Image processing apparatus, image processing method, program, and image processing system

Patent metadata

Field	Value
Publication number	US-9489565-B2
Application number	US-201214348576-A
Country	US
Kind code	B2
Filing date	Aug 31, 2012
Priority date	Sep 28, 2011
Publication date	Nov 8, 2016
Grant date	Nov 8, 2016

Abstract

An image processing apparatus including a region-of-interest decision unit that identifies an interest space region in which an object to be analyzed is likely to be present based on a distance image, which is shape information of an object space corresponding to a captured image to be analyzed acquired by a distance image sensor, to identify a region of interest in the captured image corresponding to the interest space region and an image analysis unit that performs different image analyses for the region of interest and other image regions.

First claim

The invention claimed is:

1. An image processing apparatus comprising:
a region-of-interest decision unit that
obtains a distance image that is measured by a distance image sensor located above an object space and that includes information of a distance between the distance image sensor and an object vertically below the distance image sensor in the object space,
obtains an image that is captured by an imaging apparatus from a non-vertical direction,
identifies an interest space region in which the object is likely to be present based on the distance image, and
identifies a region of interest in the captured image corresponding to the identified interest space region; and

an image analysis unit that performs first image analysis on the identified region of interest and second image analysis on regions of the captured image other than the identified region of interest, the second image analysis being different from the first image analysis, wherein
the image analysis unit performs the first or second image analysis by performing matching processing on the identified region of interest, and
the image analysis unit changes a selection range of patterns used for the first or second image analysis by performing pattern recognition of the region of interest based on relative distance information between the imaging apparatus supplying the captured image and the interest space region identified based on the distance image.

2. The image processing apparatus according to claim 1 , wherein the region-of-interest decision unit analyzes the distance image to obtain position information of a person in the object space, and decides a region corresponding to the position information of the person in the captured image as the region of interest.

3. The image processing apparatus according to claim 1 , further comprising an image compression unit that compresses the captured image such that a data rate of a surrounding region of the region of interest is lower than the data rate of the region of interest.

4. An image processing apparatus comprising:
a region-of-interest decision unit that
obtains a distance image that is measured by a distance image sensor located above an object space and that includes information of a distance between the distance image sensor and an object vertically below the distance image sensor in the object space,
obtains an image that is captured by an imaging apparatus from a non-vertical direction,
identifies an interest space region in which the object is likely to be present based on the distance image, and
identifies a region of interest in the captured image corresponding to the identified interest space region; and

an image analysis unit that performs first image analysis on the identified region of interest and second image analysis on regions of the captured image other than the identified region of interest, the second image analysis being different from the first image analysis, wherein
the region-of-interest decision unit further analyzes the distance image to obtain position information of a person in the object space, and decides a region corresponding to the position information of the person in the captured image as the region of interest,
the region-of-interest decision unit further transforms the position information of the person, which is position information in a sensor coordinate system, based on first coordinate transformation data to thereby obtain position information of the person in a three-dimensional coordinate system,
the image processing apparatus further includes a storage unit that stores second coordinate transformation data showing a correspondence between the position information in the three-dimensional coordinate system and each region in the captured image, and
the region-of-interest decision unit decides the region of interest by determining the region in the captured image corresponding to the position information of the person in the three-dimensional coordinate system based on the second coordinate transformation data.

5. The image processing apparatus according to claim 4 , wherein the region-of-interest decision unit decides a size of the region of interest in accordance with a relative distance between the person estimated from the position information of the person in the three-dimensional coordinate system and the imaging apparatus.

6. The image processing apparatus according to claim 4 , further comprising:
an evaluation unit that evaluates reliability of the first coordinate transformation data or the second coordinate transformation data based on an analysis result of the region of interest by the image analysis unit; and
a notification unit that makes an error notification when the reliability of the first coordinate transformation data or the second coordinate transformation data is evaluated as damaged.

7. The image processing apparatus according to claim 4 , further comprising:
a calibration execution unit that acquires the first coordinate transformation data or the second coordinate transformation data by calibration; and
a data correction unit that corrects the first coordinate transformation data or the second coordinate transformation data acquired by the calibration execution unit based on an analysis result of the region of interest by the image analysis unit.

8. An image processing apparatus comprising:
a region-of-interest decision unit that
obtains a distance image that is measured by a distance image sensor located above an object space and that includes information of a distance between the distance image sensor and an object vertically below the distance image sensor in the object space,
obtains an image that is captured by an imaging apparatus from a non-vertical direction,
identifies an interest space region in which the object is likely to be present based on the distance image, and
identifies a region of interest in the captured image corresponding to the identified interest space region; and

an image analysis unit that performs first image analysis on the identified region of interest and second image analysis on regions of the captured image other than the identified region of interest, the second image analysis being different from the first image analysis,
wherein the region-of-interest decision unit further analyzes the distance image to obtain position information of a person in the object space, and decides a region corresponding to the position information of the person in the captured image as the region of interest,
wherein the imaging apparatus is one of a plurality of imaging apparatuses that each image the object space from a different direction, and
wherein the region-of-interest decision unit decides the region of interest of the captured image corresponding to a face of the person.

9. An image processing apparatus comprising:
a region-of-interest decision unit that
obtains a distance image that is measured by a distance image sensor located above an object space and that includes information of a distance between the distance image sensor and an object vertically below the distance image sensor in the object space,
obtains an image that is captured by an imaging apparatus from a non-vertical direction,
identifies an interest space region in which the object is likely to be present based on the distance image, and
identifies a region of interest in the captured image corresponding to the identified interest space region; and

an image analysis unit that performs first image analysis on the identified region of interest and second image analysis on regions of the captured image other than the identified region of interest, the second image analysis being different from the first image analysis, where

Assignees

• Tatsuzawa Shigeru
• Ichihara Shunsuke
• Masuda Makoto
• Hota Hiroyuki
• Endou Kouhei
• Murakami Kenji
• Oki Electric Ind Co Ltd

Inventors

• Tatsuzawa Shigeru
• Ichihara Shunsuke
• Masuda Makoto
• Hota Hiroyuki
• Endou Kouhei
• Murakami Kenji

Classifications

• G06V40/166

  using acquisition arrangements · CPC title

• G06T7/11 Primary

  Region-based segmentation · CPC title

• G06V10/25

  Determination of region of interest [ROI] or a volume of interest [VOI] · CPC title

• G06K2207/1013

  Multi-focal · CPC title

• G06T2207/10028

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