Patent Grant
10986363
The presently disclosed subject matter relates generally to the field of compression of video information, and more specifically, to methods and systems of pre-processing video information for video encoding.
The compression of video information (including, in particular, digital video information) comprises a well-known area of prior art endeavor. Generally speaking, video information compression results in a reduced set of data that consumes less memory when stored and that requires less bandwidth to transmit during a given period of time. Also, generally speaking, one goal of good compression methodologies is to achieve such benefits without unduly impacting the user's perception of quality when viewing the decompressed video image.
Modern video compression methodologies, such as Advanced Video Coding (AVC), also known as H.264, or High Efficiency Video Coding (HEVC), also known as H.265 and MPEG-H Part 2, achieve relatively high compression rates while maintaining/retaining good video quality. That said, such compression techniques can be computationally intensive. As a result, some implementing platforms may operate at a technical disadvantage due, for example, to the power-consumption requirements and/or computational requirements that attend the proper processing of such compression techniques. Perhaps more importantly, existing prior art approaches tend to require a particular bitrate level to achieve a particular level of perceived video quality, this bit rate being higher than is desired for many application settings.
In accordance with certain aspects of the presently disclosed subject matter, there is provided a computerized method of pre-processing video information for optimized video encoding, the method comprising: receiving, by an I/O interface, video information to be encoded, the video information comprising a sequence of video frames; aligning, by a control circuit, a plurality of consecutive frames in the sequence of video frames by spatially shifting at least one frame of the plurality of consecutive frames, giving rise to a pre-processed sequence of video frames including the aligned plurality of consecutive frames; and encoding, by the control circuit, the pre-processed sequence of video frames using block-based motion estimation, wherein the block-based motion estimation is optimized by using the pre-processed video information.
In addition to the above features, the method according to this aspect of the presently disclosed subject matter can comprise one or more of features (i) to (vii) listed below, in any desired combination or permutation which is technically possible:
In accordance with another aspect of the presently disclosed subject matter, there is provided a computerized system of pre-processing video information for optimized video encoding, the system comprising: an I/O interface configured to receive video information to be encoded, the video information comprising a sequence of video frames; a control circuitry operatively connected to the I/O interface, the control circuitry comprising a processor and a memory coupled thereto and configured to: align a plurality of consecutive frames in the sequence of video frames by spatially shifting at least one frame of the plurality of consecutive frames, giving rise to a pre-processed sequence of video frames including the aligned plurality of consecutive frames; and encode the pre-processed sequence of video frames using block-based motion estimation, wherein the block-based motion estimation is optimized by using the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (i) to (vii) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
In accordance with another aspect of the presently disclosed subject matter, there is provided a non-transitory computer readable storage medium tangibly embodying a program of instructions that, when executed by a computer, cause the computer to perform a method of pre-processing video information for optimized video encoding, the method comprising: receiving video information to be encoded, the video information comprising a sequence of video frames; aligning a plurality of consecutive frames in the sequence of video frames by spatially shifting at least one frame of the plurality of consecutive frames, giving rise to a pre-processed sequence of video frames including the aligned plurality of consecutive frames; and encoding the pre-processed sequence of video frames using block-based motion estimation, wherein the block-based motion estimation is optimized by using the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (i) to (vii) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
In accordance with certain aspects of the presently disclosed subject matter, there is provided a computerized method of pre-processing video information for optimized video encoding, the method comprising: pre-processing video information for optimized video encoding, the method comprising: receiving, by an I/O interface, video information to be encoded, the video information comprising a sequence of video frames; conducting, by a control circuit, adaptive pre-filtering of the video information, giving rise to pre-processed video information, wherein the conducting comprises, for each given frame of the sequence of video frames: estimating encoding complexity for one or more blocks in the given frame, the encoding complexity indicative of difference between pixels in the one or more blocks and corresponding prediction of the pixels; determining a filter strength parameter for the given frame at least based on the encoding complexity; and filtering the given frame using the filter strength parameter, giving rise to a filtered frame; thereby obtaining a sequence of filtered frames constituting the pre-processed video information; and encoding, by the control circuit, the pre-processed video information.
In addition to the above features, the method according to this aspect of the presently disclosed subject matter can comprise one or more of features (a) to (d) listed below, in any desired combination or permutation which is technically possible:
In accordance with another aspect of the presently disclosed subject matter, there is provided a computerized system of pre-processing video information for optimized video encoding, the system comprising: an I/O interface configured to receive video information to be encoded, the video information comprising a sequence of video frames; a control circuitry operatively connected to the I/O interface, the control circuitry comprising a processor and a memory coupled thereto and configured to: conduct adaptive pre-filtering of the video information, giving rise to pre-processed video information, wherein the conducting comprises, for each given frame of the sequence of video frames: estimating encoding complexity for one or more blocks in the given frame, the encoding complexity indicative of difference between pixels in the one or more blocks and corresponding prediction of the pixels; determining a filter strength parameter for the given frame at least based on the encoding complexity; and filtering the given frame using the filter strength parameter, giving rise to a filtered frame; thereby obtaining a sequence of filtered frames constituting the pre-processed video information; and encode the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (a) to (d) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
In accordance with another aspect of the presently disclosed subject matter, there is provided a non-transitory computer readable storage medium tangibly embodying a program of instructions that, when executed by a computer, cause the computer to perform a method of pre-processing video information for optimized video encoding, the method comprising: pre-processing video information for optimized video encoding, the method comprising: receiving video information to be encoded, the video information comprising a sequence of video frames; conducting adaptive pre-filtering of the video information, giving rise to pre-processed video information, wherein the conducting comprises, for each given frame of the sequence of video frames: estimating encoding complexity for one or more blocks in the given frame, the encoding complexity indicative of difference between pixels in the one or more blocks and corresponding prediction of the pixels; determining a filter strength parameter for the given frame at least based on the encoding complexity; and filtering the given frame using the filter strength parameter, giving rise to a filtered frame; thereby obtaining a sequence of filtered frames constituting the pre-processed video information; and encoding the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (a) to (d) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
In accordance with certain aspects of the presently disclosed subject matter, there is provided a computerized method of pre-processing video information for optimized video encoding, the method comprising: receiving, by an I/O interface, video information to be encoded, the video information comprising a sequence of video frames; filtering, by a control circuit, the video information in order to remove grain content thereof, giving rise to pre-processed video information, wherein the filtering comprises, for each given frame of the sequence of video frames: obtaining temporal prediction information for the given frame; detecting areas in the given frame with bad temporal prediction using the temporal prediction information and excluding the detected areas from the given frame, giving rise to a remaining frame area; performing a temporal filtration on the remaining frame area, giving rise to a temporal filtered frame; performing a spatial filtration on the temporal filtered frame, giving rise to a grain filtered frame; thereby obtaining a sequence of grain filtered frames constituting the pre-processed video information; and encoding, by the control circuit, the pre-processed video information.
