IMAGE TRANSFORMATION METHOD AND APPARATUS, IMAGE RECOGNITION APPARATUS, ROBOT CONTROL APPARATUS AND IMAGE PROJECTION APPARATUS

• US 20080212896A1
• Filed: 05/16/2008
• Published: 09/04/2008
• Est. Priority Date: 02/15/2002
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: FUJIMOTO, Takayuki
• Granted Patent: US 7,561,754 B2
• Time in Patent Office: Days
• US Class Current: 382/296
• CPC Class Codes: G06T 3/00 Geometric image transformations in the plane of the image
• CPC Class Codes: G06T 5/80 Geometric correction
• CPC Class Codes: H04N 5/74 Projection arrangements for image reproduction, e.g. using eidophor

Abstract

An image transformation method to be implemented by a computer carries out an image transformation process, by transforming a picked up image that is picked up by a pickup unit having an optical axis tilted by an arbitrary angle with respect to a reference plane into an image substantially equivalent to a picked up image that is picked up by the pickup unit in a state where the optical axis of the pickup unit is perpendicular to the reference plane, and substituting luminance values of coordinates before the transformation as luminance values corresponding to coordinate values after the transformation.

Claims

1. An image transformation apparatus, comprising:

a coordinate transformation unit configured to make a transformation to transform a projected image that is projected on a screen by an image projection apparatus having an optical axis tilted by an arbitrary angle with respect to the screen, into an image substantially equivalent to an image that is projected on the screen in a state where the optical axis of the image projection apparatus is perpendicular to the screen; and

a luminance value substituting unit configured to substitute luminance values of coordinates before the transformation as luminance values corresponding to coordinate values after the transformation.

2. The image transformation apparatus as claimed in claim 1, wherein said coordinate transformation unit comprises:

a part configured to carry out a −

γ

rotation process to rotate coordinates (X, Y) to coordinates (X′

, Y′

) using a formula

$\left(\begin{array}{c}{X}^{\mathrm{\prime <br><br>}}\\ Y^{\mathrm{\prime <br><br>}}\end{array}\right)=\left(\begin{array}{cc}\cos <br><br>\left(-{\mathrm{\gamma <br><br>}}^{\mathrm{\prime <br><br>}}\right)& -\sin <br><br>\left(-{\mathrm{\gamma <br><br>}}^{\mathrm{\prime <br><br>}}\right)\\ \sin <br><br>\left(-{\mathrm{\gamma <br><br>}}^{\mathrm{\prime <br><br>}}\right)& \cos <br><br>\left(-{\mathrm{\gamma <br><br>}}^{\mathrm{\prime <br><br>}}\right)\end{array}\right)<br><br>\left(\begin{array}{c}X\\ Y\end{array}\right);<br><br>$

a part configured to carry out a tilt transformation process to transform the coordinates (X′

, Y′

) into coordinates (x′

, y′

) using a formula

$<br><br>\left(\begin{array}{c}{x}^{\mathrm{\prime <br><br>}}\\ y^{\mathrm{\prime <br><br>}}\end{array}\right)=\frac{1}{1<br><br>\cos <br><br><br><br>\mathrm{\alpha <br><br>}+X^{\mathrm{\prime <br><br>}}<br><br><br><br>\sin <br><br><br><br>\mathrm{\alpha <br><br>}}<br><br>\left(\begin{array}{c}<br><br>X^{\mathrm{\prime <br><br>}}\\ Y^{\mathrm{\prime <br><br>}}<br><br><br><br>\cos <br><br><br><br>\mathrm{\alpha <br><br>}\end{array}\right);<br><br>\mathrm{and}$

a part configured to carry out a β

rotation process to rotate the coordinates (x′

, y′

) to coordinates (x, y) using a formula

$\left(\begin{array}{c}x\\ y\end{array}\right)=\left(\begin{array}{cc}\cos <br><br><br><br>\mathrm{\beta <br><br>}& -\sin <br><br><br><br>\mathrm{\beta <br><br>}\\ \sin <br><br><br><br>\mathrm{\beta <br><br>}& \cos <br><br><br><br>\mathrm{\beta <br><br>}\end{array}\right)<br><br>\left(\begin{array}{c}{x}^{\mathrm{\prime <br><br>}}\\ y^{\mathrm{\prime <br><br>}}\end{array}\right),$

where α

denotes a tilt angle of the optical axis of the image projection apparatus with respect to an axis perpendicular to the screen, β

denotes an angle formed by a straight line that is a projection of the optical axis on the screen and a reference axis (x-axis) of the screen, γ

denotes an angle formed by a tilt direction of the image projection apparatus on the projected image and a reference axis (X-axis) on the projected image, (X, Y) denotes the coordinates on the projected image, and (x, y) denotes the coordinates on the screen,

wherein the formulas are successively calculated to obtain the coordinates (x, y) before the transformation corresponding to the coordinates (X, Y) of the projected image after the transformation.

