Image processor, image processing method and program, and imaging system
First Claim
Patent Images
1. An image processor, comprising:
- circuitry configured to;
convert input images, having a first coordinate system, into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system;
for each respective pixel of an overlapping area of a first image and a second image of the converted images;
set a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image; and
perform pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image;
detect, according to the pattern matching, connecting points of the overlapping area between the first image and the second image;
correct the arrays of the first conversion data according to the connecting points to produce corrected first conversion data; and
generate second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data,wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ
direction with θ
being from 1 to 360 degrees, and a ϕ
direction with ϕ
being from 0 to 180 degrees, andwherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image.
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Abstract
An image processor includes a first converter to convert input images into images in a different coordinate system from that of the input images according to first conversion data based on a projection model, a position detector to detect a connecting position of the images converted by the converter, a corrector to correct the first conversion data on the basis of a result of the detection by the position detector, and a data generator to generate second conversion data for image synthesis from the conversion data corrected by the corrector on the basis of coordinate conversion, the second conversion data defining the conversion of the input images.
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Citations
19 Claims
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1. An image processor, comprising:
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circuitry configured to; convert input images, having a first coordinate system, into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system; for each respective pixel of an overlapping area of a first image and a second image of the converted images; set a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image; and perform pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image; detect, according to the pattern matching, connecting points of the overlapping area between the first image and the second image; correct the arrays of the first conversion data according to the connecting points to produce corrected first conversion data; and generate second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data, wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ
direction with θ
being from 1 to 360 degrees, and a ϕ
direction with ϕ
being from 0 to 180 degrees, andwherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An image processing method for a computer having circuitry, the method comprising:
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receiving, by the circuitry, input images having a first coordinate system; converting the input images into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system; for each respective pixel of an overlapping area of a first image and a second image of the converted images; setting a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image; and performing pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image; detecting, according to the pattern matching, connecting points of the overlapping area between the first image and the second image; correcting the arrays of the first conversion data according to the connecting points to produce corrected first conversion data; and generating second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data, wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ
direction with θ
being from 1 to 360 degrees, and a ϕ
direction with ϕ
being from 0 to 180 degrees, andwherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image. - View Dependent Claims (11, 12, 13, 14)
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15. A non-transitory computer-readable storage medium storing a program for causing a computer to execute an image processing method, the image processing method comprising:
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receiving input images having a first coordinate system; converting the input images into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system; for each respective pixel of an overlapping area of a first image and a second image of the converted images; setting a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image; and performing pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image; detecting, according to the pattern matching, connecting points of the overlapping area between the first image and the second image; correcting the arrays of the first conversion data according to the connecting points to produce corrected first conversion data; and generating second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data, wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ
direction with θ
being from 1 to 360 degrees, and a ϕ
direction with ϕ
being from 0 to 180 degrees, andwherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image. - View Dependent Claims (16, 17)
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18. An imaging system comprising:
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an imaging device; and circuitry configured to; convert input images, captured in different directions by the imaging device and having a first coordinate system, into images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system; for each respective pixel of an overlapping area of a first image and a second image of the converted images; set a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image; and perform pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image; detect, according to the pattern matching, connecting points of the overlapping area between the first image and the second image; correct the arrays of the first conversion data according to the connecting points to produce corrected first conversion data; and generate second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data, wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ
direction with θ
being from 1 to 360 degrees, and a ϕ
direction with ϕ
being from 0 to 180 degrees, andwherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image. - View Dependent Claims (19)
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Specification