In addition to the above features, the method according to this aspect of the presently disclosed subject matter can comprise one or more of features (1) to (10) listed below, in any desired combination or permutation which is technically possible:
In accordance with another aspect of the presently disclosed subject matter, there is provided a computerized system of pre-processing video information for optimized video encoding, the system comprising: an I/O interface configured to receive video information to be encoded, the video information comprising a sequence of video frames; a control circuitry operatively connected to the I/O interface, the control circuitry comprising a processor and a memory coupled thereto and configured to: filter the video information in order to remove grain content thereof, giving rise to pre-processed video information, wherein the filtering comprises, for each given frame of the sequence of video frames: obtaining temporal prediction information for the given frame; detecting areas in the given frame with bad temporal prediction using the temporal prediction information and excluding the detected areas from the given frame, giving rise to a remaining frame area; performing a temporal filtration on the remaining frame area, giving rise to a temporal filtered frame; and performing a spatial filtration on the temporal filtered frame, giving rise to a grain filtered frame; thereby obtaining a sequence of grain filtered frames constituting the pre-processed video information; and encode the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (1) to (10) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
In accordance with another aspect of the presently disclosed subject matter, there is provided a non-transitory computer readable storage medium tangibly embodying a program of instructions that, when executed by a computer, cause the computer to perform a method of pre-processing video information for optimized video encoding, the method comprising: receiving video information to be encoded, the video information comprising a sequence of video frames; filtering the video information in order to remove grain content thereof, giving rise to pre-processed video information, wherein the filtering comprises, for each given frame of the sequence of video frames: obtaining temporal prediction information for the given frame; detecting areas in the given frame with bad temporal prediction using the temporal prediction information and excluding the detected areas from the given frame, giving rise to a remaining frame area; performing a temporal filtration on the remaining frame area, giving rise to a temporal filtered frame; performing a spatial filtration on the temporal filtered frame, giving rise to a grain filtered frame; thereby obtaining a sequence of grain filtered frames constituting the pre-processed video information; and encoding the pre-processed video information.
This aspect of the disclosed subject matter can comprise one or more of features (1) to (10) listed above with respect to the method, mutatis mutandis, in any desired combination or permutation which is technically possible.
The above needs are at least partially met through provision of the apparatus and method for pre-compression pre-processing of video information described in the following detailed description, particularly when studied in conjunction with the drawings.
In order to understand the presently disclosed subject matter and to see how it may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:
Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and/or relative positioning of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present teachings. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments of the present teachings. Certain actions and/or steps may be described or depicted in a particular order of occurrence while those skilled in the art will understand that such specificity with respect to sequence is not actually required. The terms and expressions used herein have their ordinary technical meaning as are accorded to such terms and expressions by persons skilled in the technical field as set forth above, except where different specific meanings have otherwise been set forth herein.
In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the presently disclosed subject matter may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the presently disclosed subject matter.
Unless specifically stated otherwise, as apparent from the following discussions, it is appreciated that throughout the specification discussions utilizing terms such as “receiving”, “encoding”, “pre-processing”, “aligning”, “shifting”, “detecting”, “determining”, “estimating”, “conducting”, “filtering”, “obtaining”, “generating”, “using”, “extracting”, “performing”, “excluding”, “calculating”, “splitting”, “setting”, “comparing”, “identifying” or the like, refer to the action(s) and/or process(es) of a computer that manipulate and/or transform data into other data, said data represented as physical, such as electronic, quantities and/or said data representing the physical objects. The term “computer” should be expansively construed to cover any kind of hardware-based electronic device with data processing capabilities including, by way of non-limiting example, the system/apparatus and parts thereof as well as the processing circuit/circuitry and control circuit/circuitry therein disclosed in the present application.
The terms “non-transitory memory” and “non-transitory storage medium” used herein should be expansively construed to cover any volatile or non-volatile computer memory suitable to the presently disclosed subject matter.
It is appreciated that, unless specifically stated otherwise, certain features of the presently disclosed subject matter, which are described in the context of separate embodiments, can also be provided in combination in a single embodiment. Conversely, various features of the presently disclosed subject matter, which are described in the context of a single embodiment, can also be provided separately or in any suitable sub-combination. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the methods and apparatus.
Generally speaking, pursuant to these various embodiments, an apparatus has an input configured to receive video information and an output configured to provide pre-processed video information to be compressed by a video encoder. The apparatus includes a control circuit operably coupled to the foregoing input and output and configured to pre-process the video information by adjusting alignment of at least some consecutive frames of the video information.
By one approach, the control circuit detects non-uniform camera movements along the direction of camera movement in the video information. In lieu of the foregoing or in combination therewith the control circuit may also detect non-uniform camera movements with respect to frame center positions. In any event, by one approach the control circuit adjusts the alignment of at least some consecutive frames of the video information by, at least in part, determining a representative camera movement value and then using that value in place of the non-uniform camera movements for the aforementioned consecutive frames. If desired, the foregoing activity can include determining an average of the non-uniform camera movements over a plurality of consecutive frames of the video information.
By another approach, in lieu of the foregoing or in combination therewith, the control circuit pre-processes the video information by adjusting alignment of at least some consecutive frames of the video information by, at least in part, aligning movements along a sub-pixel grid that corresponds to the video encoder that receives the pre-processed video information. This alignment can comprise, for example, estimating high resolution sub-pixel motion in at least one video frame and shifting that video frame so that the motion aligns with the aforementioned sub-pixel grid.
