JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 51 Motion Estimation and H.264/AVC: A Review Md Anwarul Kaium Patwary and Mohamed Othman Abstract – Image/video compression and coding technique rapidly growing to ease the visual and digital communication. The latest coding standard is H.264/AVC which has been developed by Joint Video Team (JVT) of ISO/IEC’s MPEG and IUT-T’s VCEG (Video Coding Expert Group). This coding standard mainly features for high coding efficiency, which may be twice faster than the existing video coding standard for a given level of fidelity. This paper aims to present a review of recent motion estimation application of H.264/AVC as well as issues that lies on H.264/AVC in multimedia communication and video processing. And we analyzed the performance of several motion estimation search technique and compared. Index terms – H.264/AVC, Motion Estimation ♦ 1 INTRODUCTION computationally expensive component for video encoding. Motion Estimation (ME) examines the movement of object in an image sequence to try H .264/AVC is a video coding standard, which is the best state of the art in video compression. H.264/AVC provides gains in compression efficiency of up to 50% over a wide range of bit rates and video resolutions compared to previous standards. This standard aims to ensure that compliant encoders and decoders can successfully interwork with each other, whilst allowing manufacturers the freedom to develop competitive and innovative products [21]. This video coding standard has been adopted number with several technical developments such as, variable block-size motion compensation with small block sizes, quarter-sample compensation, accuracy motion vector for motion over picture boundaries, multiple reference picture motion compensation, and directional spatial prediction for intra coding [21]. Motion estimation is one of the best ———————————————— • Mohamed Othman and Md Anwarul Kaium Patwary are with the Department of communication Technology and Network, Universiti Putra Malaysia, 43400 UPM, Serdang D.E., Malaysia. • The first author also an associate researcher at the Lab of Computational Science and Informatics, Institute of Mathematical Research (INSPEM), Universiti Putra Malaysia. to obtain vectors representing estimated motion. There are several studies has been done in last couple of year to reduce the motion estimation time and complexity obtain in the video lower computational encoding and image processing. In video coding another function is Rate-Distortion (RD) which is to find the distortion rate of picture quality after being encoded. To calculate the RD, researcher use to optimize this technique in the process of video coding which is called Optimization (RDO). Rate-Distortion RDO widely used for H.264 in mode decision and rate control, consequently it increases the computational complexity compared to the previous standard [8]. In this consequence researcher are being more interested to produce efficient and fast RDO algorithm and parallel rate distortion as well. 2 OVERVIEW OF H.264/AVC ITU-T H.264/AVC is the newest entry in the series of international video coding standard, it was announced in 2003[1]. Currently it is most powerful and state-of-the-art standard in video coding area with more efficient motion estimation and compensation. It was developed by Joint Video Team (JVT) with the expert from © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 52 ITU-T’s Video Coding Expert Group (VCEG) and sequence(pictures(slices(macrblocks(macroblock ISO/IEC’s Moving Picture Expert Group (MPEG). Partitions(sub-macroblock As compare with the past standard, its design (samples))))))) [14]. provides the most current balance between the 3 PROBLEM OVERVIEW partitions(blocks coding efficiency, implementation complexity and cost, those determinations are based on VLSI Nowadays image and video compression is design playing vital role in our life due to rapid technology (CPU’s, DSP’s, ASIC’s, development of digital technique and increasing FPGA’s etc)[14]. use of internet. Video data transmitting and H.264/AVC is based on three redundancy storage needs more computational power and reduction redundancy, high storage capacity. In some major application temporal redundancy, and entropy coding. In principles: spatial such as wireless low power surveillance and spatial redundancy a block in frame of a picture multimedia has similar pattern with its neighbors, and this cameras and mobile camera phones, it is really a redundancy can be reduced by predicting the challenge pixel values of one block from its neighboring architecture. For both encoder and decoder, it is blocks and compensate errors with residuals. On necessary to have low power consumption in the other hand temporal redundancy is reduced order to transmit data efficiently and reduce the by motion estimation. The motion estimation is storage size. sensor for networks, traditional wireless video PC coding an operation of finding a motion vector, which indicates the similar block in reference frames, and residuals to compensate prediction errors. Finally the entropy coding further reduces the encoded video size by assigning more frequently appearing symbols to shorter codes. In the H.264 