3. The image transformation apparatus as claimed in claim 2, wherein said coordinate transformation unit comprises:

a part configured to carry out the −

γ

rotation process to rotate the coordinates (X, Y) to the coordinates (X′

, Y′

) using a formula

$\left(\begin{array}{c}{X}^{\mathrm{\prime <br><br>}}\\ Y^{\mathrm{\prime <br><br>}}\end{array}\right)=\left(\begin{array}{cc}\cos <br><br>\left(-\mathrm{\gamma <br><br>}\right)& -\sin <br><br>\left(-\mathrm{\gamma <br><br>}\right)\\ \sin <br><br>\left(-\mathrm{\gamma <br><br>}\right)& \cos <br><br>\left(-\mathrm{\gamma <br><br>}\right)\end{array}\right)<br><br>\left(\begin{array}{c}I-I_0\\ J_0-J\end{array}\right)<br><br>\mathrm{dp};<br><br>$

a part configured to carry out the tilt transformation process to transform the coordinates (X′

, Y′

) to the coordinates (x′

, y′

) using a formula

$\left(\begin{array}{c}{x}^{\mathrm{\prime <br><br>}}\\ y^{\mathrm{\prime <br><br>}}\end{array}\right)=\frac{1}{1<br><br>\cos <br><br><br><br>\mathrm{\alpha <br><br>}+X^{\mathrm{\prime <br><br>}}<br><br>\sin <br><br><br><br>\mathrm{\alpha <br><br>}}<br><br>\left(\begin{array}{c}<br><br>X^{\mathrm{\prime <br><br>}}\\ Y^{\mathrm{\prime <br><br>}}<br><br><br><br>\cos <br><br><br><br>\mathrm{\alpha <br><br>}\end{array}\right);<br><br>$

a part configured to carry out the β

rotation process to rotate the coordinates (x′

, y′

) to coordinates (x, y) using a formula

$\left(\begin{array}{c}x\\ y\end{array}\right)=\left(\begin{array}{cc}\cos <br><br><br><br>\mathrm{\beta <br><br>}& -\sin <br><br><br><br>\mathrm{\beta <br><br>}\\ \sin <br><br><br><br>\mathrm{\beta <br><br>}& \cos <br><br><br><br>\mathrm{\beta <br><br>}\end{array}\right)<br><br>\left(\begin{array}{c}{x}^{\mathrm{\prime <br><br>}}\\ y^{\mathrm{\prime <br><br>}}\end{array}\right);<br><br>\mathrm{and}$

a part configured to carry out an inverse transformation process to inverse-transform the coordinates (x, y) to coordinates (i′

, j′

) using a formula

$\left(\begin{array}{c}{i}^{\mathrm{\prime <br><br>}}\\ j^{\mathrm{\prime <br><br>}}\end{array}\right)=\left(\begin{array}{c}{i}_0+x/\mathrm{dp}\\ j_0-y/\mathrm{dp}\end{array}\right),$

where dp denotes a distance between two adjacent pixels on the screen, (I′

, J′

) denotes coordinates of pixels on the projected image, (i, j) denotes coordinates of pixels of the projected image after the transformation, and (I₀, J₀) and (i₀, j₀) denote centers of the respective projected images before and after the transformation,

wherein the formulas are successively calculated to obtain the coordinates (I′

, J′

) before the transformation corresponding to the coordinates (i, j) of the pixels of the projected image after the transformation.

4. The image transformation apparatus as claimed in claim 3, wherein said luminance value substituting unit comprises:

a part configured to obtain i and j from a formula

$\left(\begin{array}{c}i\\ j\end{array}\right)=\left(\begin{array}{c}\left[i^{\mathrm{\prime <br><br>}}\right]\\ \left[j^{\mathrm{\prime <br><br>}}\right]\end{array}\right)$

, where 4 pixel coordinates actually existing in a neighborhood of the coordinates (i′

, j′

) are (i, j), (i+1, j), (i, j+1) and (i+1, j+1), and [ ] denotes a Gauss symbol; and

a part configured to obtain a weighted average of pixel values of the neighboring 4 pixels using a formula

p(I, J)=(I+j−

j′

){(I+i−

i′

)P(i, j)+(i′

−

i)P(i+1, j)]+(j′

−

j){(I+i−

i′

)P(i, j+1)+(i′

−

i)P(i+1, j+1)},

where P(i, j) denotes the luminance value of the original image, and p(I, J) denotes the luminance value after the transformation.

5. An image transformation apparatus, comprising:

a coordinate transformation unit configured to make a transformation to transform a projected image of an object that is projected on a screen by an image projection apparatus having an optical axis tilted by an arbitrary angle with respect to the screen, with the image projection apparatus or the object tilted by an angle with respect to the screen, into an image substantially equivalent to an image that is projected on the screen in a state where the optical axis of the image projection apparatus is perpendicular to the screen; and

a luminance value substituting unit configured to substitute luminance values of coordinates before the transformation as luminance values corresponding to coordinate values after the transformation.

6. The image transformation apparatus as claimed in claim 5, wherein said coordinate transformation unit comprises:

a part configured to obtain coordinates (x, y) before the transformation corresponding to coordinates (X, Y) of the projected image after the transformation, based on α

, β and

γ

, where;

α

denotes a tilt angle of the optical axis of the image projection apparatus with respect to an axis perpendicular to the screen,

β

denotes an angle formed by a straight line that is a projection of the optical axis on the screen and a reference axis (x-axis) of the screen,

γ

denotes an angle formed by a tilt direction of the image projection apparatus on the projected image and a reference axis (X-axis) on the projected image,

(X, Y) denotes the coordinates on the projected image, and (x, y) denotes the coordinates on the screen.