Image processing apparatus, image processing method, and storage medium
First Claim
1. An image processing apparatus, comprising:
- a three-dimensional image pickup part that includes a projecting part that projects a pattern, a first image pickup part that picks up an intensity image and a projection pattern image from the direction of an optical axis of the projecting part, and a second image pickup part that picks up the projection pattern image from a direction different from the optical axis of the projecting part, the three-dimensional image pickup part creating first range information based on a pattern picked up by the second image pickup part; and
a geometric transformation part that performs geometric transformation for the intensity image picked up by the first image pickup part, based on the first range information.
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Abstract
The present invention provides an image processing apparatus that efficiently identifies input characters and the like by an intensity image analysis based on range information. The image processing apparatus performs distance measurement by performing three-dimensional measurement by pattern projection to characters written to a manuscript, whiteboard, and the like, gets an intensity image used as a so-called actual image and an image for distance measurement in parallel, and identifies input characters by an intensity image analysis based on range information. The image processing apparatus picks up characters, patterns, and the like written onto paper or the like with a pen, performs geometric transformation for picked-up images, and performs natural input character analysis and reading processing. Furthermore, by comparing images picked up in a time-series, noise elimination and manuscript position modifications become possible.
76 Citations
40 Claims
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1. An image processing apparatus, comprising:
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a three-dimensional image pickup part that includes a projecting part that projects a pattern, a first image pickup part that picks up an intensity image and a projection pattern image from the direction of an optical axis of the projecting part, and a second image pickup part that picks up the projection pattern image from a direction different from the optical axis of the projecting part, the three-dimensional image pickup part creating first range information based on a pattern picked up by the second image pickup part; and
a geometric transformation part that performs geometric transformation for the intensity image picked up by the first image pickup part, based on the first range information. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An image processing method, comprising:
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projecting a pattern by a projecting part;
picking up an intensity image and a projection pattern image by a first image pickup part from an optical axis direction of the projecting part, and picking up the projection pattern image by a second image pickup part from a direction different from the optical axis direction of the projecting part;
creating first range information based on the pattern picked up by the second image pickup part; and
performing geometric transformation for the intensity image produced by the first image pickup part based on the range information. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. An image processing apparatus, comprising:
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a projecting part that projects light to an image holding medium to form an image thereon;
an image pickup part that picks up the image on the image holding medium projected by the projecting part;
an intensity image acquisition part that acquires an intensity image based on the image picked up by the image pickup part;
a range information acquisition part that acquires range information from the picked-up image;
a geometric transformation part that performs geometric transformation for the intensity image based on the range information acquired in the range information acquisition part; and
an image extracting part that extracts difference between a geometric-transformed intensity image and the intensity image acquired in advance. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. An image processing method, comprising:
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projecting light to an image holding medium to form an image thereon;
picking up the image projected on the image holding medium;
acquiring an intensity image based on the image picked up in the image pickup step;
acquiring range information from the picked-up image;
performing geometric transformation for the intensity image based on the range information acquired in the range information acquisition step; and
extracting difference between the geometric-transformed intensity image and the intensity image acquired in advance. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform method steps for performing image processing, the method comprising the steps of:
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projecting light to an image holding medium to form an image thereon;
picking up the image formed on the image holding medium;
acquiring an intensity image based on the image picked up in the image pickup step;
acquiring range information from the picked-up image;
performing geometric transformation for the intensity image based on the range information acquired in the range information acquisition step; and
extracting difference between the geometric-transformed intensity image and the intensity image acquired in advance.
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38. An image processing apparatus, comprising:
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a projecting part that projects light;
an image pickup part that picks up the projected light;
an intensity image acquisition part that acquires an intensity image from the picked-up light;
a range information acquisition part that acquires range information from the picked-up light;
a geometric transformation part that performs geometric transformation for the intensity image based on the range information; and
an image extracting part that extracts difference between the geometric-transformed intensity image and the intensity image acquired in advance.
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39. An image processing method, comprising:
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projecting light;
picking up the projected light;
acquiring an intensity image from the picked-up light;
acquiring range information from the picked-up light;
performing geometric transformation for the intensity image based on the range information; and
extracting difference between the geometric-transformed intensity image and the intensity image acquired in advance.
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40. A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform method steps for performing image processing, the method comprising the steps of:
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projecting light;
picking up the projected light;
acquiring an intensity image from the picked-up light;
acquiring range information from the picked-up light;
performing geometric transformation for the intensity image based on the range information; and
extracting difference between the geometric-transformed intensity image and the intensity image acquired in advance.
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Specification