IMAGE PROCESSING APPARATUS AND METHOD FOR OBTAINING POSITION AND ORIENTATION OF IMAGING APPARATUS

• US 20150348272A1
• Filed: 08/11/2015
• Published: 12/03/2015
• Est. Priority Date: 10/30/2007
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Takemoto, Kazuki, Satoh, Kiyohide
• Granted Patent: US 9,767,563 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G06F 18/00 Pattern recognition
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 10/24 Aligning, centring, orientation detection or correction of the image
• CPC Class Codes: H04N 13/207 using a single 2D image sensor

Abstract

An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.

Claims

1. An image processing apparatus comprising:

an acquisition unit configured to acquire an image from an imaging apparatus that captures an image of a physical space;

a calculating unit configured to obtain location information of each image feature in the physical space based on image coordinates of the image feature in the captured image;

a selection unit configured to select location information usable to calculate a position and an orientation of the imaging apparatus among the location information obtained by the calculating unit; and

a calculation unit configured to calculate the position and the orientation of the imaging apparatus based on the location information selected by the selection unit and an image feature corresponding to the selected location information among the image features included in the captured image.