standard, code Context-Adaptive (CAVLC), Variable-Length Context-Adaptive Binary- Adaptive Code (CABAC) and Exp-Golomb code are used. 4 MOTION ESTIMATION ASPECTS OF H.264 ON DIFFERENT Motion Estimation (ME) is an important part of data compression methods adopted by all existing video coding standard such as H.263, MPEG-4, etc. In H.264, the ME technique is designed with many new features, such as the variable block size, multiple reference frames, a quarter pixel accurate estimation, and so on. It This coding standard structure is similar to all gained the better coding efficiency and high prior coding standards such as H.261, MPEG-1, performance [7]. However, it is one of the most MPEG-2, H.263, and MPEG-4 part 2. As it is computationally expensive part and critical to architecture each picture is compressed by perform the video coding in H.264. partitioning it as one or more slices; each slice is consist of macrblocks, which are blocks of 16 x 16 luma samples with corresponding chroma samples, and each macroblock is divided into sub-macrooblock for motion compensated prediction. Those prediction partitions can have seven different sizes 16x16, 16x8, 8x16, 8x8, 8x4, 4x8, and 4x4. The block size is used for spatial transform is always same or smaller than block size used for prediction. The hierarchy of video sequences from sequence to sample is given by: In video sequences there are high level temporal redundancy exist between consecutive frames. ME examine the reference frame for any similarities to the input macroblock and reduce temporal redundancy. Temporal reduction is to encode first a reference frame and for the consecutive frames encode only the difference between the reference frame and current frame [25]. The results of this search technique generally one of these three: an exact match has been found, a close match has been found, or no match has been found. H.264 supports motion compensation block size ranging from 16x16 to © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 53 4x4, and the maximum number of reference and frame is 16 in H.264 [4]. Multiple reference estimation and motion compensation. Finally, a frame, variable-block size, and quarter-pixel Direction-based Selection Rule is utilized which is accuracy employed sub-pixel ME method. standard and in achieved H.264/AVC better coding it multi-frame motion estimation in terms of improving coding efficiency but still computational complexity is higher. C. Chai, H.Zeng, and S.K. Mitra [7] proposed a fast motion estimation, this algorithm achieves a reduction of 88% ME process time on average which really an efficient computational time during a video process, they reduces the computational complexity with the consider of improving of coding efficiency as well. In this fast ME algorithm they used three methods sequentially to implement it. in motion And there are fast algorithms have been frames. 4.1 Multiple Reference Frame Selection In multiple reference frame motion compensation, the best picture in several precoded can be used to perform the ME. Its prediction performance is better than that of single reference in a situation such as repetitive motion, uncovered background, non-integer pixel displacement and lighting change. The number of reference frame can be a maximum of 16 in the H.264/AVC encoder, but the encoder can refer five frames for backward and forward motion estimation. proposed difference proposed in this regard of multiple reference sub-section we will describe details of them. researchers little compression efficiency in coding process. In the following Several makes First, Mode Discriminant method where 7 modes classified into two categories: large block size class and small block size class, large block size modes are suitable for coding homogeneous regions in slow motion, while small block size modes improve the coding efficiency in the case of fast motion. Second, a Condensed Hierarchical Block Matching method is proposed which speeds up the optimal Motion Vector (MV) search process for a given mode, if the optimal block of an MB is M x N, then an M x N block in the MB can be well approximated by a condensed block, and uses only 4 x 4 sample pixels which help to find the best matching in a sampled searching window In [5], fast reference frame selection algorithm proposed based on the information from reference frame for motion estimation process. They reduced the computational complexity in motion estimation process when to predict the reference frame. They focus on the issue of correlation on temporal redundancy in between current Macroblock (MB) and the reference region as well. They achieved better speed up than the used algorithm before, they compared with Kuo’s method [6] using three Quantization Parameters (QP=24, 28, 32). 