One step sub-pixel motion estimation
View Patent ↗A novel Lucas-Kanade sub-pixel motion estimation method is provided. The motion estimation algorithm enables the estimating of a motion vector with reduced computation cost while maintaining high sub-pixel accuracy. The novel algorithm consists of two processing stages. In the first stage, a conventional motion estimation method is applied to obtain the motion vector at integer-pixel level. In the second stage, the Lucas-Kanade algorithm is applied to improve the motion vector to sub-pixel accuracy based on gradient information. Experimental result shows that the proposed method reaches comparable PSNR performance as conventional ⅛-pel algorithm but with significant saving on computation cost.
1. A method of sub-pixel motion estimation, the method comprising:
a) estimating a first motion vector to integer-pixel accuracy, wherein the first motion vector maps a reference image to a current image;
b) computing image gradient information of the reference image; and
c) determining a second motion vector to sub-pixel accuracy by adding a sub-pixel motion vector ΔP to the first motion vector, wherein the sub-pixel motion vector ΔP is estimated based on the image gradient information, and wherein the sub-pixel motion vector ΔP improves from integer-pixel accuracy to sub-pixel accuracy with no more than one iterative search step in applying Lucas-Kanade algorithm.
2. The method of claim 1 , wherein the sub-pixel motion vector ΔP is estimated based on two-dimension translation motion model.
3. The method of claim 1 , wherein the sub-pixel motion vector ΔP updates the first motion vector less than one pixel grid apart.
4. The method of claim 1 , wherein the sub-pixel motion vector ΔP is estimated without performing sub-pixel interpolation on the reference image.
5. The method of claim 1 , wherein the second motion vector maps a new reference image to the current image, and wherein the sub-pixel motion vector ΔP is estimated such that an error metric between the current image and the new reference image is minimized.
6. The method of claim 5 , wherein the error metric is a sum of square difference between the current image and the new reference image, and wherein the sub-pixel motion vector ΔP is estimated by performing gradient descent on the sum of square difference and thereby finding a least square solution.
7. The method of claim 6 , wherein the sub-pixel motion vector ΔP is estimated by selecting a proper damping factor λ from a predefined set of numbers such that the least square solution is numerically solvable in finding the ΔP with a length of less than one pixel grid by performing no more than one Levenberq-Marquardt iterative search step.
8. The method of claim 1 , wherein the first motion vector is estimated using a block-matching algorithm.
9. The method of claim 8 , wherein the first motion vector is modified based on motion information from neighboring pixels of the reference image.
10. A non-transitory computer-readable medium having processor-executable instructions for performing the steps of:
a) estimating a first motion vector to integer-pixel accuracy, wherein the first motion vector maps a reference image to a current image;
b) computing image gradient information of the reference image; and
c) determining a second motion vector to sub-pixel accuracy by adding a sub-pixel motion vector ΔP to the first motion vector, wherein the sub-pixel motion vector ΔP is estimated based on the image gradient information, and wherein the sub-pixel motion vector ΔP improves from integer-pixel accuracy to sub-pixel accuracy with no more than one iterative search step in applying Lucas-Kanade algorithm.
11. The computer-readable medium of claim 10 , wherein the sub-pixel motion vector ΔP is estimated based on two-dimension translation motion model.
12. The computer-readable medium of claim 10 , wherein the sub-pixel motion vector ΔP updates the first motion vector less than one pixel grid apart.
13. The computer-readable medium of claim 10 , wherein the sub-pixel motion vector ΔP is estimated without performing sub-pixel interpolation on the reference image.
14. The computer-readable medium of claim 10 , wherein the second motion vector maps a new reference image to the current image, and wherein the sub-pixel motion vector ΔP is estimated such that an error metric between the current image and the new reference image is minimized.
15. The computer-readable medium of claim 14 , wherein the error metric is a sum of square difference between the current image and the new reference image, and wherein the sub-pixel motion vector ΔP is estimated by performing gradient descent on the sum of square difference and thereby finding a least square solution.
16. The computer-readable medium of claim 15 , wherein the sub-pixel motion vector ΔP is estimated by selecting a proper damping factor λ from a predefined set of numbers such that the least square solution is numerically solvable in finding the ΔP with a length of less than one pixel grid by performing no more than one Levenberq-Marquardt iterative search step.
17. The computer-readable medium of claim 10 , wherein the first motion vector is estimated using a block-matching algorithm.
18. A device for sub-pixel motion estimation, the device comprising:
a processor; and
means for estimating a first motion vector and a sub-pixel motion vector ΔP of a current image with respect to a reference image, wherein the sub-pixel motion vector ΔP is estimated based on image gradient information of the reference image, wherein the sub-pixel motion vector ΔP improves from integer-pixel accuracy to sub-pixel accuracy with no more than one iterative search step in applying Lucas-Kanade algorithm, and wherein a second motion vector is determined by adding the sub-pixel motion vector ΔP to the first motion vector.
19. The device of claim 18 , wherein the sub-pixel motion vector ΔP is estimated based on two-dimension translation motion model.
20. The device of claim 18 , wherein the sub-pixel motion vector ΔP updates the motion vector less than one pixel grid apart.
21. The device of claim 18 , wherein the sub-pixel motion vector ΔP is estimated without performing sub-pixel interpolation on the reference image.
22. The device of claim 18 , wherein the second motion vector maps a new reference image to the current image, and wherein the sub-pixel motion vector ΔP is estimated such that an error metric between the current image and the new reference image is minimized.
23. The device of claim 18 , wherein the means is part of a digital image processing module.
24. The device of claim 18 , wherein the device is a digital camera taken from a group consisting of: a digital still camera, a digital video camera, and a personal digital assistance device containing a digital camera.