Image processing device, image processing method, and non-transitory computer-readable recording medium

Patent metadata

Field	Value
Publication number	US-2018061078-A1
Application number	US-201715657280-A
Country	US
Kind code	A1
Filing date	Jul 24, 2017
Priority date	Aug 31, 2016
Publication date	Mar 1, 2018
Grant date	—

Abstract

An image processing device divides a recognition purpose image into a plurality of areas, selects feature points in the recognition purpose image such that a bias of the number of the feature points included in each of the areas is small registers information on the selected feature points in the recognition purpose image in a memory and estimates a position and an orientation of the camera based on the recognition purpose image registered in the memory and based on a captured image captured by a camera.

First claim

What is claimed is:

1 . An image processing device comprising:
a memory; and a processor coupled to the memory, wherein the processor executes a process comprising: dividing a recognition purpose image into a plurality of areas; selecting feature points in the recognition purpose image such that a bias of the number of the feature points included in each of the areas is small; registering information on the selected feature points in the recognition purpose image in the memory; and estimating a position and an orientation of the camera based on the recognition purpose image registered in the memory and based on a captured image captured by a camera.

2 . The image processing device according to claim 1 , the process further comprising registering each of the information on the feature points in the recognition purpose image and information on the feature points in a peripheral image that is inside the captured image and that is outside the recognition purpose image in map information when the recognition purpose image included in the captured image is recognized based on the feature points in the captured image and based on the feature points in the recognition purpose image, wherein the estimating estimates the position and the orientation of the camera based on the map information.

3 . The image processing device according to claim 2 , the process further comprising detecting a change in the position of the recognition purpose image included in the captured image and updating the map information, when the detecting detects the change.

4 . The image processing device according to claim 2 , the process further comprising dividing the peripheral image into a plurality of areas, selecting the feature points in the peripheral image such that a bias of the number of the feature points included in each of the areas is small, and registering information on the selected feature points in the map information.

5 . An image processing method comprising:
dividing a recognition purpose image into a plurality of areas, using a processor; selecting feature points in the recognition purpose image such that a bias of the number of the feature points included in each of the areas is small, using the processor; registering information on the selected feature points in the recognition purpose image in a memory, using the processor; and estimating a position and an orientation of the camera based on the recognition purpose image registered in the memory and based on a captured image captured by a camera, using the processor.

6 . The image processing method according to claim 5 , the image processing method further comprising registering each of the information on the feature points in the recognition purpose image and information on the feature points in a peripheral image that is inside the captured image and that is outside the recognition purpose image in map information when the recognition purpose image included in the captured image is recognized based on the feature points in the captured image and based on the feature points in the recognition purpose image, wherein the estimating estimates the position and the orientation of the camera based on the map information.

7 . The image processing method according to claim 6 , the image processing method further comprising detecting a change in the position of the recognition purpose image included in the captured image and updating the map information, when the detecting detects the change.

8 . The image processing method according to claim 6 , the image processing method further comprising dividing the peripheral image into a plurality of areas, selecting the feature points in the peripheral image such that a bias of the number of the feature points included in each of the areas is small, and registering information on the selected feature points in the map information.

9 . A non-transitory computer-readable recording medium having stored therein an image processing program that causes a computer to execute a process comprising:
dividing a recognition purpose image into a plurality of areas; selecting feature points in the recognition purpose image such that a bias of the number of the feature points included in each of the areas is small; registering information on the selected feature points in the recognition purpose image in a memory; and estimating a position and an orientation of the camera based on the recognition purpose image registered in the memory and based on a captured image captured by a camera.

10 . The non-transitory computer-readable recording medium according to claim 9 , the process further comprising registering each of the information on the feature points in the recognition purpose image and information on the feature points in a peripheral image that is inside the captured image and that is outside the recognition purpose image in map information when the recognition purpose image included in the captured image is recognized based on the feature points in the captured image and based on the feature points in the recognition purpose image, wherein the estimating estimates the position and the orientation of the camera based on the map information.

11 . The non-transitory computer-readable recording medium according to claim 10 , the process further comprising detecting a change in the position of the recognition purpose image included in the captured image and updating the map information, when the detecting detects the change.

12 . The non-transitory computer-readable recording medium according to claim 10 , the process further comprising dividing the peripheral image into a plurality of areas, selecting the feature points in the peripheral image such that a bias of the number of the feature points included in each of the areas is small, and registering information on the selected feature points in the map information.

Assignees

• Fujitsu Ltd

Inventors

• Yamaguchi Nobuyasu

Classifications

• G06T2207/30244

  Camera pose · CPC title

• G06K9/6202

  Physics · mapped topic

• G06K9/46

  Physics · mapped topic

• G06T7/11

  Region-based segmentation · CPC title

• G06T2207/20021

  Dividing image into blocks, subimages or windows · CPC title