IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD
First Claim
1. An image processing apparatus comprising:
- an image acquiring unit configured to acquire an image from a camera installed in a moving body;
a feature point extracting unit configured to extract feature points from the image;
a matching unit configured to perform a matching process on the feature points extracted from the images that have been taken at different time points;
a position calculating unit configured to calculate a three-dimensional position based on a position of the feature point that has been matched and a movement amount of the moving body;
a precision calculating unit configured to calculate a precision indicating an error of the three-dimensional position;
a distribution determining unit configured to detect an object from the image and set a threshold for each object based on a precision distribution of the feature points generated for each object;
a selecting unit configured to select, for each object, the feature points having a higher precision than the threshold; and
a generating unit configured to generate an object shape by using the feature points that have been selected.
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Abstract
An image processing apparatus includes an acquiring unit for acquiring an image from a camera in a moving body; an extracting unit for extracting feature points from the image; a matching unit for performing a matching process on feature points extracted from images taken at different time points; a position calculating unit for calculating a three-dimensional position based on the matching feature point and the movement of the moving body; a calculating unit for calculating a precision of the three-dimensional position; a distribution determining unit for detecting an object from the image and setting a threshold for each object based on a precision distribution of the feature points of each object; a selecting unit for selecting, for each object, the feature points having a higher precision than the threshold; and a generating unit for generating an object shape by using the feature points that have been selected.
29 Citations
7 Claims
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1. An image processing apparatus comprising:
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an image acquiring unit configured to acquire an image from a camera installed in a moving body; a feature point extracting unit configured to extract feature points from the image; a matching unit configured to perform a matching process on the feature points extracted from the images that have been taken at different time points; a position calculating unit configured to calculate a three-dimensional position based on a position of the feature point that has been matched and a movement amount of the moving body; a precision calculating unit configured to calculate a precision indicating an error of the three-dimensional position; a distribution determining unit configured to detect an object from the image and set a threshold for each object based on a precision distribution of the feature points generated for each object; a selecting unit configured to select, for each object, the feature points having a higher precision than the threshold; and a generating unit configured to generate an object shape by using the feature points that have been selected. - View Dependent Claims (2, 3, 4, 5)
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6. An image processing method executed by a computer, the image processing method comprising:
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acquiring an image from a camera installed in a moving body; extracting feature points from the image; performing a matching process on the feature points extracted from the images that have been taken at different time points; calculating a three-dimensional position based on a position of the feature point that has been matched and a movement amount of the moving body; calculating a precision indicating an error of the three-dimensional position; detecting an object from the image and setting a threshold for each object based on a precision distribution of the feature points generated for each object; selecting, for each object, the feature points having a higher precision than the threshold; and generating an object shape by using the feature points that have been selected.
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7. A non-transitory computer-readable recording medium storing a program that causes a computer to execute a process comprising:
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acquiring an image from a camera installed in a moving body; extracting feature points from the image; performing a matching process on the feature points extracted from the images that have been taken at different time points; calculating a three-dimensional position based on a position of the feature point that has been matched and a movement amount of the moving body; calculating a precision indicating an error of the three-dimensional position; detecting an object from the image and setting a threshold for each object based on a precision distribution of the feature points generated for each object; selecting, for each object, the feature points having a higher precision than the threshold; and generating an object shape by using the feature points that have been selected.
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Specification