Image processing device

Patent metadata

Field	Value
Publication number	US-10991105-B2
Application number	US-201916565711-A
Country	US
Kind code	B2
Filing date	Sep 10, 2019
Priority date	Sep 25, 2018
Publication date	Apr 27, 2021
Grant date	Apr 27, 2021

Abstract

An image processing device includes a storage unit, an initial setting unit configured to store a position of an optical axis neighborhood point in a first image obtained by the imaging unit in the storage unit as an initial position of a specific point in the first image in association with image features of a surrounding area of the optical axis neighborhood point, a search unit configured to search for a corresponding point of the specific point in a second image obtained by the imaging unit based on the image features of the surrounding area of the specific point stored in the storage unit, and an output unit configured to output a position of the corresponding point in the second image as a position of the reference point in the second image.

First claim

What is claimed is:

1. An image processing device configured to set a reference point on an image obtained by an imaging unit moving in an optical axis direction, comprising:
a storage unit;
an initial setting unit configured to store a position of an optical axis neighborhood point in a first image obtained by the imaging unit in the storage unit as an initial position of a specific point in the first image in association with image features of a surrounding area of the optical axis neighborhood point;
a search unit configured to search for a corresponding point of the specific point in a second image obtained by the imaging unit based on the image features stored in the storage unit; and
an output unit configured to output a position of the corresponding point in the second image as a position of the reference point in the second image.

2. The image processing device according to claim 1 , further comprising:
a motion vector calculation unit configured to calculate a relative motion vector between a pixel and the reference point in each pixel of the second image.

3. An image processing device configured to estimate a rotational movement of an imaging unit moving in an optical axis direction, based on an image obtained by the imaging unit, comprising:
a setting unit configured to set an optical axis neighborhood point in the image as a specific point;
a first estimation unit configured to estimate a rotational velocity component of at least one axial rotation of a first axis and a second axis parallel to an imaging plane of the imaging unit, orthogonal to each other among rotational velocity components, based on a motion vector in a surrounding area of the specific point; and
a second estimation unit configured to estimate a rotational velocity component of an axial rotation of a third axis, which is a straight line connecting the specific point and an optical center of the imaging unit, based on the rotational velocity component estimated by the first estimation unit, a constraint condition assuming that a brightness value of an imaging target does not change due to a relative movement between the imaging unit and the imaging target, and a relationship between the movement of the imaging unit and the motion vector of each pixel on the image.

4. An image processing device configured to calculate an arrival time until an imaging unit moving in an optical axis direction arrives at an imaging target, based on an image obtained by the imaging unit, comprising:
a rotation estimation unit configured to estimate a rotational velocity component relating to at least one axis of a movement of the imaging unit itself; and
an arrival time calculation unit configured to calculate an arrival time in which the rotational velocity component relating to at least one axis is compensated, based on the rotational velocity component estimated by the rotation estimation unit, a constraint condition assuming that a brightness value of the imaging target does not change due to a relative movement between the imaging unit and the imaging target, and a relationship between the movement of the imaging unit and motion vector of each pixel on the image.

5. An image processing device configured to calculate a motion vector in which a motion of an imaging unit moving in an optical axis direction is compensated based on an image obtained by the imaging unit, comprising:
a rotation estimation unit configured to estimate a rotational velocity component relating to at least one axis of a movement of the imaging unit itself;
a normalized translational velocity estimation unit configured to estimate a translational velocity that is normalized by a distance relating to at least one axis, based on the rotational velocity component estimated by the rotation estimation unit, a constraint condition assuming that a brightness value of an imaging target does not change due to a relative movement between the imaging unit and the imaging target, and a relationship between the movement of the imaging unit and the motion vector of each pixel on the image, and
an unusual motion vector calculation unit configured to calculate a motion vector excluding a motion of a pixel caused by a motion of the imaging unit, based on the rotational velocity component estimated by the rotation estimation unit, the translational velocity estimated by the normalized translational velocity estimation unit, a constraint condition assuming that a brightness value of the imaging target does not change due to a relative movement between the imaging unit and the imaging target, and a relationship between the movement of the imaging unit and the motion vector of each pixel on the image.

6. An image processing device configured to set a reference point in a second image obtained by an imaging unit using a specific point in a first image obtained by a fixed imaging unit, comprising:
a storage unit;
a motion vector calculation unit configured to calculate a motion vector based on the first image;
an area setting unit configured to set an area having a uniform motion vector in the first image based on the motion vector calculated by the motion vector calculation unit;
an initial setting unit configured to store a position of the point included in the area in the storage unit as an initial position of the specific point in association with an image feature of a surrounding area of the specific point;
a search unit configured to search for a corresponding point of the specific point in the second image based on the image feature stored in the storage unit; and
an output unit configured to output the position of the corresponding point in the second image as a position of a reference point in the second image.

Assignees

• Toyota Motor Co Ltd

Inventors

• Fukamachi Hideo
• Kindo Toshiki
• Soga Mineki
• Kato Yoichi
• Ando Shigeru

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V2201/07

  Target detection · CPC title

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G06T5/50

  using two or more images, e.g. averaging or subtraction · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title