IMAGE PROCESSING METHOD, IMAGE PROCESSING DEVICE, AND ROBOT SYSTEM
First Claim
1. An image processing method comprising:
- generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object;
executing pattern matching of the captured model edge image and a model edge image related to the detection target object;
calculating similarity at respective edge points in the model edge image in the pattern matching;
selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image;
generating an edge image acquired by eliminating the selected edge point as a final model edge image; and
executing pattern matching of the final model edge image and a search edge image related to a search image acquired by capturing a search object.
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Abstract
An image processing method can suppress detection accuracy of a detection target object from being lowered even if the detection target object has a different surface condition because of the influence of various kinds of noise. The image processing method includes the following operations of generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object, executing pattern matching of the captured model edge image and a model edge image, calculating similarity at respective edge points in the model edge image in the pattern matching of the captured model edge image and the model edge image, selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image, and generating an edge image acquired by eliminating the selected edge point as a final model edge image.
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Citations
16 Claims
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1. An image processing method comprising:
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generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object; executing pattern matching of the captured model edge image and a model edge image related to the detection target object; calculating similarity at respective edge points in the model edge image in the pattern matching; selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image; generating an edge image acquired by eliminating the selected edge point as a final model edge image; and executing pattern matching of the final model edge image and a search edge image related to a search image acquired by capturing a search object. - View Dependent Claims (2, 3, 4)
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5. A non-transitory computer readable storage medium storing a program for causing a computer to execute respective operations of the image processing method comprising:
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generating a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object; executing pattern matching of the captured model edge image and a model edge image related to the detection target object; calculating similarity at respective edge points in the model edge image in the pattern matching; selecting an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image; generating an edge image acquired by eliminating the selected edge point as a final model edge image; and executing pattern matching of the final model edge image and a search edge image related to a search image acquired by capturing a search object. - View Dependent Claims (6, 7, 8)
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9. An image processing device comprising:
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an image generation unit configured to generate a captured model edge image by executing edge extraction processing on a captured model image acquired by capturing a detection target object, execute pattern matching of the captured model edge image and a model edge image related to the detection target object, calculate similarity at respective edge points in the model edge image in the pattern matching, select an edge point to be eliminated based on the similarity from among the respective edge points in the model edge image, and generate an edge image acquired by eliminating the selected edge point as a final model edge image; and a calculation unit configured to execute image processing; wherein the calculation unit executes pattern matching of a search edge image related to a search image acquired by capturing a search object and the final model edge image. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification