Image processing apparatus and image processing method

Patent metadata

Field	Value
Publication number	US-10354402-B2
Application number	US-201715466314-A
Country	US
Kind code	B2
Filing date	Mar 22, 2017
Priority date	Mar 29, 2016
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

A computer estimates a first position of an image capturing apparatus by using a prescribed number of combinations that correlate projection lines to feature lines. The projection lines are obtained by projecting candidate lines included in shape information of an object onto an image. Then, the computer generates a first projection line by projecting another candidate line onto the image using the first position, and selects a feature line that corresponds to the first projection line. Subsequently, the computer estimates a second position of the image capturing apparatus by using a combination that correlates the first projection line to the selected feature line. The computer generates a second projection line by projecting the other candidate line onto the image using the second position, and determines a third position of the image capturing apparatus according to an indicator of an interval between the second projection line and the other feature line.

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:
estimating a first position of an image capturing apparatus within a space by using a prescribed number of combinations that correlate a prescribed number of projection lines to a prescribed number of feature lines, respectively, wherein the prescribed number of projection lines are obtained by projecting a prescribed number of candidate lines from among a plurality of candidate lines included in shape information of an object onto an image of the object that has been captured by the image capturing apparatus and the prescribed number of feature lines are included in a plurality of feature lines detected from the image;
generating a first projection line by projecting a different candidate line different from the prescribed number of candidate lines from among the plurality of candidate lines onto the image using the first position;
selecting a feature line that corresponds to the first projection line from among the plurality of feature lines;
estimating a second position of the image capturing apparatus within the space by using a combination that correlates the first projection line to a selected feature line that corresponds to the first projection line;
generating a second projection line by projecting the different candidate line onto the image using the second position; and
determining a third position of the image capturing apparatus within the space according to an indicator of an interval between a position of the second projection line and a position of the different feature line.

2. The non-transitory computer-readable recording medium according to claim 1 , wherein
the estimating the first position further estimates a first posture of the image capturing apparatus within the space by using the prescribed number of combinations,
the generating the first projection line generates the first projection line by projecting the different candidate line onto the image using the first position and the first posture,
the estimating the second position estimates the second position and a second posture of the image capturing apparatus within the space by using the combination that correlates the first projection line to the selected feature line,
the generating the second projection line generates the second projection line by projecting the different candidate line onto the image using the second position and the second posture, and
the determining the third position determines the third position and a third posture of the image capturing apparatus within the space according to the indicator.

3. The non-transitory computer-readable recording medium according to claim 1 , wherein
the selecting the feature line selects, from among the plurality of feature lines and as the feature line that corresponds to the first projection line, one or more feature lines with at least one of a relative distance or a relative angle satisfying a prescribed condition, the relative distance representing a distance relative to the first projection line and the relative angle representing an angle relative to the first projection line.

4. The non-transitory computer-readable recording medium according to claim 1 , wherein
the generating the first projection line generates a plurality of first projection lines that include the first projection line by projecting the plurality of candidate lines onto the image using the first position,
the selecting the feature line selects a particular number of first projection lines that include the first projection line from among the plurality of first projection lines, and selects a particular number of feature lines that correspond to the particular number of first projection lines from among the plurality of feature lines,
the estimating the second position estimates the second position by using a particular number of combinations that correlate the particular number of first projection lines to the particular number of feature lines,
the generating the second projection line generates a particular number of second projection lines that include the second projection line by projecting the particular number of candidate lines onto the image using the second position, and
the determining the third position
determines an indicator of intervals between individual positions of the particular number of second projection lines and individual positions of the particular number of feature lines,
repeats operations from the selecting the particular number of feature lines to the determining the indicator a plurality of times by changing selection of the particular number of first projection lines, and
determines the third position according to the particular number of combinations with a smallest total sum of the intervals between the individual positions of the particular number of second projection lines and the individual positions of the particular number of feature lines.

5. The non-transitory computer-readable recording medium according to claim 4 , wherein
the selecting the feature line incorporates, into the particular number of first projection lines, a first projection line obtained by projecting at least one of the particular number of candidate lines onto the image using the first position.

6. The non-transitory computer-readable recording medium according to claim 4 , wherein
the plurality of first projection lines include one first projection line and other first projection line that is longer than the one first projection line, and
the selecting the feature line preferentially selects the other first projection line as the particular number of first projection lines.

7. The non-transitory computer-readable recording medium according to claim 4 , wherein
the selecting the feature line preferentially selects, from among the plurality of first projection lines and as the particular number of first projection lines, a first projection line that corresponds to an outer edge of a graphic represented by the plurality of first projection lines.

8. The non-transitory computer-readable recording medium according to claim 4 , wherein
the process further comprises displaying a second projection line and a feature line included in a combination for which the interval is greater than a prescribed value from among the particular number of combinations, on a screen in a display form that is different from a display form for a second projection line and a feature line included in other combination from among the particular number of combinations.

9. An image processing apparatus comprising:
a memory configured to store shape information of an object; and
a processor configured to
estimate a first position of an image capturing apparatus within a space by using a prescribed number of combinations that correlate a prescribed number of projection lines to a prescribed number of feature lines, respectively, wherein the prescribed number of projection lines are obtained by projecting a prescribed number of candidate lines from among a plurality of candidate lines included in the shape information onto an image of the object that has been captured by the image capturing apparatus and the prescribed number of feature lines are included in a plurality of feature lines detected from the image,
generate a first projection line by projecting a different candidate line different from the prescribed number of candidate lines from among the plurality of candidate lines onto the image using the first position,
select a feature line that corresponds to the first projection line from among the plurality of feature lines,
estimate a second

Assignees

• Fujitsu Ltd

Inventors

• Yamaguchi Nobuyasu

Classifications

• G06T7/75 Primary

  involving models · CPC title

• G06T7/60 Primary

  Analysis of geometric attributes · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06K9/4604

  Physics · mapped topic

• G06T2207/30244

  Camera pose · CPC title