US20190139245A1 - Image processing system and image processing method - Google Patents

Image processing system and image processing method Download PDF

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Publication number
US20190139245A1
US20190139245A1 US16/182,468 US201816182468A US2019139245A1 US 20190139245 A1 US20190139245 A1 US 20190139245A1 US 201816182468 A US201816182468 A US 201816182468A US 2019139245 A1 US2019139245 A1 US 2019139245A1
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Prior art keywords
article
processor
basic shape
camera
input
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Abandoned
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US16/182,468
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English (en)
Inventor
Masaaki Yasunaga
Norimasa Ariga
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Toshiba TEC Corp
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Toshiba TEC Corp
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Assigned to TOSHIBA TEC KABUSHIKI KAISHA reassignment TOSHIBA TEC KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ARIGA, NORIMASA, YASUNAGA, MASAAKI
Publication of US20190139245A1 publication Critical patent/US20190139245A1/en
Priority to US17/081,531 priority Critical patent/US11328438B2/en
Assigned to iZotope, Inc., EXPONENTIAL AUDIO, LLC reassignment iZotope, Inc. TERMINATION AND RELEASE OF GRANT OF SECURITY INTEREST IN UNITED STATES PATENTS Assignors: CAMBRIDGE TRUST COMPANY
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N5/2256—
    • H04N5/23203—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • Embodiments described herein relate generally to an image processing system and an image processing method.
  • An image processing system for executing such a technique acquires an image of an article and generates dictionary information in advance.
  • the number of images necessary for generating the dictionary information and an imaging angle are different for each article. Therefore, the image processing system has a problem of capturing unnecessary images.
  • FIG. 1 is a block diagram illustrating a configuration example of an image processing system according to a first embodiment.
  • FIG. 2 is a block diagram illustrating a configuration example of a control device according to the first embodiment.
  • FIG. 3 is a diagram illustrating an example of a parameter table according to the first embodiment.
  • FIG. 4 is a diagram illustrating a display example of an input/output device according to the first embodiment.
  • FIG. 5 is a flowchart illustrating an operation example of a control device according to the first embodiment.
  • FIG. 6 is a block diagram illustrating a configuration example of an image processing system according to a second embodiment.
  • FIG. 7 is a block diagram illustrating a configuration example of a control device according to a second embodiment.
  • FIG. 8 is a flowchart illustrating an operation example of the control device according to the second embodiment.
  • an image processing system and an image processing method capable of properly capturing an image for generating dictionary information are provided.
  • an image processing system includes a camera interface and a processor.
  • the camera interface acquires a captured image from a camera that images an article.
  • the processor acquires a basic shape of the article and acquires an image captured with imaging parameters corresponding to the basic shape from the camera through the camera interface.
  • the image processing system images an article in order to generate dictionary information.
  • an article is set at a predetermined position by an operator or the like.
  • the image processing system images the set article and acquires an image of the article.
  • the dictionary information is information used for object recognition. That is, the dictionary information is information for specifying an object by matching the image of the object therewith.
  • the dictionary information may be an image of an article or information indicating a feature amount of an image of an article.
  • FIG. 1 illustrates a configuration example of an image processing system 1 .
  • the image processing system 1 includes a control device 10 , an input/output device 20 , an imaging device 30 , and the like.
  • the control device 10 is communicably connected to the input/output device 20 and the imaging device 30 .
  • the image processing system 1 images an article A.
  • the control device 10 controls the entire image processing system 1 .
  • the control device 10 images the article A by using the imaging device 30 based on an instruction from the operator or the like. For example, the control device 10 receives an instruction input from the operator through the input/output device 20 . Further, the control device 10 displays various information to the operator through the input/output device 20 .
  • the input/output device 20 is an interface for receiving an instruction input from the operator and displaying various information to the operator.
  • the input/output device 20 is constituted with an operation unit that receives an instruction input and a display unit that displays information.
