Information processing apparatus, inspection system, information processing method, and storage medium

Patent metadata

Field	Value
Publication number	US-11461894-B2
Application number	US-202016996597-A
Country	US
Kind code	B2
Filing date	Aug 18, 2020
Priority date	Aug 26, 2019
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

An information processing apparatus comprises: acquiring a first image including at least a part of an inspection device and a second image including at least a part of a subject; estimating a position of the inspection device based on the first image; estimating position and orientation information for the subject based on the second image; identifying an inspection region of the subject from results of estimating; and receiving a finalization instruction to finalize an inspection result to be recorded or output to an external apparatus based on sequentially acquired inspection results of the subject, and a finalization instruction to finalize inspection region information to be recorded or output to the external apparatus in association with the inspection result, wherein the finalization instruction for the inspection region information is received before the finalization instruction for the inspection result.

First claim

What is claimed is:

1. An information processing apparatus comprising:
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the at least one processor to:
acquire a first image including at least a part of an inspection device and a second image including at least a part of a subject, the first and the second images being captured by an imaging apparatus;
estimate, as a first estimation, a position of the inspection device based on the first image;
estimate, as a second estimation, position and orientation information for the subject based on the second image;
identify an inspection region of the subject from a result of the first estimation and a result of the second estimation; and
receive a first finalization instruction to finalize an inspection result to be recorded or output to an external apparatus based on sequentially acquired inspection results of the subject, and a second finalization instruction to finalize inspection region information to be recorded or output to the external apparatus in association with the inspection result,
wherein the second finalization instruction for the inspection region information is received before the first finalization instruction for the inspection result.

2. The information processing apparatus according to claim 1 , wherein, before receiving the first finalization instruction for the inspection result, the sequentially acquired inspection results and the inspection region information based on the received second finalization instruction are displayed on a display device.

3. The information processing apparatus according to claim 1 , wherein an output of the second estimation is the position and orientation information for the subject with the second image as an input, based on a learning model trained by using a plurality of training images including subjects similar to the subject.

4. The information processing apparatus according to claim 1 , wherein an output of the first estimation is an estimate of the position of the inspection device through filter processing and shape recognition processing.

5. The information processing apparatus according to claim 1 , wherein an output of the second estimation is skeletal information indicating a plurality of joint points of the subject and positions thereof as the position and orientation information for the subject.

6. The information processing apparatus according to claim 5 , wherein execution of the instructions further configures the at least one processor to identify the inspection region of the subject based on a distance from the position of the inspection device estimated by the first estimation unit to the plurality of joint points.

7. The information processing apparatus according to claim 6 , wherein execution of the instructions further configures the at least one processor to calculate an evaluation value by applying a larger weight to a joint point less distant from the position of the inspection device estimated by the first estimation, and identifies the inspection region of the subject based on the evaluation value calculated for each of the plurality of joint points.

8. The information processing apparatus according to claim 6 ,
wherein the second estimation outputs information about reliability for each of the plurality of joint points of the subject, and
wherein the inspection region of the subject is identified based on the information about the reliability.

9. The information processing apparatus according to claim 1 , wherein a processing load associated with estimating the position of the inspection device using the first image during the first estimation is smaller than a processing load associated with estimating the position and orientation of the subject using the second image during the second estimation.

10. The information processing apparatus according to claim 1 , wherein the first and the second images are acquired from an image acquired in a single image capturing.

11. The information processing apparatus according to claim 1 , wherein the position of the inspection device is detected during the first estimation by detecting a marker disposed on the inspection device from the first image.

12. The information processing apparatus according to claim 1 , wherein the position and orientation of the inspection device is detected during the first estimation by detecting a marker disposed on the inspection device from the first image.

13. The information processing apparatus according to claim 1 , wherein the sequentially acquired inspection results are acquired via an ultrasonic probe.

14. An inspection system comprising:
an imaging apparatus configured to capture a first image including at least a part of an inspection device and a second image including at least a part of a subject;
at least one processor; and
a memory storing instructions that, when executed by the at least one processor, cause the at least one processor to:
inspect the subject;
estimate, as a first estimation, a position of the inspection device based on the first image;
estimate, as a second estimation, position and orientation information for the subject based on the second image;
identify an inspection region of the subject from a result of the first estimation and a result of the second estimation; and
receive a first finalization instruction to finalize an inspection result to be recorded or output to an external apparatus based on sequentially acquired inspection results, and a second finalization instruction to finalize inspection region information to be recorded or output to the external apparatus in association with the inspection result,
wherein the second finalization instruction for the inspection region information is received before the first finalization instruction for the inspection result.

15. An information processing method comprising:
acquiring a first image including at least a part of an inspection device and a second image including at least a part of a subject, the first and the second images being captured by an imaging unit;
estimating, as first estimating, a position of the inspection device based on the first image;
estimating, as second estimating, position and orientation information for the subject based on the second image;
identifying an inspection region of the subject from a result of the first estimating and a result of the second estimating; and
receiving a first finalization instruction to finalize an inspection result to be recorded or output to an external apparatus based on sequentially acquired inspection results of the subject, and a second finalization instruction to finalize inspection region information to be recorded or output to the external apparatus in association with the inspection result,
wherein, the second finalization instruction for the inspection region information is received before the first finalization instruction for the inspection result.

16. A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of an information processing apparatus, configure the at least one processor of the information processing apparatus to perform operations comprising:
acquire a first image including at least a part of an inspection device and a second image including at least a part of a subject, the first and the second images being captured by an imaging apparatus;
estimate, as a first estimation, a position of the inspection device based on the first image;
estimate, as a second estimation, position and orientation

Assignees

• Canon Kk

Inventors

• Odagiri Jun

Classifications

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06V40/10

  Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands · CPC title

• G06V10/24

  Aligning, centring, orientation detection or correction of the image · CPC title

• G06T7/0012 Primary

  Biomedical image inspection · CPC title

• A61B8/4245

  involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient · CPC title