Method and apparatus for motion adaptive pre-filtering
A video filter includes a motion detector to detect motion between frames of a video for each pixel, a shape adaptive spatial filter and a weighted temporal filter. The spatial filter and the temporal filter are smoothly mixed together based on the amount of motion detected by the motion detector for each pixel. When the motion detected by the motion detector is low, the video filter tends to do more temporal filtering. When the motion detected by the motion detector is high, the video filter tends to do more spatial filtering.
1 . An image filter, comprising:
a motion detector to detect motion between frames of video;
a spatial filter to filter a current video frame
a temporal filter to average the current video frame with a previous video frame; and
a controller to combine outputs of the spatial filter and the temporal filter for each pixel of the current video frame in response to the motion detected by the motion detector.
2 . The video filter of claim 1 , wherein the spatial filter outputs a local mean of the current video frame for image regions that do not include an object edge.
3 . The video filter of claim 1 , wherein the spatial filter outputs a local mean of the current video frame for frame regions with a local variance that is smaller than a predefined threshold.
4 . The video filter of claim 3 , wherein the predefined threshold is a noise variance value.
5 . The video filter of claim 4 , wherein the noise variance value is determined with reference to exposure time and characteristics of an imager used to capture the video.
6 . The video filter of claim 1 , wherein the spatial filter output is dominated by a shape adaptive filter output for frame regions that include an object edge.
7 . The video filter of claim 6 , wherein the shape adaptive filter is a weighted local mean function.
8 . The video filter of claim 1 , wherein the temporal filter is a recursive weighted temporal filter.
9 . The video filter of claim 1 , wherein the motion detector includes a block motion detector and a pixel motion detector.
10 . The video filter of claim 9 , wherein the block motion detector determines an initial block motion indicator for a block of pixels in the current video frame based upon differences between current and previous pixel values for pixels within the block.
11 . The video filter of claim 10 , wherein the block motion detector determines a block motion indicator for a block by combining the block's initial block motion indicator with the block motion indicator of neighboring blocks and a collocated block in the previous video frame.
12 . The video filter of claim 9 , wherein the pixel motion detector determines a pixel motion indicator for a pixel by combining a block motion indicator for a block that includes the pixel with an initial pixel motion indicator that is based on a difference between the spatially filtered pixel's value in the current video frame and the pixel's value in a filtered previous video frame.
13 . The video filter of claim 1 , wherein the controller outputs a weighted average of the spatial filter output and the temporal filter output for each pixel of the current video frame with the weights being monotonic functions of the motion detected by the motion detector.
14 . A spatial filter for an image, comprising:
a modified minimum mean square error filter; and
a shape adaptive filter that is a dominant component of the modified minimum mean square error filter when the shape adaptive spatial filter is applied to a region of the image that includes object edges.
15 . The spatial filter of claim 14 , wherein the shape adaptive filter is a weighted local mean function.
16 . The spatial filter of claim 15 , wherein the weights for the weighted local mean function are selected based upon differences between a value of a pixel being filtered and other pixels in the image.
17 . An imager, comprising:
a pixel array that generates pixel values for a current image frame; and
a motion detector to detect motion between image frames;
a spatial filter to filter a current image frame
a temporal filter to average the current image frame with a previous image frame; and
a controller to combine outputs of the spatial filter and the temporal filter for each pixel of the current image frame in response to the motion detected by the motion detector.
18 . The imager of claim 17 , wherein the spatial filter outputs a local mean of the current image frame for image regions with a local variance that is smaller than a predefined noise variance value.
19 . The imager of claim 18 , wherein the noise variance value is determined with reference to exposure time and characteristics of an imager used.
20 . The imager of claim 17 , wherein the spatial filter is dominated by a shape adaptive filter for current image frame regions that include an object edge, the shape adaptive filter being a weighted local mean function.
21 . The imager of claim 17 , wherein the motion is detected using a block motion detector and a pixel motion detector.
22 . The imager of claim 17 , wherein the controller outputs a weighted average of the spatial filter output and the temporal filter output for each pixel of the current image frame with the weights being monotonic functions of the motion detected by the motion detector.
23 . A method of filtering a video, comprising:
determining one or more motion indicators between video frames;
applying a spatial filter to filter the current video frame;
applying a temporal filter to average the current video frame with a previous video frame; and
applying a controller to combine outputs of the spatial filter and the temporal filter for each pixel of the current video frame in response to the one or more motion indicators.
24 . The method of claim 23 , wherein determining one or more motion indicators further comprises:
determining a plurality of block motion indicators for the video frames; and
using the block motion indicators to determine pixel motion indicators.
25 . The method of claim 23 , wherein applying a spatial filter further comprises outputting a local mean of the current video frame for frame regions that do not include an object edge.
26 . The method of claim 23 , wherein applying a spatial filter further comprises outputting a weighted local mean of the current video frame for frame regions that include an object edge.
27 . The method of claim 23 , wherein applying a temporal filter further comprises applying a recursive weighted temporal filter to the current video frame.
28 . The method of claim 23 , wherein applying the controller further comprises outputting a weighted average of the spatial filter output and the temporal filter output for each pixel of the current video frame with the weights being monotonic functions of the motion indicators.