  • the input/output device 20 transmits a signal indicating an operation received from the operator to the control device 10 as the operation of the operation unit.
  • the operation unit has a touch panel.
  • the input/output device 20 displays various information as the operation of the display unit under the control of the control device 10 .
  • the display unit is constituted with a liquid crystal monitor.
  • the display unit is integrally formed with a touch panel as the operation unit.
  • the operation unit may be constituted with a keyboard or a numeric keypad.
  • the imaging device 30 images the article A under the control from the control device 10 .
  • the imaging device 30 images the article A from various angles.
  • the imaging device 30 is constituted with a housing 31 , a turntable 32 , cameras 41 to 43 , lighting units 51 to 53 , and the like.
  • the imaging device 30 may further have a configuration according to necessity, or a specific configuration may be excluded from the imaging device 30 .
  • the housing 31 is a frame that forms the outer shape of the imaging device 30 .
  • the housing 31 is made of resin or the like, for example.
  • the housing 31 is formed in a rectangular parallelepiped shape.
  • the housing 31 is provided with a partition 31 a in the middle part in a vertical direction.
  • the partition 31 a is formed horizontally.
  • the partition 31 a is formed in a rectangular shape according to the shape of the housing 31 .
  • the partition 31 a is formed of a transparent material.
  • the partition 31 a is an acrylic plate or the like.
  • the turntable 32 , the cameras 41 to 43 , and the lighting units 51 to 53 are formed inside the housing 31 .
  • the turntable 32 is formed on the partition 31 a.
  • the turntable 32 rotates the article A placed on the top side under the control from the control device 10 .
  • the turntable 32 is constituted by a disk 32 a on which the article A is placed and a drive unit that rotates the disk.
  • the disk 32 a is formed of a transparent material.
  • the disk 32 a is an acrylic plate or the like.
  • the cameras 41 to 43 images the article A under the control from the control device 10 .
  • the cameras 41 to 43 transmit captured images obtained by imaging the article A to the control device 10 .
  • the cameras 41 to 43 are charge coupled device (CCD) cameras and the like.
  • the camera 41 (a first camera) images the article A from a predetermined direction.
  • the camera 41 images the top side of the article A.
  • the camera 41 is installed downward on the top side of the housing 31 .
  • the camera 41 images the article A from above.
  • the camera 42 (a second camera) images the article A from a direction orthogonal to the predetermined direction.
  • the camera 42 images the side of the article A.
  • the camera 41 is installed horizontally on the side of the housing 31 .
  • the camera 41 images the article A from the side part.
  • the camera 43 (a third camera) images the article A in a direction opposite to the predetermined direction.
  • the camera 43 images the bottom side of the article A.
  • the camera 41 is installed upward on the bottom side of the housing 31 .
  • the camera 41 images the article A from the bottom part.
  • the lighting units 51 to 53 illuminate the article A under the control from the control device 10 .
  • the lighting units 51 to 53 are constituted with light emitting diodes (LED) or the like.
  • the lighting unit 52 illuminates an area to be imaged by the camera 42 . That is, the lighting unit 52 illuminates the side of the article A.
  • the lighting unit 52 is installed laterally on the side of the housing 31 .
  • the lighting unit 52 illuminates the article A from the side part.
  • the lighting unit 53 illuminates an area to be imaged by the camera 43 . That is, the lighting unit 53 illuminates the bottom side of the article A.
  • the lighting unit 53 is installed upward on the bottom side of the housing 31 .
  • the lighting unit 53 illuminates the article A from the bottom.
  • control device 10 Next, a configuration example of the control device 10 will be described.
  • FIG. 2 is a block diagram showing a configuration example of the control device 10 .
  • the control device 10 includes a processor 11 , a ROM 12 , a RAM 13 , an NVM 14 , a table interface 15 , a camera interface 16 , a lighting interface 17 , an input/output interface 18 , and the like.
