumulator. 
         [0011]    A first preferred method to process an image signal with large dynamic range comprises the steps of forming a plurality of image signals having different exposure conditions with at least one image pickup sensor, correcting at least part of the plurality of image signals with a correction function in order to get a corrected output signal, and combining said plurality of image signals and said corrected output signal to form a combined image signal having an extended dynamic range. 
         [0012]    A second preferred method to process an image signal with large dynamic range comprises the steps of forming first image signals with a short exposure time, forming second image signals with a long exposure time, correcting said second image signals formed with a long exposure time by applying a correction function to said second signals in order to provide third corrected signals, and, combining the said first signals and the said third signals to form a combined image signal having an extended dynamic range. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]    The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
           [0014]      FIG. 1  is a line graph showing image signals as a function of light level for two different exposure times; 
           [0015]      FIG. 2  is a line graph showing image signals as a function of light level. The curve representing a longer exposure time has been processed by a multiplication (applying a factor smaller than 1); 
           [0016]      FIGS. 3 to 6  are line graphs illustrating the matching problem occurring at the crossover point; 
           [0017]      FIG. 7  is a block diagram showing an image pickup apparatus according to the invention; 
           [0018]      FIG. 8  is a more detailed block diagram of the image pickup apparatus shown in  FIG. 7 ; 
           [0019]      FIG. 9  is a line graph illustrating the matching at the crossover point with the invention applied; 
           [0020]      FIG. 10  is a line graph showing the first derivative of the graph shown in  FIG. 9 . 
       
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS 
       [0021]    Embodiments of the invention are described hereinafter with reference to the drawings. The line graph shown in  FIG. 1  shows the functional relation between light level (x-axis) and output signal (y-axis) of an image pickup sensor, especially a CCD-sensor, both of them in arbitrary units. Curve  1  represents the functional relation due to a short exposure time. Curve  2  represents the functional relation due to a long exposure time. Both curves show a linear part before getting distorted and going into saturation.  FIG. 2  shows a similar graph after a processing step. During this process the values of the curve  2  are divided by the ratio of the exposure times applied. This results in the curve  2 . 1  which goes in saturation at rather low values of the light level. Curve  1  representing the functional relation between light level and output signal due to a short exposure time remains unchanged. The combination of the two images is done making use of the following relations: 
         [0000]    
       
         
           
             
               
                 
                   
                     Ldiv 
                     = 
                     
                       L 
                       R 
                     
                   
                    
                   
                     
 
                   
                    
                   With 
                 
               
               
                 
                   ( 
                   1 
                   ) 
                 
               
             
             
               
                 
                   R 
                   = 
                   
                     Let 
                     Set 
                   
                 
               
               
                 
                   ( 
                   2 
                   ) 
                 
               
             
           
         
       
     
         [0022]    (3) if (S&lt;T): Out=Ldiv 
         [0023]    (4) else: Out=S 
         [0024]    With: 
         [0000]    L=Signal of the long exposed image
 
S=Signal of the short exposed image
 
T=threshold
 
Let=long exposure time
 
Set=short exposure time
 
Out=combined signal.
 
