Information processing apparatus, information processing method and storage medium

Patent metadata

Field	Value
Publication number	US-11373326-B2
Application number	US-202016795304-A
Country	US
Kind code	B2
Filing date	Feb 19, 2020
Priority date	Feb 28, 2019
Publication date	Jun 28, 2022
Grant date	Jun 28, 2022

Abstract

An information processing apparatus is configured to output a histogram for inspecting a state of a target object based on presence of a peak in a specific class in the histogram, the histogram representing a distribution of depth values from a measurement apparatus to the target object, the information processing apparatus including an acquisition unit configured to acquire depth information obtained from a result of measurement of a depth value from the measurement apparatus to the target object by the measurement apparatus and an output unit configured to output a histogram based on the acquired depth information so that a frequency of a class including a predetermined depth value to be applied when the depth value is not obtained is reduced.

First claim

What is claimed is:

1. An information processing apparatus comprising:
one or more processors programmed to cause the apparatus to function as:
an acquisition unit configured to acquire depth information indicating a depth value from a measurement apparatus to a target object by using the measurement apparatus;
a second acquisition unit configured to acquire input information for specifying a display range of a histogram to a range specified by a user; and
an output unit configured to output the histogram, within the range indicated by the input information, representing a distribution of a plurality of the depth values based on the acquired depth information so that a frequency of a class including a predetermined depth value to be applied when depth value that is not valid is obtained is reduced.

2. The information processing apparatus according to claim 1 , wherein the acquisition unit is configured to acquire the depth information where a value of 0, infinity, or a predetermined negative value is applied to an area where the measurement apparatus fails to obtain a valid depth value.

3. The information processing apparatus according to claim 1 , wherein the output unit is configured to output the histogram within a range of depth values measurable by the measurement apparatus based on the range of depth values measurable by the measurement apparatus.

4. The information processing apparatus according to claim 1 , wherein the one or more processors are programmed to further cause the apparatus to function as a third acquisition unit configured to acquire reliability indicating confidence of the depth value in the depth information,
wherein the output unit is configured to output the histogram where a class including a depth value the reliability of which is higher than a predetermined value is emphasized based on the reliability.

5. The information processing apparatus according to claim 1 , wherein the one or more processors are programmed to further cause the apparatus to function as a determination unit configured to determine a display method of the histogram based on color specified by a user,
wherein the output unit is configured to output the histogram by using the display method determined by the determination unit.

6. The information processing apparatus according to claim 1 , wherein the acquisition unit is configured to acquire a depth image obtained from the depth information.

7. The information processing apparatus according to claim 6 , wherein the one or more processors are programmed to further cause the apparatus to function as a correction unit configured to correct a pixel where a measurement result of the measurement apparatus is a depth value outside a predetermined range among pixels constituting the depth image,
wherein the output unit is configured to output the histogram where a frequency of a class including the depth value outside the predetermined range is reduced based on the depth image corrected by the correction unit.

8. The information processing apparatus according to claim 7 ,
wherein the correction unit is configured to correct the depth image on the pixel where the measurement result of the measurement apparatus is the depth value outside the predetermined range by using a depth value included in a pixel near the pixel, and
wherein the output unit is configured to output the histogram where a frequency of a class including a depth value within the predetermined range is complemented based on the depth image corrected by the correction unit.

9. The information processing apparatus according to claim 7 , wherein the output unit is configured to output the histogram where a depth value included in the depth image and a depth value obtained based on the depth image corrected by the correction unit are displayed in different colors.

10. The information processing apparatus according to claim 6 , wherein the one or more processors are programmed to further cause the apparatus to function as a division unit configured to divide the depth image into areas associated with respective predetermined values,
wherein the output unit is configured to output the histogram based on the values associated with the areas divided by the division unit.

11. The information processing apparatus according to claim 10 ,
wherein the division unit is configured to divide the depth image into a grid of predetermined size, and
wherein the output unit is configured to output the histogram based on depth values associated with respective cells of the grid.

12. The information processing apparatus according to claim 11 ,
wherein the division unit is configured to divide the depth image into partial areas based on an image feature of a color image corresponding to the depth image, and
wherein the output unit is configured to output the histogram based on depth values associated with the respective partial areas.

13. The information processing apparatus according to claim 11 ,
wherein the division unit is configured to divide the depth image by using a trained model that outputs partial areas obtained by dividing the depth image with the depth image and a color image corresponding to the depth image as inputs, and
wherein the output unit is configured to output the histogram based on depth values associated with the respective partial areas.

14. The information processing apparatus according to claim 6 , wherein the one or more processors are programmed to further cause the apparatus to function as a first setting unit configured to set an area specified by a user in a color image corresponding to the depth image,
wherein the output unit is configured to output the histogram where a class including a depth value included in the area set by the first setting unit is emphasized.

15. An information processing apparatus comprising:
one or more processors programmed to cause the apparatus to function as:
an acquisition unit configured to acquire a depth image obtained from a result of measurement of a depth value from a measurement apparatus to a target object by the measurement apparatus and a color image corresponding to the depth image;
an output unit configured to output a histogram representing a distribution of the depth values based on the depth image;
a setting unit configured to set a class specified by a user in the histogram; and
a display unit configured to display the color image where a pixel corresponding to the class set by the setting unit is emphasized.

16. An information processing apparatus comprising:
one or more processors programmed to cause the apparatus to function as:
an acquisition unit configured to acquire depth information obtained from a result of measurement of a depth value from the measurement apparatus to a target object by a measurement apparatus;
a second acquisition unit configured to acquire input information for specifying a display range of the histogram to a range specified by a user; and
an output unit configured to output a histogram, within the range indicated by the input information, representing a distribution of a plurality of the depth values based on the acquired depth information so that a frequency of a class corresponding to a depth value to be applied when depth value that is not valid is obtained is reduced.

17. A storage medium storing a program for causing a computer to execute an information processing method comprising:
acquiring depth information indicating a depth value from a measurement apparatus to a target object by using the measurement apparatus;
acquiring input information for

Assignees

• Canon Kk

Inventors

• Higo Tomoaki
• Kobayashi Kazuhiko
• Tsuchimoto Tomokazu

Classifications

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• H04N13/128 Primary

  Adjusting depth or disparity · CPC title

• G06T2207/20081

  Training; Learning · CPC title

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title