JP2017188718A5 - - Google Patents

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JP2017188718A5
JP2017188718A5 JP2016074197A JP2016074197A JP2017188718A5 JP 2017188718 A5 JP2017188718 A5 JP 2017188718A5 JP 2016074197 A JP2016074197 A JP 2016074197A JP 2016074197 A JP2016074197 A JP 2016074197A JP 2017188718 A5 JP2017188718 A5 JP 2017188718A5
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omnidirectional
processing apparatus
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上記の目的を達成するため、本発明による画像処理装置は、撮像装置の全方位を撮像して得られた全方位画像を画像処理して補正画像を得る画像処理装置であって、前記全方位画像を幾何変形処理によって矩形画像に変形する変形手段と、前記変形手段により得られた矩形画像の階調を補正して前記補正画像を得る補正手段と、前記矩形画像が縮小された縮小画像を用いて、前記補正手段による補正の度合いを調整する調整手段と、を有し、前記調整手段は、前記全方位画像における像高に基づいて、前記調整に用いる縮小画像を決定することを特徴とする。 In order to achieve the above object, an image processing apparatus according to the present invention is an image processing apparatus that processes an omnidirectional image obtained by imaging an omnidirectional image of an imaging device to obtain a corrected image, A deformation means for deforming an image into a rectangular image by geometric deformation processing, a correction means for correcting the gradation of the rectangular image obtained by the deformation means to obtain the corrected image, and a reduced image obtained by reducing the rectangular image used, have a, and adjusting means for adjusting the degree of correction by the correction means, said adjusting means includes a wherein based on the image height in the omnidirectional image, and determines the reduced image to be used for the adjustment Do.

Claims (10)