4.2 Search Range Search range or window is also a key factor in order to get more efficiency during motion estimation. An appropriate search range can claim the reduction of computational load and efficient encoding scheme. Small search window produces poor matching results; in the other hand large search range produces the precise matching result than small. Recently many fast motion estimation algorithms have been proposed to accelerate the motion estimation time by reducing the search range rather than full search range. Besides this algorithm there is another study has been done in [4], they proposed a fast multi-frame motion estimation algorithm to gain better rat-distortion and lower complexity for encoding in H.264. They used several search method rather than only full search technique to reduce searching computation in motion estimation process with five reference frames. In H.264/AVC video encoding the search range is fixed throughout the encoding process. In some cases we need to change the search range such as, for the slow motion macroblocks, because the distance between best MVs and search center is very small, so the search range is inefficient in this © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 54 case. But for the large motion MBs a large search range is more efficient. Thus, we can reduce the computational complexity of the ME process by changing adaptively the search range. The sum of absolute value of previously computed motion vectors and summation of prediction errors are used to change the search range adaptively [13]. In [9], an adaptive search range decision algorithm is proposed which has a search area selection method by utilizing the information of the previously computed motion vector differences (MVDs). It determines the size of search range dynamically and improves coding efficiency and picture quality as well. 8 x 8 Block 8 x 4 Block 4 x 8 Block 4 x 4 Block Fig 1 (b): Macroblock Sub-partitions In a full search based VBS selection all allowed modes are checked for the current macroblock. Cost is calculated at each location in a search window in the previous frame using all block sizes. In [11] N.A. Khan, S. Masud, and A. Ahmad proposed a variable block size motion estimation algorithm which is implemented in real time video encoding for H.264/AVC codec standard. In this algorithm they proposed 3D recursive search approach, while selecting the best mode and motion vector for encoding the 4.3 Variable Block Size Motion Estimation (VBSME) VBSME is a new feature introduced in H.264/AVC video coding standard. It plays an important role in achieving efficient coding and video quality in video compression process. But it has high computational complexity and huge memory traffic make design difficult. The processing power requirement for VBSME depends on many factors such as frame size, frame rate and search area. In order to gain more precise motion information; H.264/AVC allows a macroblock into several blocks with variable size, ranging from 16 pixels to 4 pixels in each dimension [9]. This variable block size allows the combination of block sizes ranging from 16 x 16 pixels to 4 x 4 pixels within a macroblock for luminance component and correspondingly blocks of quarter sizes chrominance component. Luminance component can be portioned in one of the four modes as shown in Fig 1 (a), if 8 x 8 block size is chosen then each of the four 8 x 8 may be further split into four more modes as shown in Fig 1(b). current macroblock during video process. For any real time application must be reduced the computational complexity in searching the best mode of macroblock. This [11] algorithm uses the ‘previous mode’ information and the ‘previous motion vector’ information in the current and previous frames to determine the motion vector by using SAD or other criteria and mode for the current macroblock. Thus considerably achieved reduction in computational complexity and decreases the bit stream size by restricting the number of candidate macroblocks. In an H.264 encoder, the most time consuming component is variable block size motion estimation. To reduce the complexity and computational time another technique is early termination of motion estimation during video process. Early termination happens when it predicts the best motion vector by examining only one search point. In this process some of the motion searches can be stopped early and large number of search point can be skipped. The objective of the early termination is to decide whether a search point has met RD cost criterion, so that the best search point for the current block can be found early [12]. In [12], an adaptive variable block size early termination motion 16 x 16 Block 16 x 8 Block 8 x 16 Block Fig 1 (a): Macroblock Partitions 8 x 8 Block estimation algorithm is proposed for H.264/AVC coding standard. This algorithm has adaptive threshold which characteristics regarding of current is based on rate-distortion block © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ and statistical (RD) cost previously JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 55 processed blocks and modes. By using this method. FS has high reliability and efficiency in method motion searches can be stopped early video coding for H.264/AVC standard. High and saves large number of search point. This accuracy evolved in this search algorithm cause proposed method saves about 93% and 69% of its traverse all possible search points in a search search points compared to H.264/AVCs typical window. full search and fast motion estimations, However this method left some drawback such respectively. as, computational time due to the fact it needs to 4.4 