By one approach the control circuit can be further configured to conduct adaptive pre-filtering of the video information by, at least in part, determining a filter strength parameter based at least in part on video complexity of the video information and then using that filter strength parameter to selectively filter portions of the video information according to a degree of salience as corresponds to relevant frames of video information. If desired, the control circuit can also be configured to generate a saliency map for at least portions of the video information that highlights portions of the video information having high saliency.
By yet another approach the control circuit can be further configured to remove grain from the video information by using combined spatial and temporal filtration, wherein the control circuit is further configured to detect areas in the video information with bad temporal prediction such that the control circuit excludes those detected areas from the temporal filtration. Detecting areas with bad temporal prediction can include, for example, calculating a sum of absolute differences between current and motion-compensated frames (for example, on a per-block basis). If desired, the grain removal activity can further comprise selecting at least one grain filter parameter from a look-up table as a function, at least in part, of grain variance of the video information.
Using one or more of the aforementioned techniques, video information can be pre-processed in a way that can greatly reduce the computational and/or bitrate requirements of the follow-on compression activity. In particular, many prior art compression methodologies, including the recent HEVC standard, can be carried out in a considerably more efficient and less computationally-intensive manner. As a result, use of these teachings can reduce power requirements and/or can reduce the computational overhead requirements of the implementing encoder hardware while also possibly reducing the necessary bitrate. More importantly, these teachings permit a lower bitrate to be utilized than previous approaches while maintaining at least a similar level of perceptible quality and can also achieve a higher level of perceptible quality at a given bitrate than existing approaches. These and other benefits may become clearer upon making a thorough review and study of the following detailed description.
Referring now to the drawings,
There is presented an enabling computer-based apparatus/system 100 configured to pre-process video information to be encoded. The term “video encoding” used in this patent specification should be expansively construed to cover any kind of video compression that converts raw (i.e., uncompressed) digital video to a compressed format, as well as video recompression that converts decoded or decompressed video to a re-encoded or recompressed format.
System 100 can comprise a control circuitry (also termed herein as control circuit or processing circuitry) 102 operatively connected to a hardware-based I/O interface 120 and a storage unit 122. The system 100 may obtain, e.g., via I/O interface 120, video information to be encoded, the video information comprising a sequence of video frames (also termed herein as frames or input frames). In some embodiments, the input video information or the video frames thereof can be received from a user, a third party provider or any other system that is communicatively connected with system 100. Alternatively or additionally, the input video information or the video frames thereof can be pre-stored in the storage unit 122.
The control circuitry 102 is configured to provide all processing necessary for operating system 100 which is further detailed with reference to
According to certain embodiments, being a “circuit” or “circuitry”, the control circuitry 102 therefore can comprise a structure that includes at least one (and typically many) electrically-conductive paths (such as, e.g., paths comprised of a conductive metal such as copper or silver) that convey electricity in an ordered manner, whose path(s) will also typically include corresponding electrical components (both passive, such as, e.g., resistors and capacitors, and active, such as, e.g., any of a variety of semiconductor-based devices as appropriate) to permit the circuit to effect the control aspect of these teachings.
Such a control circuitry 102 can comprise a fixed-purpose hard-wired hardware platform (including but not limited to, e.g., an application-specific integrated circuit (ASIC) which is an integrated circuit that is customized by design for a particular use, rather than intended for general-purpose use, a field-programmable gate array (FPGA), and the like) or can comprise a partially or wholly-programmable hardware platform (including but not limited to, e.g., microcontrollers, microprocessors, and the like). If desired, the control circuitry 102 can comprise an integral part of a dedicated video encoder integrated circuit which can implement the functionalities of the functional module video encoding module 106, as will be described below. These architectural options for such structures are well known and understood in the art and require no further description here. The control circuitry 102 can be configured (for example, by using corresponding programming as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein with reference to
As aforementioned, the control circuitry 102 can comprise a processor and a memory. By one approach the control circuitry 102 can be operably coupled to the memory. This memory may be integral to the control circuitry or can be physically discrete (in whole or in part) from the control circuitry as desired. This memory can also be local with respect to the control circuitry (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuitry (where, for example, the memory is physically located in another facility, metropolitan area, or even country as compared to the control circuitry).
In addition to other useful information described herein, this memory can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuitry, cause the control circuitry to behave as described herein. As used herein, the reference to “non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves) rather than volatility of the storage media itself and hence includes both non-volatile memory (such as e.g., read-only memory (ROM)) as well as volatile memory (such as, e.g., an erasable programmable read-only memory (EPROM)).
As aforementioned, the I/O interface 120 (also referred to herein separately as input interface and output interface or input and output) is operably coupled to the control circuitry 102 and is configured to receive video information to be encoded, the video information comprising a sequence of video frames.
The teachings herein will accommodate receiving video information in any of a wide variety of formats. In a typical application setting, the video information can constitute digital content. By one approach, if desired, the original video content can have an analog format and can then be converted to a digital format to constitute the video information.
As noted above, the received video information is “to be compressed” (in this case by the video encoding module 106 as will be described below). By one approach the video information refers to any original video content that has not been compressed in any way, aside from some optional inherent compression that might occur during the digitization process, such as, e.g., an original raw video clip or part thereof. Such a video clip can comprise a plurality of original video frames, and can be obtained from, e.g., a digital camera or recorder, or any other suitable devices that are capable of capturing or recording individual still images or sequences of images constituting videos or movies. By another approach, the video information may already have undergone some compression but, if so, is still nevertheless to be compressed again via the video encoding module 106. In such cases, video bit-stream that contains encoded data can be first decoded or reconstructed to a decoded video sequence prior to being further processed using the present disclosure. The input video information can comprise the decoded or reconstructed video sequence which was decoded from the encoded video bit-stream. In this case, the compression refers to recompression of the video information. Without limiting the scope of the disclosure in any way, it should be noted that the term “frame” used in the specification should be expansively construed to include a single video picture, frame, image, field, or slice of the input video sequence.
