Image processing apparatus and image processing method

Patent metadata

Field	Value
Publication number	US-10672100-B2
Application number	US-201616073328-A
Country	US
Kind code	B2
Filing date	Oct 12, 2016
Priority date	Mar 25, 2016
Publication date	Jun 2, 2020
Grant date	Jun 2, 2020

Abstract

An apparatus determines a second pixel range of an uncorrected image necessary to generate a first pixel range having pixels in a preset range of a corrected image, including a cache unit determining the second pixel range and reading and holding the second pixel range from memory before executing correction. Correspondences indicating positions of the uncorrected image corresponding to positions of pixels of the corrected image, respectively, are preset. The cache unit specifies a position of the uncorrected image corresponding to a pixel of one of four corners of a rectangular third pixel range including the first pixel range based on the correspondence, specifies pixel ranges of the uncorrected image necessary for pixel value generation, respectively, at the four corners of the third pixel range based on the specified position, and determines a pixel range including a convex set including the specified pixel ranges as the second pixel range.

First claim

The invention claimed is:

1. An image processing apparatus that determines a second pixel range of an uncorrected image necessary for generating a first pixel range consisting of pixels in a preset range of a corrected image, the image processing apparatus comprising:
a memory that holds the uncorrected image;
a cache unit that determines the second pixel range, reads the second pixel range from the memory, and holds the read second pixel range; and
a correction processing unit that acquires the second pixel range from the cache unit and executes correction on the acquired second pixel range to generate the first pixel range, wherein
correspondences indicating positions of the uncorrected image corresponding to positions of pixels of the corrected image, respectively, are preset,
the first pixel range is a rectangle, and
the third pixel range is the first pixel range, and
the cache unit
specifies a position of the uncorrected image corresponding to a pixel at one of four corners of a rectangular third pixel range including the first pixel range, based on the correspondence,
specifies pixel ranges of the uncorrected image necessary for generation of pixel values of pixels, respectively, at the four corners of the third pixel range, based on the specified position,
determines a pixel range that includes a convex set including all the specified pixel ranges as the second pixel range,
reads the second pixel range from the memory before executing the correction by the correction processing unit,
holds first information that indicates a pixel range of the uncorrected image necessary for generation of pixel values of adjacent pixels of a rectangular fourth pixel range that is adjacent to the first pixel range and shares one side having an identical length with the first pixel range, the adjacent pixels being pixels positioned at end points of the one side, and
specifies a position of the uncorrected image corresponding to one pixel, which is not adjacent to the adjacent pixels, among the pixels at the four corners of the third pixel range, based on the correspondence, wherein
a pixel range of the uncorrected image necessary for generation of a pixel value of pixels, which are adjacent to the adjacent pixels, among the pixels at the four corners of the third pixel range, is the pixel range indicated by the first information.

2. The image processing apparatus according to claim 1 , wherein
the convex set is a minimum rectangle including all the specified pixel ranges, and
the pixel range that includes the convex set is a rectangle having a predetermined margin outside the convex set.

3. The image processing apparatus according to claim 1 , wherein
the first pixel range is a pixel range in which a plurality of fifth pixel ranges is arranged in a one-dimensional direction,
each of the plurality of fifth pixel ranges is a rectangular pixel range consisting of a plurality of pixels,
the fifth pixel ranges adjacent within the first pixel range share a side with each other, and
the cache unit
specifies a pixel range of the uncorrected image necessary for generation of pixel values of each of the fifth pixel ranges positioned at both ends in the first pixel range, based on the specified position.

4. The image processing apparatus according to claim 1 , wherein
the correspondence reflects at least one of a distortion characteristic of a lens of a camera capturing the uncorrected image and an installation condition of the camera, and
the correction includes at least one of distortion correction, enlargement, reduction,
rotation, shearing, and translation in the second pixel range.

5. An image processing method of an image processing apparatus that determines a second pixel range of an uncorrected image necessary for generating a first pixel range consisting of pixels in a preset range of a corrected image, wherein
the image processing apparatus includes:
a memory that holds the uncorrected image;
a cache unit that determines the second pixel range, reads the second pixel range from the memory, and holds the read second pixel range; and
a correction processing unit that acquires the second pixel range from the cache unit and executes correction on the acquired second pixel range to generate the first pixel range,
correspondences indicating positions of the uncorrected image corresponding to positions of pixels of the corrected image, respectively, are preset,
the first pixel range is a rectangle, and
the third pixel range is the first pixel range, and
in the image processing method, the cache unit
specifies a position of the uncorrected image corresponding to a pixel at one of four corners of a rectangular third pixel range including the first pixel range based on the correspondence,
specifies pixel ranges of the uncorrected image necessary for generation of pixel values of pixels, respectively, at the four corners of the third pixel range based on the specified position,
determines a pixel range that includes a convex set including all the specified pixel ranges as the second pixel range,
reads the second pixel range from the memory before executing the correction by the correction processing unit,
holds first information that indicates a pixel range of the uncorrected image necessary for generation of pixel values of adjacent pixels of a rectangular fourth pixel range that is adjacent to the first pixel range and shares one side having an identical length with the first pixel range, the adjacent pixels being pixels positioned at end points of the one side, and
specifies a position of the uncorrected image corresponding to one pixel, which is not adjacent to the adjacent pixels, among the pixels at the four corners of the third pixel range, based on the correspondence, wherein
a pixel range of the uncorrected image necessary for generation of a pixel value of pixels, which are adjacent to the adjacent pixels, among the pixels at the four corners of the third pixel range, is the pixel range indicated by the first information.

6. The image processing method according to claim 5 , wherein
the convex set is a minimum rectangle including all the specified pixel ranges, and
the pixel range that includes the convex set is a rectangle having a predetermined margin outside the convex set.

7. The image processing method according to claim 5 , wherein
the first pixel range is a pixel range in which a plurality of fifth pixel ranges is arranged in a one-dimensional direction,
each of the plurality of fifth pixel ranges is a rectangular pixel range consisting of a plurality of pixels,
the fifth pixel ranges adjacent within the first pixel range share a side with each other, and
the cache unit
specifies a pixel range of the uncorrected image necessary for generation of pixel values of each of the fifth pixel ranges positioned at both ends in the first pixel range based on the specified position.

8. The image processing method according to claim 5 , wherein
the correspondence reflects at least one of a distortion characteristic of a lens of a camera capturing the uncorrected image and an installation condition of the camera, and
the correction includes at least one of distortion correction, enlargement, reduction, rotation, shearing, and translation in the second pixel range.

Assignees

• Hitachi Automotive Systems Ltd

Inventors

• Uchida Yusuke
• Yamada Tetsuya
• Matsuo Shigeru
• Sasamoto Manabu

Classifications

• H04N5/232

  Electricity · mapped topic

• G06T1/20 Primary

  Processor architectures; Processor configuration, e.g. pipelining · CPC title

• G06T5/00

  Image enhancement or restoration · CPC title

• G06T5/006

  Physics · mapped topic

• G06T5/20

  using local operators · CPC title