         [0025]    The main problem while combining the two images this way is how to avoid irregularities at or near the crossover point. CCD sensors are combined with colour filters in order to create a colour image. In the output signal of such a CCD sensor consecutive pixels can have different values as they are filtered with a different colour filter. Around the threshold level T this can mean that the output signal of consecutive pixels can originate from a different input S or L (curves  1 ,  2 ). As the colour decoding process may use the differences between consecutive or nearby pixels, the irregularities mentioned will create colour errors. Due to the non-linearity of the output signal of the CCD sensor the transfer function is non continuous at the threshold T when using exactly the ratio R to calculate Ldiv (see  FIG. 3 ). However, even when the ratio R is adapted to exactly match S and Ldiv at the threshold T ( FIG. 4 ,  FIG. 5 ); the first derivative remains non continuous ( FIG. 6 ). Most known solutions try to overcome this problem by making a gradual transition over a certain range when going over from Ldiv to S and vice versa instead of switching between the two curves. This method, however, has serious drawbacks. The noise in S (curve  1 ) is much higher (by a factor R) than in Ldiv (curve  2 . 1 ). Using a mixer Ldiv, nearly the whole mixing range would be dominated by the noise of S. Furthermore the range of the mixer would need to be large to really annihilate or avoid distortion. This costs much of the precious low noise Ldiv range. Furthermore the distortion effects are displayed as a 2-line effect due to the different signal amplitudes coming from different optical filters. A mixer would need to be a vertical or 2 D mixer in order to be effective. 
         [0026]    These drawbacks are overcome by a new image data processing apparatus described herewith in detail with reference to the block diagram shown in  FIG. 7 . 
         [0027]    The apparatus  70  comprises a first function module  71  setting a threshold value T. The first function module  71  is connected to a second function module  72  having two input connections and one output connection. The first input connection of the function module  72  is connected to the output of the function module  71 . The second input connection of the function module  72  is connected to a sensor  700  providing image signals S and L. The signal S is provided to the function module  72 . The image signal S results from a short exposure whereas the signal L results from a long exposure. The output of the function module  72  is connected to a third function module  73 . The signal S is connected to an input connection of this function module  73 . The output connection of the function module  73  delivers the combined output signal “Out”. The function module  73  is connected to a display and/or recording means  701 . A fourth function module  74  sets the ratio R. The function module  74  is connected to a fifth function module  75  whose output connection is connected to an input connection of the function module  73 . The output of function module  75  is connected as well to an input connection of a sixth function module  76 . 1 . The input of a seventh function module is connected to a seventh function module  76 . 2 . The output connections of the function modules  76 . 1  and  76 . 2  are connected to an eighth function module  77 . The output connection of the function module  77  is connected to a ninth function module  78 . The output of function module  78  is connected to a tenth function module  79 . The signal L is connected to a further input connection of the function module  79 . The output connection of the function module  79  is connected to an input connection of the function module  75 . The input of function module  79  is connected to the sensor  700  and receives the image signal L. 
         [0028]    The function of the apparatus  70  can be best described as follows. The function module  71  sets a threshold T which is input into the function module  72 . The function module  72  receives as well the image signal S provided by the sensor  700  at one of its two input connections. The function module  72  compares the threshold value T and the signal S and provides a control signal to function module  73  depending on this comparison. The function module  73  acts as a switch connecting one of its two input connections with its output depending on the control signal provided by the function module  72 . If, for instance, the signal S is greater than the threshold value T, an output signal is generated which controls the function module  73  in such a way that the signal S is switched to the output of the function module  73 . If, on the other hand, the signal S is lower than the threshold T the signal Ldiv derived from the signal L is switched to the output of the function module  73 . The invention provides for a smooth transition at this cross over point. In order to achieve this aim the apparatus  70  comprises a function module  79 . The input of this function module is connected to the sensor  700  and receives the image signal L as input signal x. The function module  79  applies a correction function on the image signal L. This correction function is exactly compensating for the non-linear output signal of the CCD sensor  700  in such a way that the resulting transfer function Ldiv (after division of the output signal y by the factor R) is essentially linear and exactly matching the transfer of the image signal S. In a preferred embodiment of the invention a non-linear correction function is selected as follows 
         [0000]        y=x+k   1   x   2   +k   2 ( x−p ) 2   x&gt;p   (6) 
         [0000]    And applied to the input signal x in order to yield the corrected output function y. 
       With: 
       [0029]    (7) k 1 x 2  A term to compensate the distortion in the CCD sensor due to the increasing charge; 
       And: 
       [0030]    (8) k 2  (x−p) 2   x&gt;p  A term to compensate for the saturation of the output stage. 