According to certain embodiments, functional modules comprised in the processor of the control circuitry 102 can comprise a pre-processing module 104 and a video encoding module (also termed herein as video encoder) 106 which are operatively connected with each other. The pre-processing module 104 can be configured to pre-process the video information in various ways as described below with respect to
Those skilled in the art will be familiar with a wide variety of video encoders and compression techniques. As the present teachings are not especially sensitive to any particular choices in this regard, no further elaboration is provided here.
The Storage unit 122 comprises a non-transitory computer readable storage medium. For instance, the storage module can include a buffer that holds the input video information as well as an output video sequence. In another example, the buffer may also hold one or more of the intermediate results including: pre-processed video information, filtered frames etc. According to certain embodiments, the Storage unit 122 can also comprise computer-readable instructions embodied therein to be executed by the control circuitry 102 for implementing the process of pre-processing video information as described below with reference to
Those versed in the art will readily appreciate that the teachings of the presently disclosed subject matter are not bound by the system illustrated in
The system in
It is also noted that the system illustrated in
While not necessarily so, the process of operation of system 100 can correspond to some or all of the stages of the methods described with respect to
Turning now to
Video information to be encoded can be received (202) (e.g., by the I/O interface 120). As aforementioned, the video information comprises a sequence of video frames. For simplicity and brevity of the present disclosure, description of the video information and the sequence of video frames with reference to
The video information can be pre-processed (e.g., by the control circuitry 102). The pre-processing as will be described below with reference to block 204 addresses motion/movement alignment of the input video information, thereby improving encoding efficiency of motion estimation in the video encoding process. As is well known to those skilled in the art of video compression, motion estimation is one of the most costly operations required by a video encoder. Furthermore, high quality motion estimation, or good motion prediction allows for encoding a bitstream which, when decoded, will have the same quality as a higher bitrate bitstream with lower quality motion estimation, or will provide better quality decoded video at the same bit-rate of a bitstream with inferior motion estimation, i.e. by improving on motion estimation encoding, efficiency can be improved. A frame alignment method is proposed to improve encoding efficiency i.e. decrease bitrate without degradation of visual quality.
According to certain embodiments, the pre-processing can include the following: aligning (204) (e.g., by the control circuitry 102) a plurality of consecutive frames in the sequence of video frames by spatially shifting at least one frame of the plurality of consecutive frames, giving rise to a pre-processed sequence of video frames including the aligned plurality of consecutive frames. These teachings are quite flexible in practice and will accommodate various approaches in this regard.
In accordance with certain embodiments of the presently disclosed subject matter, the aligning described with reference to block 204 can comprise: detecting non-uniform camera movements of the plurality of consecutive frames, determining a camera movement value representative of the non-uniform camera movements and spatially shifting the at least one frame using the camera movement value. The term “camera” used herein should be expansively construed to cover any image and/or video capturing platforms or devices (such as, e.g., a camera lens) that was used to capture the video information.
In some cases, the non-uniform camera movements can be detected along a direction of camera movement, for example, to correct random camera movements along their original movement direction. For instance, in a somewhat simplified example, assuming a sequence of frames wherein calculation of motion vectors between each pair of consecutive frames yields the following motion vector values {10,0}, {8,0}, {12,0}, {9,0}, {10,0}, each pair of numbers depicting the dr and dy components of the motion vectors of a corresponding frame. In this example the representative uniform motion is {10,0}, and benefit can be obtained by shifting the frames corresponding to the {8,0}, {12,0} and {9,0} MVs by dr of (+2), (−2) and (+1) pixels accordingly.
In some further cases, even fixed cameras can suffer from very small, random movement/motion noise over center positions. Compensation of such a type of movement noise before encoding can improve the motion vector prediction and thus improve overall resulting visual quality at the same bit-rate. To achieve this, the non-uniform camera movements can be detected with respect to a center position of at least a portion of each of the plurality of consecutive frames in order to correct the subtle motion noise introduced by camera. This can be done in lieu of the detection along a direction of camera movement or in combination therewith. For instance, in a somewhat simplified example assuming a sequence of frames wherein calculation of motion vectors between each pair of consecutive frames yields the following motion vector values {10,0.5}, {10,−1}, {10,1}, {10,−0.5}. {10.0.75}, each pair of numbers depicting the dx and dy components of the motion vectors of a corresponding frame. In this example the representative uniform motion is {10,0}, and benefit can be obtained by shifting the frames corresponding by the required dy offsets to align them with the uniform motion. By way of example, the center position can correspond to the center of an entire frame, or the center of a certain portion of the frame (e.g., center of an object in the scene). Such camera movements may be detected with respect to a given number of consecutive frames within the input sequence of video frames, such as, e.g., three consecutive frames.
In some embodiments, a camera movement value can be determined based on an average of the non-uniform camera movements. This representative camera movement value might constitute, for example, an estimated global movement value for the camera. In cases where there is a small difference or variance in camera movement, the original non-uniform movements can be substituted by the averaged movement, which can result in more smooth and uniform camera movements. In the example above, obtaining a sequence of frames which all have motion vectors of {2,0} allows more efficient temporal prediction resulting in faster motion estimation, less bits required for encoding motion vectors in coding schemes which support predicted MVs and finally can allow for bit savings in schemes that use interpolated frame prediction such as HEVC. In some cases, the granularity of the shifting of the at least one frame out of the plurality of consecutive frames can be determined. For instance, the shifting can be performed in a pixel or sub-pixel granularity.
In accordance with certain embodiments of the presently disclosed subject matter, another approach of aligning frames is now described. This approach can be practiced in lieu of the foregoing or in combination therewith as desired. In this example, (in the case of combining with the foregoing embodiments, at any stage prior to shifting the at least one frame), the plurality of consecutive frames can be aligned (e.g., by the control circuitry 102) along a sub-pixel grid that corresponds to an encoding scheme used in the encoding by the video encoder (e.g., HEVC/H.264/VP9). In certain embodiments, it is possible to perform motion compensation using a block within a frame at non-integer pixel locations, which is referred to as sub-pixel or sub-pel precision. The in-between pixels are generated by interpolating neighboring pixels. In some cases, half-pixel or quarter pixel precision (also referred to as Qpel, as used by H.264 and MPEG-4/ASP) can be used. The location of the interpolated pixels used in the sub-pixel precision is referred to as sub-pixel grid, so if the pixel grid is the locations in the frame two-dimensional space of the actual pixels, the sub-pixel grid is the locations in the two dimensional space of the image where the interpolated pixels lie, for example for half pel, the half-pel grid is shifted by half a pixel compared to the pixel grid.