Quarter Pixel Accurate Estimation H.264/AVC allows quarter pixel (1/4) motion estimation while searching MV and gets pixel accuracy after encoding process. In H.264 ME is more encouraged to have the quarter pixel accuracy to achieve the better compression efficiency, but it takes significant amount of time in motion searches process. With full search for integer-pel motion estimation, the portion of subpixel motion estimation is about 20%. Fast full search motion estimation for integer-pel motion estimation, the portion of sub-pixel motion estimation increases of about 40% of ME process [22]. However, it gets more accuracy than integer-pel motion estimation. In H.264 ME process starts with each block in the location of integer-pixel first, and then sub-pixel around the best integer-pixel position, finally the quarter pixel around the best sub-pixel position [23]. Thus, it does find the best matching point of Motion Vector (MV). In [22], proposed a mathematical model for quarter-pixel motion estimation. This proposed algorithm achieved almost the same motion estimation accuracy same as integer-pel motion estimation for full search algorithm. 5 TYPICAL ALGORITHMS M OTION ESTIMATION search all possible search point in a search window. It takes long time and a very large computation. 5.2 Enhanced Predictive Zonal Search (EPZS) EPZS is a predictive motion estimating algorithm. Compared with the FS method, improvement feature is selection of motion vector (MV) prediction. It consists of 3 steps: 1) predictor selection, 2) selects the best Motion Vector (MV) predictor from a set of potentiality likely predictors, 3) early termination allows the termination of search at certain stage when the criteria satisfies. Predictor selection is most important feature in EPZS process. Examine only a smaller set of highly likely MV predictors instead of checking all possible search point in a given search area [19]. Designing of this set and select the correct MV predictor are vital to the performance of this search algorithm in terms of both compression efficiency and complexity. Based on the distortion of adjacent blocks several early terminations are examined in this method. And this allowed us reduce the computational complexity notably. The best predictor is chosen by minimizing the Some typical ME algorithm for H.264/AVC is exist based on several research. In the next subsection few typical motion estimation algorithm will be described and simulation result will be shown and compared them. cost function in equation 1. EPZS algorithm finds the smaller distortion by comparing with the threshold criterion. , , . (1) 5.1 Full- Search (FS) Method Block matching motion estimation with the highest precision belongs to Full- search algorithm also known as, exhaustive search Where m= , is the current MV being considered, p , is the MV used as the prediction during the MV coding process, and © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 56 a Lagragian multiplier. The rate term R (m-p) represents the motion rate. 5.3 Unsymmetrical-cross Mutli-Hexagongrid Search (UMHexagonS) UMHexagonS algorithm uses the hybrid and hierarchical motion search strategies. It includes four steps and consists of several search patterns; they are cross pattern, multi-hexagon-grid, 24 adjacent points, classical hexagon pattern and small diamond pattern. In this regard the algorithm called hybrid motion search algorithm. Fig. 2: UMHexagonS Search Step [20] UMHexagonS is a block-matching motion estimation technique. And estimate the initial motion vector by using four models obtained. They are, vector forecast value, upper forecast value, relevant piece of vector forecast and reference block vector forecast. The algorithm second step is unsymmetrical-cross search is performed to locate the search location with minimum cost function value. As shown in fig. 2 third step of this algorithm is uneven multiTable 1 Performance Comparisons of several Search Algorithm Video Sequences ME Algorithm ME Time(sec) PSNR Y (db) Total encoding time (sec) akiyo bridge foreman carphone FS Method 7.793 39.521 9.428 UMHexagonS [20] 1.203 39.521 2.920 EPZS [19] 0.899 39.521 2.419 FS Method 10.208 35.612 11.954 UMHexagonS [20] 1.242 35.604 3.003 EPZS [19] 0.999 35.607 2.710 FS Method 10.850 37.118 12.743 UMHexagonS [20] 2.0591 37.137 3.903 EPZS [19] 1.672 37.240 3.498 FS Method 11.349 37.291 13.560 UMHexagonS [20] 1.715 37.429 3.536 EPZS [19] 1.431 37.363 3.224 © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 57 hexagon-grid search is used and it starts from the in the parameter of ME time, PSNR, and Total center and traverse through the search window encoding time. The experiment environment is: until the search window boundary. The fourth Windows 7 Home Premium, JM 16.0 reference and final step uses an expanded hexagon and a software [26] for H.264/AVC encoding, Microsoft small search pattern to find the minimum cost Visual Studio C++ 2010 Express Edition. We used function value, which as the current block several QCIF (Quarter Common Intermediate motion vector position. Format) video sequences (i.e. akiyo, bridge, foreman, carphone) to test the algorithm. Table 2 Reviewed Studies Proposed Technique H.264 Features Findings