IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD, COMPUTER PROGRAM, AND MOVABLE BODY

• US 20120263353A1
• Filed: 12/22/2010
• Published: 10/18/2012
• Est. Priority Date: 12/25/2009
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kamiyama, Tomoyuki, Kitajima, Toshihiro
• Granted Patent: US 9,488,721 B2
• Time in Patent Office: Days
• US Class Current: 382/106
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 5/20 using local operators
• CPC Class Codes: G06T 5/70 Denoising; Smoothing
• CPC Class Codes: G06T 7/13 Edge detection

Abstract

An image processing apparatus includes an edge extracting section which extracts an edge in a range image and a removing section which removes a distance value of a pixel of an edge part extracted by the edge extracting section in the range image.

Claims

1. An image processing apparatus comprising:

an edge extracting section which extracts an edge in a range image; and

a removing section which removes a distance value of a pixel of an edge part extracted by the edge extracting section in the range image.

2. The image processing apparatus according to claim 1, further comprising:

an object extracting section which extracts an image of a predetermined object from the range image in which the distance value of the pixel of the edge part has been removed by the removing section,

wherein the edge extracting section extracts the edge in the range image input after the image of the object has been extracted by the object extracting section using different threshold values for a pixel of a position at which the image of the object has been extracted and a pixel of a position at which the image of the object has not been extracted.

5. A movable body comprising:

the image processing apparatus according to claim 1;

a distance measuring section which captures the range image;

an impact timing estimating section which estimates a timing at which an impact to the distance measuring section occurs;

a distance estimating section which estimates a distance value included in the range image captured by the distance measuring section at the timing at which the impact occurs; and

a determination section which determines reliability of the range image by comparing the range image captured by the distance measuring section to a result of estimation by the distance estimating section at the timing at which the impact occurs.

3. An image processing method comprising:

an edge extracting step of extracting, by an image processing apparatus, an edge in a range image; and

a removing step of removing, by the image processing apparatus, a distance value of a pixel of an edge part extracted by the edge extracting step in the range image.

4. A computer-readable recording medium in which a computer program is recorded, the computer program causing a computer to execute:

an edge extracting step of extracting an edge in a range image; and

a removing step of removing a distance value of a pixel of an edge part extracted by the edge extracting step in the range image.