Image processing device and image processing method

Patent metadata

Field	Value
Publication number	US-10311576-B2
Application number	US-201715681095-A
Country	US
Kind code	B2
Filing date	Aug 18, 2017
Priority date	Sep 26, 2016
Publication date	Jun 4, 2019
Grant date	Jun 4, 2019

Abstract

A computer extracts a plurality of candidate lines that are observed from a position of an imaging device that captures an image of an object from among a plurality of candidate lines included in shape information of the object. The computer generates plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image. The computer determines an association result according to respective errors of the plural pieces of association information.

First claim

What is claimed is:

1. A non-transitory computer-readable recording medium having stored therein an image processing program causing a computer to execute a process comprising:
extracting a plurality of candidate lines that are observed from a position of an imaging device that captures an image of an object from among a plurality of candidate lines included in shape information of the object;
generating plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image;
generating the prescribed number of projection lines by projecting the prescribed number of candidate lines onto the image; and
determining an association result according to respective errors of the plural pieces of association information, each of the respective errors indicating a deviation between a position of each of the prescribed number of projection lines and a position of each of the prescribed number of feature lines.

2. The non-transitory computer-readable recording medium according to claim 1 , wherein
the extracting the observed plurality of candidate lines removes one or more hidden lines from the plurality of candidate lines included in the shape information by using a prescribed position in a space as the position of the imaging device, and extracts remaining candidate lines as the observed plurality of candidate lines.

3. The non-transitory computer-readable recording medium according to claim 2 , wherein
the extracting the observed plurality of candidate lines extracts candidate lines indicating an outline edge of the object from among the remaining candidate lines, as the observed plurality of candidate lines.

4. The non-transitory computer-readable recording medium according to claim 3 , wherein
the extracting the observed plurality of candidate lines extracts candidate lines indicating an outer periphery of the object from among the candidate lines indicating the outline edge, as the observed plurality of candidate lines.

5. The non-transitory computer-readable recording medium according to claim 1 , wherein
two candidate lines of the prescribed number of candidate lines are not parallel to each other.

6. The non-transitory computer-readable recording medium according to claim 1 , wherein
no two candidate lines of the prescribed number of candidate lines exist on a straight line.

7. The non-transitory computer-readable recording medium according to claim 1 , wherein
the generating the plural pieces of association information extracts a plurality of feature lines that each include a portion included in a specified region within the image from among the plurality of feature lines detected from the image, and selects the prescribed number of feature lines from the extracted plurality of feature lines.

8. The non-transitory computer-readable recording medium according to claim 1 , wherein
the generating the plural pieces of association information extracts a plurality of feature lines that exist within a range of a prescribed distance from a reference position in the image from among the plurality of feature lines detected from the image, and selects the prescribed number of feature lines from the extracted plurality of feature lines.

9. The non-transitory computer-readable recording medium according to claim 1 , wherein
two feature lines of the prescribed number of feature lines are not parallel to each other.

10. The non-transitory computer-readable recording medium according to claim 1 , wherein
no two feature lines of the prescribed number of feature lines exist on a straight line.

11. An image processing device comprising:
a memory that stores shape information of an object; and
a processor coupled to the memory and configured to extract a plurality of candidate lines that are observed from a position of an imaging device that captures an image of the object from among a plurality of candidate lines included in the shape information, to generate plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image, to generate the prescribed number of projection lines by projecting the prescribed number of candidate lines onto the image, and to determine an association result according to respective errors of the plural pieces of association information, each of the respective errors indicating a deviation between a position of each of the prescribed number of projection lines and a position of each of the prescribed number of feature lines.

12. The image processing device according to claim 11 , wherein
the processor removes one or more hidden lines from the plurality of candidate lines included in the shape information by using a prescribed position in a space as the position of the imaging device, and extracts remaining candidate lines as the observed plurality of candidate lines.

13. An image processing method comprising:
extracting, by a processor, a plurality of candidate lines that are observed from a position of an imaging device that captures an image of an object from among a plurality of candidate lines included in shape information of the object;
generating, by the processor, plural pieces of association information indicating a prescribed number of combinations obtained by respectively associating the prescribed number of candidate lines of the observed plurality of candidate lines with the prescribed number of feature lines of a plurality of feature lines detected from the image;
generating, by the processor, the prescribed number of projection lines by projecting the prescribed number of candidate lines onto the image; and
determining, by the processor, an association result according to respective errors of the plural pieces of association information, each of the respective errors indicating a deviation between a position of each of the prescribed number of projection lines and a position of each of the prescribed number of feature lines.

14. The image processing method according to claim 13 , wherein
the extracting the observed plurality of candidate lines removes one or more hidden lines from the plurality of candidate lines included in the shape information by using a prescribed position in a space as the position of the imaging device, and extracts remaining candidate lines as the observed plurality of candidate lines.

Assignees

• Fujitsu Ltd

Inventors

• Yamaguchi Nobuyasu
• Numata Yojiro
• Kuwabara Hiroshi

Classifications

• G06T7/344 Primary

  involving models · CPC title

• G06T7/13 Primary

  Edge detection · CPC title

• G06V10/44

  Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components · CPC title

• G06T15/02

  Non-photorealistic rendering · CPC title

• G06T2207/20116

  Active contour; Active surface; Snakes · CPC title