This approach can be particularly useful when employed to correct subtle motion noise introduced by the camera which is at a smaller granularity than a pixel. Compensation of such a type of movement noise just before encoding can improve the motion vector prediction and thus improve overall, resulting in visual quality at a same bit-rate. This approach can also be used for the purpose of simplifying the motion estimation involved in the encoding process and therefore increasing computational efficiency of the encoding. This can be achieved, for example, by estimating high resolution sub-pixel motion in the at least one frame (e.g., by estimating sub-pixel movement of the camera in the at least one frame as relative to other frames in the plurality of consecutive frames, e.g., in two directions, both forward and backward, to find the original position), followed by compensating for the camera movement by shifting of the frame to the proper position, e.g., shifting the at least one frame in accordance with the estimated high resolution sub-pixel motion such that the at least one frame aligns with the sub-pixel grid.
There is now provided an illustrative example of the sub-pixel grid alignment. In some cases, certain video encoders have ¼- or ⅛-pixel accurate motion estimation. However, global motion vector can be calculated with a better accuracy using higher resolution interpolation filters than those supported in the standards.
Having calculated a global motion vector x with any desired resolution, a frame can be calibrated by shifting it by (mx−floor (mx))/m (i.e., a difference between x and x rounded to 1/m-pixel accuracy, depending on video codec, for example ¼- or ½ or even 1/1 e.g. full pel accuracy can be applied). This shift does not affect visual quality because the difference is extremely small. But it does significantly help the encoder to reduce motion compensated residual and therefore bitrate, as appropriate motion vectors can be found on the allowed MV grid, or at the appropriate MV resolution.
For instance, below there is shown a typical set of correlation values at different motion offsets. The value corresponding to full pel motion vector is at the center of the matrix, with value 315. Then correlation values for shifts of ¼ pixel are to the right and below, −¼ pixel to the left and above etc., so that the upper left value of 84 corresponds to a shift of {¾,−¾}. In this example the maximum correlation is found with value 453, i.e. a shift of 2/4 pixels in the horizontal axis and 0 in the vertical axis. Thus, by shifting the image by half a pixel, high quality motion estimation may be obtained with full-pel motion vectors.
In another example, suppose the accurate motion vector with resolution of up to ⅛ pixel is calculated, and the optimal MV value is found to be {−⅛,⅝}, and suppose the codec in use supports only half-pel resolution. In such a case the image may be shifted by an ⅛ of a pixel horizontally and −⅛ of a pixel vertically resulting in a MV of {0,0.5} with accurate motion results providing higher encoding efficiency when encoding this content.
As has already been noted, these teachings are highly flexible in practice. Generally speaking, these teachings address three possible shifts that belong in turn to two types of shifts. The first type of shift pertains to stabilizing camera motion and the two shifts in this regard comprise shifts relative to actual motion of the camera (as detected along a direction of camera movement) or shifts that are relative to the frame center or a portion thereof (as detected with respect to a center position of at least a portion of each of the plurality of consecutive frames). The third shift which belongs to the second type of shift pertains to aligning with a sub-pixel grid, which can be implemented separately, or in combination with the first two shifts. With the foregoing in mind, these teachings will readily accommodate attending to only one of the three shifts. Furthermore, these teachings can also accommodate attending to any suitable combination of these three shifts. For example, these teachings can accommodate attending to only the shifts relative to actual motion of the camera in combination with the shifts pertaining to aligning with a sub-pixel grid, or, alternatively, the shifts that are relative to the frame center or a portion thereof in combination with the shifts pertaining to aligning with a sub-pixel grid.
The pre-processed sequence of video frames can be encoded (206) (e.g., by the control circuitry), using block-based motion estimation, wherein the block-based motion estimation is optimized by using the pre-processed video information.
Pre-processing the video information in this way as described above with reference to
Note that the described pre-processing for motion alignment can offer at least two benefits with respect to the motion estimation applied as part of the encoding process after the pre-processing. First, motion estimation will be more accurate thus creating smaller residuals for the encoder, in turn resulting in lower bitrates. Second, improved motion estimation also minimizes motion artifacts that are created in the encoding process that can no longer be treated at the pre-processing stage, thus offering better looking video content. A third benefit is that in schemes which use predictive motion vectors, less bits are required for coding the motion vectors after motion alignment—which, for low bit-rates, can be significant. In addition, motion alignment prior to performing motion estimation can make motion estimation algorithms converge faster, thus decreasing run-time of the encoder. The block-based motion estimation is therefore optimized by using the pre-processed video information instead of the unprocessed video information.
In addition it is possible to use overlapped block motion estimation techniques to obtain more detailed motion alignment. Overlapped block motion compensation (OBMC) can help to avoid blocking artifacts. When using OBMC, blocks are typically twice as big in each dimension and overlap quadrant-wise with all neighboring blocks. Thus, each pixel belongs to multiple (such as, e.g., 4) blocks. In such a scheme, there are multiple (such as, e.g., 4) predictions for each pixel that are summed to a weighted mean. For example, one can perform separate alignment per each macroblock or coding unit, thus aligning different parts of the frame by different amounts. By using overlapped motion estimation, this alignment can be performed without quality degradation or blocking artifacts.
Experimenting with proposed algorithms for motion alignment showed benefits in compression gain, e.g. improved encoding efficiency. In addition, when performing an experiment where sub-pel motion has random added noise, encoding using the same quality and compression parameters creates a bitstream that is over 30% larger, thus demonstrating the potential benefit of performing motion alignment in extreme cases of significant motion misalignment.