  • the processor 11 , the ROM 12 , the RAM 13 , the NVM 14 , the table interface 15 , the camera interface 16 , the lighting interface 17 , and the input/output interface 18 are connected to each other via a data bus or the like.
  • control device 10 may further have a configuration according to the particular application, or a specific configuration may be excluded from the control device 10 .
  • the processor 11 has a function of controlling the overall operation of the control device 10 .
  • the processor 11 may include an internal cache and various interfaces, and the like.
  • the processor 11 realizes various processes by executing programs stored in the internal memory, the ROM 12 or the NVM 14 in advance.
  • Some of the various functions realized by the processor 11 executing the programs maybe realized by a hardware circuit.
  • the processor 11 controls functions executed by the hardware circuit.
  • the ROM 12 is a nonvolatile memory in which a control program, control data, and the like are stored in advance.
  • the control program and the control data stored in the ROM 12 are incorporated in advance according to the specification of the control device 10 .
  • the ROM 12 stores, for example, a program (for example, BIOS) for controlling the circuit board of the control device 10 .
  • the RAM 13 is a volatile memory.
  • the RAM 13 temporarily stores data under processing of the processor 11 and the like.
  • the RAM 13 stores various application programs based on instructions from the processor 11 . Further, the RAM 13 may store data necessary for executing the application programs, execution results of the application programs, and the like.
  • the NVM 14 is a nonvolatile memory capable of writing and rewriting data.
  • the NVM 14 is constituted with, for example, a hard disk drive (HDD), a solid state drive (SSD), an EEPROM (registered trademark) or a flash memory.
  • the NVM 14 stores control programs, applications, various data, and the like according to the operational application of the control device 10 .
  • the table interface 15 is an interface for transmitting and receiving data to and from the turntable 32 .
  • the table interface 15 transmits a signal for rotating the disk 32 a under the control of the processor 11 .
  • the table interface 15 may receive a signal indicating the angle of the disk 32 a from the turntable 32 .
  • the table interface 15 may support a USB connection.
  • the camera interface 16 is an interface for transmitting and receiving data to and from the cameras 41 to 43 .
  • the camera interface 16 transmits a signal for instructing imaging to the cameras 41 to 43 under the control of the processor 11 .
  • the camera interface 16 acquires captured images obtained by imaging from the cameras 41 to 43 .
  • the camera interface 16 may support a USB connection.
  • the lighting interface 17 is an interface for transmitting and receiving data to and from the lighting units 51 to 53 .
  • the lighting interface 17 transmits a signal for instructing lighting to the lighting units 51 to 53 under the control of the processor 11 .
  • the lighting interface 17 may support a USB connection.
  • the parameter table shows imaging parameters related to the imaging of the article for each basic shape of the article.
  • the basic shape is a category of the outline of the article. That is, the basic shape is an approximate shape of the outer shape of the article.
  • the basic shape is a cube, a rectangular parallelepiped, a polygonal prism, a cylinder, a cone, a sphere, a polygonal cone or a plane.
  • the content of the basic shape is not limited to a specific configuration.
  • the imaging parameters are parameters for capturing an image necessary for generating dictionary information of the article.
  • FIG. 3 shows an example of a parameter table. As shown in FIG. 3 , the parameter table stores “Basic Shape” and “Imaging Parameter” in association with each other.
  • Numberer of Captured Images indicates the number of images to be captured.
  • Lighting Position indicates a lighting unit to be turned on when the article is imaged.
  • the “Lighting Position” may indicate a lighting unit to be turned on at each imaging angle.
  • control device 10 functions realized by the control device 10 will be described.
  • the functions realized by the control device 10 are realized by the processor 11 executing a program stored in the NVM 14 or the like.
  • the processor 11 has a function of receiving an input of the basic shape of the article A set on the turntable 32 .
  • the processor 11 receives an input of the basic shape of the article A through the input/output device 20 .
  • the processor 11 sets the input basic shape.
