Apparatus and method to reduce an amount of coordinate data representing an object taken by an imaging device in a three dimensional space
First Claim
1. An information processing apparatus comprising:
- a memory; and
a processor coupled to the memory and configured to;
obtain a second straight line by mapping a first straight line that passes a projection center of a target image taken by a first imaging device in a three dimensional space and a point representing an object in a projection plane of the first imaging device, onto each of a plurality of reference images respectively taken by a plurality of second imaging devices, and generate a reference line-segment representing an existing range of the object on the second straight line for each of the plurality of reference images;
transform, for each of the plurality of reference line-segments respectively generated on the plurality of reference images, a coordinate value of a first endpoint of the reference line-segment into a difference between a coordinate value of the first end point and a coordinate value of a second endpoint of the reference line-segment;
store the coordinate value of the second endpoint and the difference in the memory;
restore the coordinate value of the first endpoint from the coordinate value of the second endpoint and the difference stored in the memory; and
map the coordinate value of the second endpoint and the restored coordinate value of the first endpoint, onto a depth-direction line that is perpendicular to the projection plane of the first imaging device, and determine overlap of a plurality of line-segments on the depth-direction line whose endpoints are mapped from each of the plurality of reference line-segments on the plurality of reference images.
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Accused Products
Abstract
An apparatus obtains a second straight-line by mapping a first straight-line passing a projection center of a target-image taken by a first imaging-device in a three-dimensional space and a point representing an object in a projection-plane of the first imaging-device, onto each of reference-images respectively taken by second imaging-devices, and generates a line-segment representing an existing-range of the object on the second straight-line for each reference-image. The apparatus stores the coordinate-value of the second-endpoint and a difference between coordinate-values of the first-endpoint and a second-endpoint of the line-segment in a memory. The apparatus restores the coordinate-value of the first-endpoint from the coordinate-value of the second-endpoint and the difference stored in the memory, maps the coordinate-values of the endpoints, onto a depth-direction line of the projection plane of the first imaging-device, and determines overlap of the line-segments on the depth-direction line, based on the mapped coordinate-values.
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Citations
15 Claims
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1. An information processing apparatus comprising:
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a memory; and a processor coupled to the memory and configured to; obtain a second straight line by mapping a first straight line that passes a projection center of a target image taken by a first imaging device in a three dimensional space and a point representing an object in a projection plane of the first imaging device, onto each of a plurality of reference images respectively taken by a plurality of second imaging devices, and generate a reference line-segment representing an existing range of the object on the second straight line for each of the plurality of reference images; transform, for each of the plurality of reference line-segments respectively generated on the plurality of reference images, a coordinate value of a first endpoint of the reference line-segment into a difference between a coordinate value of the first end point and a coordinate value of a second endpoint of the reference line-segment; store the coordinate value of the second endpoint and the difference in the memory; restore the coordinate value of the first endpoint from the coordinate value of the second endpoint and the difference stored in the memory; and map the coordinate value of the second endpoint and the restored coordinate value of the first endpoint, onto a depth-direction line that is perpendicular to the projection plane of the first imaging device, and determine overlap of a plurality of line-segments on the depth-direction line whose endpoints are mapped from each of the plurality of reference line-segments on the plurality of reference images. - View Dependent Claims (2, 3, 4, 5)
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6. A non-transitory, computer-readable recording medium having stored therein a program for causing a computer to execute a process comprising:
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obtaining a second straight line by mapping a first straight line that passes a projection center of a target image taken by a first imaging device in a three dimensional space and a point representing an object in a projection plane of the first imaging device, onto each of a plurality of reference images respectively taken by a plurality of second imaging devices, and generating a reference line-segment representing an existing range of the object on the second straight line for each of the plurality of reference images; transforming, for each of the plurality of reference line-segments respectively generated on the plurality of reference images, a coordinate value of a first endpoint of the reference line-segment into a difference between a coordinate value of the first end point and a coordinate value of a second endpoint of the reference line-segment; storing the coordinate value of the second endpoint and the difference in a memory; restoring the coordinate value of the first endpoint from the coordinate value of the second endpoint and the difference stored in the memory; and mapping the coordinate value of the second endpoint and the restored coordinate value of the first endpoint, onto a depth-direction line that is perpendicular to the projection plane of the first imaging device, and determining overlap of a plurality of line-segments on the depth-direction line whose endpoints are mapped from each of the plurality of reference line-segments on the plurality of reference images. - View Dependent Claims (7, 8, 9, 10)
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11. A method comprising:
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obtaining a second straight line by mapping a first straight line that passes a projection center of a target image taken by a first imaging device in a three dimensional space and a point representing an object in a projection plane of the first imaging device, onto each of a plurality of reference images respectively taken by a plurality of second imaging devices, and generating a reference line-segment representing an existing range of the object on the second straight line for each of the plurality of reference images; transforming, for each of the plurality of reference line-segments respectively generated on the plurality of reference images, a coordinate value of a first endpoint of the reference line-segment into a difference between a coordinate value of the first end point and a coordinate value of a second endpoint of the reference line-segment; storing the coordinate value of the second endpoint and the difference in a memory; restoring the coordinate value of the first endpoint from the coordinate value of the second endpoint and the difference stored in the memory; and mapping the coordinate value of the second endpoint and the restored coordinate value of the first endpoint, onto a depth-direction line that is perpendicular to the projection plane of the first imaging device, and determining overlap of a plurality of line-segments on the depth-direction line whose endpoints are mapped from each of the plurality of reference line-segments on the plurality of reference images. - View Dependent Claims (12, 13, 14, 15)
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Specification