In the above description, motion alignment has been addressed, which is found to be the most common scenario in video clips in this context. Similar algorithms, however, may be employed to perform zoom and rotation alignment in relevant videos, and thus obtain compression gains also in these scenarios.
Referring now to
Video information to be encoded can be received (302) (e.g., by the I/O interface 120). As aforementioned, the video information comprises a sequence of video frames. For simplicity and brevity of the present disclosure, description of the video information and the sequence of video frames with reference to
The video information can be pre-processed (e.g., by the control circuitry 102). The pre-processing as will be described below with reference to block 304 addresses adaptive pre-filtering of the input video information, thereby improving and optimizing the subsequent video encoding process (e.g., enabling the encoded video sequence to have the same quality at a higher bitrate, or have better quality at the same bit-rate).
Video pre-filtering was previously treated either in a plain (i.e., non-adaptive) way or by performing some quality analysis on-the-fly. There are significant drawbacks in both approaches. Non-adaptive pre-filtering may cause blurring, while quality analysis on-the-fly often greatly reduces performance. Video pre-filtering is especially useful for low bitrate encoding because the lower the bitrate is, the more coding artifacts become noticeable. Finding an optimal trade-off between advantages and drawbacks of video pre-filtering and determining optimal filter parameters is a challenging task especially when low bitrate encoding is required.
According to certain embodiments of the presently disclosed subject matter, adaptive pre-filtering of the video information can be conducted (304) (e.g., by a control circuitry), giving rise to pre-processed video information. The conducting can comprise, for each given frame of the sequence of video frames: estimating (306) encoding complexity for one or more blocks in the given frame, the encoding complexity indicative of difference between pixels in the one or more blocks and corresponding prediction of the pixels, determining (308) a filter strength parameter for the given frame at least based on the encoding complexity, and filtering (310) the given frame using the filter strength parameter, giving rise to a filtered frame, thereby obtaining a sequence of filtered frames constituting the pre-processed video information.
At block 306, the encoding complexity is estimated for one or more blocks in the given frame. Encoding complexity (also referred to as video complexity) can be estimated, for example, on a frame by frame basis. By one approach, for each frame a parameter frame_cost (also termed as frame cost) can be assigned. For example, frame_cost can be indicative of frame complexity and can be calculated as follows: First, each frame can be divided into blocks of 16×16 pixels, as shown in below matrix.
For each given frame, the corresponding block parameters intra_block_cost and inter_block_cost representative of block complexity, are calculated. These parameters are indicative of the difference between pixels in a block of the given frame, and corresponding prediction of the pixels. By way of example, the parameter intra_block_cost can be calculated using pixel-by-pixel intra prediction from the edge pixels in the block using a function such as, e.g., Sum of Absolute Differences or SAD cost function, e.g.,
The parameter inter_block_cost can be calculated using any motion vector prediction for the block: inter_block_cost=Σi,j|ai,j−ai,j pred|, where ai, j pred—is the motion vector predicted pixel for ai, j.
The parameter frame_cost can be estimated based on the block parameters. For instance, if a scene change occurs in the current frame, frame_cost=Σblocks in frame log2 (intra_block_cost), since the motion compensated prediction is not relevant at scene change. For other frames, frame_cost=Σblocks in frame log2(min(intra_block_cost, inter_block_cost)). The frame_cost can be used as the encoding complexity for a given frame, or alternatively, the encoding complexity can be derived from the frame_cost.
Once the encoding complexity is estimated, a filter strength parameter can be determined (308) for the given frame at least based on the encoding complexity. By way of example, one can use a sequence of frame costs combined with expected video bitrate to estimate an appropriate filtering strength parameter. To determine the relation between desired filter strength and these values, one can apply different approaches. According to certain embodiments, the filtering strength estimation can be based on either heuristics, i.e. results of experimentation and deduction, or machine learning models.
By one approach, for example, the filter strength parameter can be determined using a linear model based on one or more video characteristics of the video information selected from a group comprising: the encoding complexity, bitrate, frame rate, and frame resolution (e.g., resolution in pixels).
As illustrated in
As another example, the filter strength parameter can be determined using a machine learning model based on one or more video characteristics of the video information selected from a group comprising: the encoding complexity (e.g., block cost and/or frame cost), bitrate, frame rate, and frame resolution. The machine learning model can be employed by, for example, by combining block parameters intra_block_cost and/or inter_block_cost, frame_cost, bitrate, and frame resolution with logistic regression to obtain a set of features that facilitate determining the filtering strength.
The given frame can be filtered (310) using the filter strength parameter, giving rise to a filtered frame. Filtering a frame with a filter strength parameter can be realized by using any Low Pass, smoothing or blurring filter such as a Gaussian smoothing filter. The filter strength is used for example as a multiplier to the basic filter convolution kernel. The sequence of filtered frames therefore constitute the pre-processed video information, which is then encoded (312) (e.g., by the video encoding module 106).
It will be seen further below that this adaptive pre-filtering approach can be further adapted according to saliency information for the frame. Accordingly, if desired, this process as described above with reference to block 304 can include an optional step to generate a saliency map for at least a portion of each given frame. The saliency map is indicative of one or more areas in the at least a portion each associated with a degree of visual importance.