         [0031]    The output signal y available at the output of function module  79  is the input signal for the function module  75 . Function module takes care of a division of the signal y by a factor R set by the function module  74 . The division yields the signal Ldiv which is available at one input connection of the function module  73  as described already herein above. 
         [0032]    The factors k 1 , k 2 , and p in the correction function shown in equation (6) above have to be found empirically and must be dynamically adapted as the non-linearity of the CCD sensor  700  is temperature dependent. In order to achieve this image signals S and Ldiv are measured on defined levels according to a first embodiment of the invention (function modules  76 . 1 ,  76 . 2 ). Alternatively according to a second embodiment the signals S and L are measured. The results of the measurements are taken to function module  77  where curve fitting calculations take place in order to calculate the parameters k 1 ,k 2 , and p. The parameters are stored in function module  78  and fed into the function module  79  where the correction of the incoming image signal L takes place. Thus, if the image signals S and Ldiv are measured a feedback control loop is formed and the differences between signal samples will become zero when a perfect match has been achieved. If the image signals S and L are measured, a feed forward control is achieved with comparatively good results. In an advantageous embodiment of the invention a feedback loop is made up using 4 measurement bins with a width of 1/64 of the Ldiv range. The values of the pixels falling in the bins are summed over the frame time. The first bin is set at 50% of the range while p is &gt;50% of the range. With this input k 1  can be optimized. The second bin is positioned just below, the third bin is positioned exactly at, and the fourth pin is positioned just above the threshold T. When k 1  is found and p is fixed, k 2  can easily be optimized with the help of the third bin. The second and the fourth bin are to check whether the optimisation procedure is run exactly or whether the threshold T should be changed because the distortion found is higher or lower than expected. The combined image signals, i.e. the function “out” available at the output connection of the function module  73  can be displayed and/or stored on the display and/or recording means  701 . 
         [0033]      FIG. 8  is a more detailed block diagram  80  of a part of the image pickup apparatus  70  shown in  FIG. 7  used for the measurement of Ldiv and S. The main idea of the invention is to combine the two signals mentioned above in a way creating the least possible distortion while maintaining the highest advantage possible. This is achieved by applying a non linear correction function. A suitable correction function could have any order and complexity. In the following example a second order function is chosen which, in most cases, leads to remarkably good results. There are four parts of this kind. In a very straightforward approach only two bins are used. 1 bin for Ldiv and 1 bin for S. 
         [0034]    The apparatus  70  comprises a first accumulator  81 , a second accumulator  82 , a counter  83 , first storage means  84 , second storage means  85 , third storage means  86 , and a function module  87 . The measurement is performed as follows. At the beginning of a new frame the accumulators  81 ,  82 , and the counter  83  are reset by a reset pulse applied to the reset connections via the reset lines. When the active video starts, the pixel value of the signal S is tested by the function module  87  to be 
         [0000]      BIN — 1_BASE≦ S           BIN — 1_TOP(bin1)  (9) 
         [0035]    If true then the output of this function module  87  enables the accumulators  81 ,  82  to produce Sum Ldiv, Sum S, and increments the counter  83 . At the end of a frame Sum Ldiv, Sum S, and Count are stored in storage means  84 ,  85 ,  83 , respectively, and can be read out, for instance, by a microprocessor. At the beginning of a new frame the accumulators  81 ,  82 , and the counter  83  are reset and the measurement can be repeated again. When the signal S is e.g. at 50% the deviation is supposed to be just a 1 st  order deviation and therefore can be corrected by a first order term k 1 x 2 . If k 1  is chosen correctly then the results of Ldiv and S will be exactly the same. By applying k 1  the signal is corrected for the first order deviation over the whole signal range. Then the higher order deviations above the 50% point are approximated by the term 
         [0000]      k 2 (x−p) 2 | x&gt;p   (10) 
         [0036]    When p is chosen to be 50% the term k 2  can be found by putting a second measurement bin slightly above this level. As k 1  was already correct, now the bins for Ldiv and S will contain the same when k 2  is chosen correctly. The two remaining bins not used in this example may be used for checking and error detection instead. As a feed back loop is used for control in this example, the values for k 1  and k 2  can be adjusted with small steps in each frame, then measured again and converging towards a minimum difference of the result in the converging bins. This avoids complex calculations and is acceptable as long as the distortion is varying very slowly. The value of the counter  83  is used to check if the number of pixels used is significant enough. The only assumption in this very straightforward method described above is that there is a fair estimation for the value of p possible. If this is not feasible, more complex curve fitting algorithms requiring more computational work may be applied making use of all bins for measurement. In that case the value of the counter  83  is required to scale the result. 
         [0037]      FIG. 9  shows a line graph  90  illustrating the matching at the crossover point with the invention applied. The graph shows an almost ideal matching while making use of the non linear correction function described above. The line graph  100  shown in  FIG. 10  is a constant proving that the graph  90  shown in  FIG. 9  is a linear function.