  • FIG. 4 shows an example of a screen to be displayed when the input/output device 20 receives an input of a basic shape. As shown in FIG. 4 , the input/output device 20 displays icons 61 to 63 .
  • the icon 61 receives an input of “cube” as a basic shape.
  • the icon 62 receives an input of “cylinder” as a basic shape.
  • the icon 63 receives an input that the basic shape is unknown.
  • the input/output device 20 may display an icon for receiving an input of another basic shape.
  • the processor 11 When detecting the tap on the icon 61 or 62 , the processor 11 acquires the basic shape corresponding to the tapped icon 61 or 62 . Further, when detecting the tap on the icon 63 , the processor 11 recognizes that the basic shape is unknown.
  • the processor 11 has a function of acquiring imaging parameters corresponding to the basic shape of the article A.
  • the processor 11 refers to the parameter table and acquires imaging parameters corresponding to the basic shape.
  • the processor 11 sets the acquired imaging parameters.
  • the processor 11 may acquire predetermined imaging parameters.
  • the processor 11 has a function of imaging the article A according to the acquired imaging parameters.
  • the processor 11 uses the cameras 41 to 43 , the lighting units 51 to 53 , and the turntable 32 to image the article A.
  • the processor 11 images the “front side/back side/top side/bottom side/left side/right side” of the article A.
  • the processor 11 turns on the lighting units 51 to 53 corresponding to the respective cameras 41 to 43 .
  • the processor 11 turns on the lighting unit 51 .
  • the processor 11 images the “top side” of the article A by using the camera 41 .
  • the processor 11 turns on the lighting unit 53 .
  • the processor 11 uses the camera 43 to image the “bottom side” of the article A.
  • the processor 11 When imaging the “bottom side” of the article A, the processor 11 directs the article A in a predetermined direction by using the turntable 32 . When the article A is directed in the predetermined direction, the processor 11 turns on the lighting unit 52 . When the lighting unit 52 is turned on, the processor 11 images a predetermined side (front side, back side, left side or right side) of the article A by using the camera 42 .
  • the processor 11 uses the turntable 32 to direct the article A in the predetermined direction.
  • the processor 11 uses the camera 42 to image the other side (front side, back side, left side or right side) of the article A.
  • the processor 11 repeats the above operation to image the front side, back side, left side, and right side of the article A.
  • the processor 11 may simultaneously image the top side, the bottom side, and one side of the article A.
  • the processor 11 may store the captured image in the NVM 14 . Further, the processor 11 may store the captured image in an external memory. In addition, the processor 11 may transmit the captured image to the external device.
  • control device 10 Next, an operation example of the control device 10 will be described.
  • FIG. 5 is a flowchart for describing an operation example of the control device 10 .
  • the article A is set on the turntable 32 .
  • the processor 11 of the control device 10 receives the input of the basic shape of the article A through the input/output device 20 (ACT 11 ).
  • the processor 11 determines whether the basic shape of the article A has been acquired (ACT 12 ).
  • the processor 11 refers to the parameter table and acquires imaging parameters corresponding to the acquired basic shape (ACT 13 ).
  • the processor 11 acquires the predetermined imaging parameters (ACT 14 ).
  • the processor 11 images the article A based on the acquired imaging parameters (ACT 15 ).
  • the processor 11 ends the operation.
  • the processor 11 may end the operation.
  • the imaging device 30 may be provided with a movable camera.
  • the processor 11 moves the camera according to the imaging parameters to image the article A at a predetermined angle.
  • the processor 11 may acquire imaging parameters from an external device.
  • the processor 11 may set a plurality of basic shapes for the article. For example, the processor 11 may set the basic shape according to the part of the article. Further, the processor 11 may set imaging parameters corresponding to each part in order to image each part of the article. That is, the processor 11 captures images with different imaging parameters for each part of the article.
  • the image processing system configured as described above acquires the basic shape of an article that generates dictionary information.
  • the image processing system sets imaging parameters necessary for generating dictionary information based on the basic shape.