There exist different approaches for saliency map calculation, with varying computational complexity and accuracy. The general idea of all methods is to try and accurately predict the areas in the frame that have high visual importance i.e., areas that have high visual importance to the viewer and that are accordingly important to render with high quality, and areas that have lower visual importance and where quality can be reduced without adverse perceptual affect. Some of the approaches use a method based on transforming the original image into a feature space (i.e., a DCT or wavelet domain, or a different color space such as DKL, HSV etc.) and calculating a saliency map based on these features. It is possible to use more or fewer features in the saliency map calculation and thus control the speed/quality tradeoff. For example, one may use a scheme where different levels of feature spaces can be applied. For instance, each level can introduce an additional feature space with respect to the previous one, so that the level increment leads to increasing both saliency map accuracy and computational complexity. For example, one may choose to use the following levels:
In some embodiments, the one or more features that are extracted from the given frame can be selected from a group comprising: intricateness, gradient, smoothness, grain, face, skin, chroma, level of photo-realism, luminance, and motion of the given frame, which can be used to generate the saliency map. In one example, if the input video information is a previously compressed clip, information from the encoded bitstream can be used to derive or improve the saliency map, for example by using algorithms in line with those proposed to estimate the intricateness of different areas in each frame as set forth in the PCT application entitled “Method and system of controlling a video content system” published on Aug. 4, 2016 under publication number WO 2016/120871, which is incorporated herein in its entirety by reference. Examples of calculation of a smoothness value indicative of an extent of smoothness of an encoded frame, a gradient value indicative of an extent of gradual spatial changes of an encoded frame, and the level of chroma artifacts introduced in an encoded frame are described in PCT application entitled “Method and system of controlling a quality measure” published on Sep. 15, 2016 under publication number WO 2016/142931, which is incorporated herein in its entirety by reference. Examples of calculation of a synthetic value indicative of an extent of photo-realism of a frame is described in PCT patent application WO2013/144942 published on Oct. 3, 2013, which is incorporated herein in its entirety by reference. Examples of calculation of a grain value indicative of an extent of grain in a frame are described in PCT Application entitled “Method of controlling a quality measure and system thereof” published on May 26, 2017 under publication number WO 2017/085708, which is incorporated herein in its entirety by reference.
In yet another example the saliency map may be derived by first applying various detectors or classifiers to the frame to locate visually important data, such as skin detection, face detection, detection of areas with significant edge information, and so forth. The corresponding results can then be used to obtain a saliency map, indicating areas in the frame with higher visual importance.
Once the saliency map is generated, the filtering of block 310 can be performed by adaptively filtering the given frame according to the saliency map using the filter strength parameter. By way of example, the aforementioned filter strength parameter can be adapted for each area or portion of the frame according to the saliency map, such that different areas or portions of the frame can be filtered according to different adapted filter strength parameters. In some cases, this approach can serve to filter only areas that were not determined to have high saliency. The regions of a frame that are related to high values in the saliency map are important for visual quality and in some cases are not altered.
By one approach, this filtering technique can be implemented using this formula: Ioutput=(1−S)*Ifiltered+S*Ioriginal, where S is the per pixel saliency map value (which indicates the degree of visual importance thereof) normalized to [0; 1] interval, with 1 indicating high saliency; and Ioriginal, Ifiltered, and Ioutput correspond to original frame, its filtered version (without taking into consideration the saliency map) and output frame respectively.
Referring now to
Video information to be encoded can be received (402) (e.g., by the I/O interface 120). As aforementioned, the video information comprises a sequence of video frames. For simplicity and brevity of the present disclosure, description of the video information and the sequence of video frames with reference to
The video information can be pre-processed (e.g., by the control circuitry 102). The pre-processing as will be described below with reference to block 404 addresses filtering the video information in order to remove grain content thereof, thereby improving and optimizing the subsequent video encoding process (e.g., enabling the encoded video sequence to have the same quality at a higher bitrate, or have better quality at the same bit-rate).
Film grain is a well-known challenge for video encoders. Due to its random nature, it can be very difficult to compress grainy film content using transform based coding. At the same time, preserving film grain is often mandatory since it provides a “cinema” look and feel.
Temporal filtering of grain as previously conducted is based on a motion compensation procedure. The idea of this procedure is as follows: for each target block from current frame, a matching block from another frame is found. Since film grain is independent between different frames, averaging between current or target and corresponding motion-compensated blocks, results in a filtration.
This approach provides quite good results for areas with well-defined textures or objects, where motion estimation is accurate and the grain is the true difference signal between two matched blocks. However, for smooth regions where the information or local variability consists mainly of grain data, this approach provides rather poor results, due to the fact that for each target film grain block, the motion estimation yields a corresponding block primarily based on the grain pattern, thus essentially matching the most similar film grain block from another frame. Thus the grain is perceived as actual information and is not filtered out.
On the other hand, there are approaches based on spatial filtering of grain which have quite good results for smooth areas, where the variance or texture is primarily grain related, but unfortunately may smear true textures of object edges.
Thus it is now proposed to apply a combination of spatial approach and temporal approach, e.g., applying a spatial based approach after applying a temporal based approach, as described in detail below. Results obtained with this combined approach show that by combining spatial and temporal filters together, all edges are preserved, while remaining film grain is removed.
Pursuant to one approach of the presently disclosed subject matter and in general, detected film grain can be removed using an adaptively-tuned spatial-temporal filter (or separate spatial filter and temporal filter). This filter can be adjusted for every 16×16 block. The corresponding filter parameters can be selected as a function of average block luminance. As a result, film grain is accurately removed while preserving edges in the video content. Film grain parameters can then be saved and provided in supplemental enhancement information (SEI) messages. Pre-processed video information with removed film grain is then passed to the video encoder 106 and can be encoded using a much lower bitrate while still providing a same level of perceptible quality as compared to prior approaches in this regard. SEI messages have standardized syntax for HEVC and AVC video codecs and can be transmitted to the decoder side and used by the decoder to restore the film grain when decoding the encoded video information with film grain removed.
In addition, in some cases there are some areas of motion compensated frame which do not match corresponding areas from the original frame. Scenarios in which such areas can appear to include, but are not limited to the following cases:
Using such areas in the temporal filtration process results in various artifacts, i.e., apart from removing noise, filtered frame contains additional information, irrelevant to the original frame. Therefore, the proposed combined approach, as mentioned above, also addresses this issue by means of detecting areas with bad prediction, in order to improve temporal filtration. It considers two different aspects:
Referring back to
Temporal prediction for a given frame can be performed by the control circuitry 102 to yield a motion compensated frame (i.e., temporal prediction information) of the given frame. For instance, a motion compensated frame can be created using a reference frame, e.g., a previous frame of the given frame. Alternatively, the information on temporal prediction can be received along with the given frame. According to certain embodiments, detection of areas with bad temporal prediction can comprise: calculating absolute summation between the given frame and a motion-compensated frame thereof on a per block basis, comparing the absolute summation with at least one detection threshold; and identifying, based on the comparison, one or more poorly predicted blocks to be the areas with bad temporal prediction, as will be described below.
