Image processing device and its control method, imaging apparatus, and storage medium
First Claim
Patent Images
1. An image processing device comprising:
- one or more processors; and
a memory storing instructions which, when executed by the one or more processors, cause the image processing device to function as;
an acquisition unit configured to acquire a plurality of image data and a plurality of depth data corresponding to the plurality of image data, respectively;
a calculating unit configured to calculate first position and attitude changes for each depth from the plurality of image data and the plurality of depth data;
a grouping unit configured to calculate a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data, and group the plurality of depth data in a plurality of groups based on the frequency distribution;
a detection unit configured to detect motions in the plurality of image data;
a region calculating unit configured to estimate regions, which have a same motion;
a processing unit configured to calculate second position and attitude changes of the regions for each motion; and
a determining unit configured to determine a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained by the grouping unit and data of the second position and attitude changes.
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Abstract
An image processing device includes an acquisition unit configured to acquire an image data and a depth data correspond to the image data; a calculating unit configured to calculate a position and attitude change for each depth from the image data and the depth data; and a determining unit configured to determine a position and attitude change of a whole image by a position and attitude change data calculated by the calculating unit based on a statistic of the position and attitude change calculated by the calculating unit.
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Citations
26 Claims
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1. An image processing device comprising:
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one or more processors; and a memory storing instructions which, when executed by the one or more processors, cause the image processing device to function as; an acquisition unit configured to acquire a plurality of image data and a plurality of depth data corresponding to the plurality of image data, respectively; a calculating unit configured to calculate first position and attitude changes for each depth from the plurality of image data and the plurality of depth data; a grouping unit configured to calculate a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data, and group the plurality of depth data in a plurality of groups based on the frequency distribution; a detection unit configured to detect motions in the plurality of image data; a region calculating unit configured to estimate regions, which have a same motion; a processing unit configured to calculate second position and attitude changes of the regions for each motion; and a determining unit configured to determine a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained by the grouping unit and data of the second position and attitude changes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. An imaging apparatus comprising:
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one or more first processors; a first memory storing instructions which, when the instructions are executed by the one or more first processors, cause the imaging apparatus to function as; an image acquiring unit configured to acquire a plurality of image data imaged by an imaging optical system and an imaging element; a depth image acquiring unit configured to acquire a plurality of depth data which are paired with the plurality of image data respectively; and an image processing device, wherein the image processing device comprises; one or more second processors; and a second memory storing instructions which, when the instructions are executed by the one or more second processors, cause the image processing device to function as; an acquisition unit configured to acquire the plurality of image data and the plurality of depth data corresponds to the plurality of image data respectively; a calculating unit configured to calculate first position and attitude changes for each depth from the plurality of image data and the plurality of depth data; a grouping unit configured to calculate a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data, and group the plurality of depth data in a plurality of groups based on the frequency distribution; a detection unit configured to detect motions in the plurality of image data; a region calculating unit configured to estimate regions, which have a same motion; a processing unit configured to calculate second position and attitude changes of the regions for each motion; and a determining unit configured to determine a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained by the grouping unit and data of the second position and attitude changes. - View Dependent Claims (21)
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22. A control method to be executed by an image processing device, the method comprising:
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acquiring a plurality of image data and a plurality of depth data corresponding to the plurality of image data respectively; calculating first position and attitude changes for each depth from the plurality of image data and the plurality of depth data; calculating a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data; grouping the plurality of depth data in a plurality of groups based on the frequency distribution; detecting motions in the plurality of image data; estimating regions, which have a same motion; calculating second position and attitude changes of the regions for each motion; and determining a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained in the grouping and data of the second position and attitude changes. - View Dependent Claims (23)
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24. A non-transitory storage medium on which is stored a program for causing a computer to execute a control method to be executed by an image processing device, the method comprising:
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acquiring a plurality of image data and a plurality of depth data corresponds to the plurality of image data respectively; calculating first position and attitude changes for each depth from the plurality of image data and the plurality of depth data; calculating a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data; grouping the plurality of depth data in a plurality of groups based on the frequency distribution; detecting motions in the plurality of image data; estimating regions, which have a same motion; calculating second position and attitude changes of the regions for each motion; and determining a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained in the grouping and data of the second position and attitude changes.
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25. An imaging apparatus comprising:
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one or more first processors; a first memory storing instructions which, when the instructions are executed by the one or more first processors, cause the imaging apparatus to function as; a first input unit configured to input a plurality of image data of images imaged by an imaging optical system and an imaging element; a second input unit configured to input a plurality of depth data which are paired with the plurality of image data respectively; and an image processing device, wherein the image processing device comprises; one or more second processors; and a second memory storing instructions which, when the instructions are executed by the one or more second processors, cause the image processing device to function as; an acquisition unit configured to acquire the plurality of image data and the plurality of depth data corresponds to the plurality of image data respectively; a calculating unit configured to calculate first position and attitude changes for each depth from the plurality of image data and the plurality of depth data; a grouping unit configured to calculate a frequency distribution of depths corresponding to the first position and attitude changes from each of the plurality of depth data, and group the plurality of depth data in a plurality of groups based on the frequency distribution; a detection unit configured to detect motions in the plurality of image data; a region calculating unit configured to estimate regions, which have a same motion; a processing unit configured to calculate second position and attitude changes of the regions for each motion; and a determining unit configured to determine a position and attitude change of a whole image for the plurality of image data by determining a static region based on data of the first position and attitude changes which respectively correspond to the plurality of groups obtained by the grouping unit and data of the second position and attitude changes. - View Dependent Claims (26)
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Specification