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Image processing device and its control method, imaging apparatus, and storage medium

  • US 10,311,595 B2
  • Filed: 11/14/2014
  • Issued: 06/04/2019
  • Est. Priority Date: 11/19/2013
  • Status: Active Grant
First Claim
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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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