撮像装置の全方位を撮像して得られた全方位画像を画像処理して補正画像を得る画像処理装置であって、
前記全方位画像を幾何変形処理によって矩形画像に変形する変形手段と、
前記変形手段により得られた矩形画像の階調を補正して前記補正画像を得る補正手段と、
前記矩形画像が縮小された縮小画像を用いて、前記補正手段による補正の度合いを調整する調整手段と、を有し、
前記調整手段は、前記全方位画像における像高に基づいて、前記調整に用いる縮小画像を決定することを特徴とする画像処理装置。 An image processing apparatus for obtaining a corrected image by performing image processing on an omnidirectional image obtained by imaging the omnidirectional image pickup apparatus
Deformation means for deforming the omnidirectional image into a rectangular image by geometric deformation processing;
Correction means for correcting the gradation of the rectangular image obtained by the deformation means to obtain the corrected image ;
Using the reduced image the rectangular image is reduced, have a, and adjusting means for adjusting the degree of correction by the correction means,
The image processing apparatus , wherein the adjusting unit determines a reduced image to be used for the adjustment based on an image height in the omnidirectional image . 前記矩形画像から、互いに異なる解像度の複数の縮小画像を生成する生成手段をさらに有し、It further comprises generation means for generating a plurality of reduced images of different resolutions from the rectangular image,
前記調整手段は、前記複数の縮小画像を用いて、前記補正の度合いを調整することを特徴とする請求項１に記載の画像処理装置。The image processing apparatus according to claim 1, wherein the adjustment unit adjusts the degree of the correction using the plurality of reduced images. 前記調整手段は、前記全方位画像における像高に基づいて、前記複数の縮小画像間の信号レベルの差を調整し、前記信号レベルの差が調整された複数の縮小画像を用いて、前記補正の度合いを調整することを特徴とする請求項２に記載の画像処理装置。The adjustment means adjusts a difference in signal level between the plurality of reduced images based on an image height in the omnidirectional image, and uses the plurality of reduced images in which the difference in signal level is adjusted. The image processing apparatus according to claim 2, wherein the degree of is adjusted. 前記調整手段は全方位画像における像高が低い領域ほど、前記複数の縮小画像の間における信号レベルの差を大きくすることを特徴とする請求項３に記載の画像処理装置。 Before Sulfur butterfly settling means as area image height is lower in the omnidirectional image, the image processing apparatus according to claim 3, characterized in that to increase the difference in signal level between said plurality of reduced images. 前記調整手段は、解像度が所定の解像度よりも高い縮小画像である高解像度画像において前記全方位画像における像高が所定の像高未満である場合には前記像高が低くなるほどレベル調整ゲインを大きくして前記高解像度画像の信号レベルを調整することを特徴とする請求項３に記載の画像処理装置。 Before Sulfur butterfly integer unit, the higher level adjustment gain resolution the image height is low when the image height in the omnidirectional image in the high-resolution image that is a higher reduced image than the predetermined resolution is less than the predetermined image height 4. The image processing apparatus according to claim 3 , wherein the signal level of the high resolution image is adjusted by enlarging. 前記調整手段は前記高解像度画像において前記全方位画像における像高が所定の像高以上である場合には前記像高に拘わらず前記レベル調整ゲインを一定とすることを特徴とする請求項５に記載の画像処理装置。 Claims prior Sulfur butterfly integer unit, characterized by a constant the level adjusting gain regardless of the image height when the image height in the omnidirectional image in the high resolution image is a predetermined image height above 5. The image processing apparatus according to 5 . 前記調整手段は、前記解像度が所定の解像度以下の縮小画像である低解像度画像において前記全方位画像における像高が前記所定の像高未満である場合には前記像高が低くなるほど前記レベル調整ゲインを小さくして前記高解像度画像の信号レベルを調整することを特徴とする請求項５又は６に記載の画像処理装置。 Before Sulfur butterfly integer unit, the higher the resolution the image height is low when the image height in the omnidirectional image in the low resolution image are the following reduced images predetermined resolution is less than the predetermined image height level the image processing apparatus according to claim 5 or 6 by reducing the adjusted gain and adjusting the signal level of the high resolution image. 前記調整手段は前記低解像度画像において前記全方位画像における像高が前記所定の像高以上である場合には前記像高に拘わらず前記レベル調整ゲインを一定とすることを特徴とする請求項７に記載の画像処理装置。 Claims before Sulfur butterfly integer unit, characterized by a constant the level adjusting gain regardless of the image height when the image height in the omnidirectional image and in the low-resolution image is the predetermined image height above Item 8. An image processing apparatus according to item 7 . 撮像装置の全方位を撮像して得られた全方位画像を画像処理して補正画像を得る画像処理装置の制御方法であって、
前記全方位画像を幾何変形処理によって矩形画像に変形する変形ステップと、
前記変形ステップで得られた矩形画像の階調を補正して前記補正画像を得る補正ステップと、
前記矩形画像が縮小された縮小画像を用いて、前記補正ステップによる補正の度合いを調整する調整ステップと、を有し、
前記調整ステップでは、前記全方位画像における像高に基づいて、前記調整に用いる縮小画像を決定することを特徴とする制御方法。 A control method of an image processing apparatus for obtaining an corrected image by performing image processing on an omnidirectional image obtained by imaging an omnidirectional image of an imaging device.
A deformation step of deforming the omnidirectional image into a rectangular image by geometric deformation processing;
Correcting the gradation of the rectangular image obtained in the deformation step to obtain the corrected image ;
Using the reduced image the rectangular image is reduced, have a, an adjusting step of adjusting the degree of correction by the correction step,
In the control step, a reduced image to be used for the adjustment is determined based on an image height in the omnidirectional image . コンピュータを、請求項１乃至８のいずれか１項の画像処理装置の各手段として機能させるコンピュータが実行可能な制御プログラム。   A computer-executable control program that causes a computer to function as each unit of the image processing apparatus according to any one of claims 1 to 8.
JP2016074197A 2016-04-01 2016-04-01 Image processing apparatus, control method thereof, and control program Active JP6702775B2 (en)

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