According to certain embodiments, the calculating of an absolute summation can comprise:
Continuing with above example, there is illustrated a comparison of the absolute summation with at least one detection threshold and the identifying one or more poorly predicted blocks to be the areas with bad temporal prediction.
Block with coordinates (x, y) is considered to be poorly predicted if any of following conditions is satisfied:
Through the above process, a map of poorly predicted blocks can be generated. Based on the obtained map, poorly predicted blocks can be excluded from temporal filtration (e.g., by excluding the detected areas from the given frame, giving rise to a remaining frame area, and performing the temporal filtration on the remaining frame area).
At block 410, temporal filtration is performed on the remaining frame area. According to certain embodiments, such temporal filtration can be performed by: calculating a filtered pixel value for each given pixel in the remaining frame area based on a weighted summation of pixel values of the given pixel in the remaining frame area and at least one corresponding pixel in at least one motion estimated frame of the given frame, giving rise to the temporal filtered frame. In some cases, performing a temporal filtration can be configured based on one or more grain strength values associated with the given frame. For example, the weights as applied in the weighted summation can be configured by the one or more grain strength values. In some cases, performing a spatial filtration can be configured by setting one or more following parameters used in the spatial filtration: filter size, filter strength, and edge related parameters.
The grain strength values are indicative levels of grain strength or intensity in a frame. In some embodiments, the grain strength values associated with frames can be received as input. In some other embodiments, the one or more grain strength values can be calculated, as a step included in the filtering of block 404. The calculation of the grain strength values can comprise: splitting the given frame into one or more luminance intervals based on pixel values thereof; and calculating a grain strength value for each given luminance interval based on variance of blocks within the given interval, giving rise to one or more grain strength values corresponding to the one or more luminance intervals. An example of this aspect is given below.
Film grain intensity can be estimated using grain variance. For variance estimation, the current frame and corresponding residual frame(s) are analyzed according to the steps described below. Note that as the residual frame combines the grain from both the current and the reference frames, grain strength in this residual frame is actually double that of grain strength in the current frame. Since film grain depends on the intensity of background pixel, film grain variance should be estimated independently for different intervals of pixel intensity values. The procedure is as follows:
Due to the nature of film grain, it is possible that different frames of the same video can have added film grain with varying strength. Furthermore, the grain strength can differ within a single frame according to the pixel intensity values. Therefore, filtering all frames with a uniform strength filter may fail to remove film grain from some areas.
It is therefore proposed to perform adaptive selection of filtration parameters, using the following steps. First a number of intervals are defined, each interval corresponding to a range of pixel intensity or luminance values. The intervals are selected so that each of the intervals corresponds to a similar number of pixels in the frame. Next, the film grain variance σ2 is estimated for each interval, as is explained in further detail in the following paragraph. Then, a corresponding set of parameters P is calculated basing on a look up table which is obtained empirically, by analyzing multiple video sequences with different film grain characteristics:
For example, if estimated variance for some interval equals σx2 then the corresponding parameters set Px is calculated as follows: first, two variance values with indices i and i+1 are found in table, so that σi2<σx2<σi+12; next, the resulting parameters set is found by interpolation: Px=interpolate(Pi, Pi+1).
The film grain dependent parameters set should reflect the following aspects:
The proposed method includes the following adaptive parameters:
When using the temporal filtration method, multiple previous frames may be used, i.e. frames {fi−1, fi−2, . . . , fi−N} are used to filter frame fi. A problem may arise in that after a scene change, previous frames will not be useful for temporal filtration, since they depict a different scene. It is therefore proposed to add a scene change detector to the system, and when scene change is detected, to use future rather than previous frames as the temporal filtration input.
Referring again to
Thus configured, these teachings provide for pre-processing video information in a way that specifically makes that information easier for a video encoder to compress, such that a desired level of quality can be attained in a reduced amount of time, with reduced computational requirements, and/or using a reduced bit rate as compared to non-pre-processed content.
Those skilled in the art will recognize that a wide variety of modifications, alterations, and combinations can be made with respect to the above described embodiments without departing from the scope of the invention, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept.
It is to be noted that the examples and embodiments described herein are illustrated as non-limiting examples and should not be construed to limit the presently disclosed subject matter in any way.
It is to be understood that the invention is not limited in its application to the details set forth in the description contained herein or illustrated in the drawings. The invention is capable of other embodiments and of being practiced and carried out in various ways. Hence, it is to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. As such, those skilled in the art will appreciate that the conception upon which this disclosure is based may readily be utilized as a basis for designing other structures, methods, and systems for carrying out the several purposes of the presently disclosed subject matter.
It will also be understood that the system according to the invention may be, at least partly, implemented on a suitably programmed computer. Likewise, the invention contemplates a computer program being readable by a computer for executing the method of the invention. The invention further contemplates a non-transitory computer-readable storage medium tangibly embodying a program of instructions executable by the computer for executing the method of the invention.
Those skilled in the art will readily appreciate that various modifications and changes can be applied to the embodiments of the invention as hereinbefore described without departing from its scope, defined in and by the appended claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IL2017/050995 | 9/5/2017 | WO | 00 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/051330 | 3/22/2018 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 8160160 | Blum | Apr 2012 | B2 |
| 8199810 | Mabey et al. | Jun 2012 | B2 |
| 20040170330 | Fogg | Sep 2004 | A1 |
| 20070230914 | Garrido | Oct 2007 | A1 |
| 20080192822 | Chang | Aug 2008 | A1 |
| 20100026897 | Sharlet | Feb 2010 | A1 |
| 20130003872 | Alvarez et al. | Jan 2013 | A1 |
| Number | Date | Country |
|---|---|---|
| 2013144942 | Oct 2013 | WO |
| 2016060672 | Apr 2016 | WO |
| 2016120871 | Aug 2016 | WO |
| 2016142931 | Sep 2016 | WO |
| 2017085708 | May 2017 | WO |
| Entry |
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| Number | Date | Country | |
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| 20190246138 A1 | Aug 2019 | US |
| Number | Date | Country | |
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| 62394933 | Sep 2016 | US | |
| 62394373 | Sep 2016 | US |