Variable Block-Size Adaptive variable block-based A region based search is suggested to reduce Motion Estimation early termination motion the ME time (VBSME) estimation algorithm [12] Variable block size motion Fine search technique is used to utilize the estimation algorithm for real time best mode and best motion vector at first video encoding [11] stage Multiple Reference Fast Multi-frame motion According to the estimated parameter, one Frames estimation [4] can decide which kind of search method is suitable for the previous nth frame to optimize speed and accuracy Fast motion estimation for H.264 Probability of using large block size modes is [7] higher than that of using the small ones Efficient reference frame selector All subblocks inside the same for H.264 [6] submacroblock partition must refer to the same reference frame Search Range Adaptive search range decision High probability of large Motion vector algorithm [9] (MV) does not mean a large search window is required Quarter Pixel Mathematical model for a quarter Quadratic Motion Compensation (MC) Accuracy pixel motion estimation[22] prediction errors around an integer-pixel motion vector, and appraise the corresponding MC prediction error at subpixel positions. 5.4 Performance Comparisons of Different Search Techniques In this section several search method is inspected in terms of ME time, total encoding time, and Peak Signal-to-Noise Ratio (PSNR). Table 1 shows the different search method performance We observed three different popular search techniques and analyzed through the total encoding time, ME time and PSNR for Y component in a video sequence. Full Search Method is containing highest computational complexity in every video sequences and picture © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 58 quality remain same in every search technique. [5] And it is highly notified in table 1 that EPZS J.Gwanggil, Reference Frame H.264/AVC,” algorithm is claiming as the most efficient algorithm regarding on ME time and encoding L.Kangjun, IEEE and J.Jechang, Selection Algorithm Transaction on “Fast for Consumer Electronics, Vol. 55, No. 2, May 2009. [6] time but the picture quality remain nearly same. T.Y. Kuo, and H.J. Lu, “Efficient reference frame selector for H.264,” IEEE Transaction on Circuits Systems for Video Technology, vol, 18. no. 3, pp. 400- 6 FINDINGS 405, March 2008. In table 2 shows the summarization of the review [7] estimation for H.264,” Signal Processing: Image of H.264/AVC and some proposed technique in terms aspect of H.264/AVC features. C. Chai, H. Zeng, and S. K. Mitra, “Fast motion Communication 24 (2009) pp 630-636. [8] K. Y. Liao, J. F. Yang, and M. T. Sun, “Rate-Distortion Cost Estimation for H.264/AVC”, IEEE Transaction on 7 CONCLUSIONS Circuits Systems for Video Technology, vol. 20, no. 1, pp In this paper we reviewed the motion estimation and its trend of progress on aspects of H.264/AVC coding standard. H.264/AVC has tremendous feature in terms of coding efficiency and accuracy. But it left huge computational complexity in motion estimation process. Plenty of techniques and algorithms have been proposed in the term of software and hardware to reduce computational load in video/image process. And researchers are gaining much more efficient results over typical motion estimation technique day by day. 38-49, January 2010. [9] M. G. Sarwar, and Q. M. Jonathan Wu, “An Efficient Search Algorithm for Motion Circuits, System and Signal Processing, issue 4, volume 3, pp 173-180, 2009. [10] C.Y. Kao, and Y.L. Lin, “A Memory-Efficient and Highly Parallel Architecture for Variable Block Size Integer Motion Estimation in H.264/AVC,” IEEE Transactions on Very Large Scale Integration (VLSI) Systems, Vol. 18, No.16, pp 866-874, June 2010. [11] N.A. Khan, S. Masud, and A. Ahmad, “A variable block size motion estimation algorithm for real-time video ACKNOWLEDGMENT Range Decision Estimation in H.264/AVC,” International Journal of encoding,” Signal Processing: Image Communication, Vol. 21, pp 306-315, 2006. 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[26] H.264/AVC Reference Software. Website: http://iphome.hhi.de/suehring/tml/ Md Anwarul Kaium Patwary was born in Bangladesh. He received his B.Sc in Software Engineering from Universiti Utara Malaysia, 2009. Currently he is pursuing M.Sc in Computer Science (by research) at Department of Communication Technology and Faculty Network, Computer Science Information of and Technology, Universiti Putra Malaysia. His research interests are in video coding and compression, parallel image and video processing, signal processing for communication, parallel and GPU programming. Mohamed Othman is a Professor at the Departmental of Communication Technology and Network, and a Deputy Dean (Research, Graduate Studies and Finance) of Faculty of Computer Science Information Universiti and Technology, Putra the (INSPEM), Malaysia. Engineering, pp 622 – 627, 2008. at Malaysia. © 2010 JOT http://sites.google.com/site/journaloftelecommunications/ Laboratory Universiti of Putra JOURNAL OF TELECOMMUNICATIONS, VOLUME 6, ISSUE 1, DECEMBER 2010 60 © 2010 JOT http://sites.google.com/site/journaloftelecommunications/
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