  • the image processing system images the article according to the set imaging parameters.
  • the image processing system may avoid capturing of unnecessary images for generating dictionary information. Therefore, the image processing system may properly image the article.
  • the image processing system includes cameras that images an article from the upper part, the side part, and the lower part.
  • the image processing system may capture necessary images without requiring the operator to rotate the article or the like.
  • the image processing system according to the second embodiment is different from the image processing system 1 according to the first embodiment in that the processor 11 determines the basic shape of an article. Therefore, the same reference numerals are given to the other points and the detailed description is omitted.
  • FIG. 6 shows a configuration example of an image processing system 1 ′ according to the second embodiment.
  • the image processing system 1 ′ includes a control device 10 ′, an input/output device 20 , and an imaging device 30 ′.
  • the imaging device 30 ′ includes a distance sensor 71 .
  • the distance sensor 71 measures the distance based on the reflected light of the light (visible light or invisible light) radiated from a light source.
  • the distance sensor 71 may perform a time-of-flight (ToF) method for measuring a distance to a measurement target based on the time until the radiated light is reflected by the measurement target and reaches the distance sensor 71 .
  • ToF time-of-flight
  • the configuration of the distance sensor 71 is not limited to a specific configuration.
  • control device 10 ′ Next, a configuration example of the control device 10 ′ will be described.
  • FIG. 7 is a block diagram showing a configuration example of the control device 10 ′.
  • the control device 10 ′ includes a distance sensor interface 19 .
  • the processor 11 and the distance sensor interface 19 are connected to each other via a data bus or the like.
  • the distance sensor interface 19 is an interface for transmitting and receiving data to and from the distance sensor 71 .
  • the distance sensor interface 19 transmits a signal for instructing the distance sensor 71 to measure the distance, under the control of the processor 11 .
  • the distance sensor interface 19 acquires a signal indicating the measured distance from the distance sensor 71 .
  • the distance sensor interface 19 may support a USB connection.
  • the processor 11 images the article A by using the cameras 41 to 43 .
  • the processor 11 determines the basic shape based on the captured image. For example, the processor 11 extracts the edges of each image and determines the shape of the top side, the side, the bottom side, and the like of the article A.
  • the processor 11 determines the basic shape of the article A based on each determined shape.
  • the processor 11 determines the basic shape of the article A based on the distance measured by using the distance sensor 71 and the images captured by using the cameras 41 to 43 .
  • the processor 11 has a function of acquiring imaging parameters corresponding to the basic shape of the article A.
  • the processor 11 may acquire predetermined imaging parameters.
  • FIG. 8 is a flowchart for describing an operation example of the control device 10 ′. Here, it is assumed that the article A is set on the turntable 32 .
  • the processor 11 of the control device 10 uses the cameras 41 to 43 to image the article A (ACT 21 ).
  • the processor 11 measures the distance by using the distance sensor 71 (ACT 22 ).
  • the processor 11 determines the basic shape of the article A based on the captured image and the measured distance (ACT 23 ).
  • the processor 11 When the determination of the basic shape of the article A is successful (ACT 24 , YES), the processor 11 refers to the parameter table and acquires imaging parameters corresponding to the determined basic shape (ACT 25 ).
  • the processor 11 images the article A based on the acquired imaging parameters (ACT 27 ).
  • the imaging device 30 ′ may include a plurality of distance sensors. Each distance sensor measures distances from different reference points or reference planes.
  • the processor 11 may determine the basic shape of the article based on the distance measured by each distance sensor.
  • the image processing system configured as described above determines the basic shape of the set article.
  • the image processing system sets imaging parameters according to the determined basic shape.
  • the image processing system images the article according to the set imaging parameters.
  • the image processing system may set appropriate imaging parameters even if the operator does not input the basic shape.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Image Input (AREA)
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JP2017214553A JP2019087008A (ja) 2017-11-07 2017-11-07 画像処理システム及び画像処理方法

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