IMAGE PROCESSING APPARATUS FOR PROCESSING IMAGES CAPTURED BY A PLURALITY OF IMAGING UNITS, IMAGE PROCESSING METHOD, AND STORAGE MEDIUM STORING PROGRAM THEREFOR

• US 20180047184A1
• Filed: 08/07/2017
• Published: 02/15/2018
• Est. Priority Date: 08/10/2016
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Uchiyama, Hiroyuki, Yano, Kotaro, Umeda, Ichiro, Guo, Muling
• Granted Patent: US 10,515,459 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/20092 Interactive image processing based on input by user
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

An image processing apparatus includes a detection unit configured to detect positions of an index of which an arrangement is sequentially changed from respective images captured by two imaging devices, a calibration unit configured to calibrate a position of at least one of the two imaging devices based on the positions of the index arranged at an identical position detected from the respective images captured by the two imaging devices, a determination unit configured to determine a candidate position where the index is to be newly arranged based on the positions where the index has already been detected, and a presentation unit configured to present the candidate position.

Claims

1. An image processing apparatus comprising:

a detection unit configured to detect positions of an index of which an arrangement is sequentially changed from respective images captured by two imaging devices;

a calibration unit configured to calibrate a position of at least one of the two imaging devices based on the positions of the index arranged at an identical position detected from the respective images captured by the two imaging devices;

a determination unit configured to determine a candidate position where the index is to be newly arranged based on the positions where the index has already been detected; and

a presentation unit configured to present the candidate position.

2. The image processing apparatus according to claim 1, wherein the presentation unit displays the candidate position on the image captured by at least one of the two imaging devices.

3. The image processing apparatus according to claim 1, wherein the determination unit determines a candidate area as the candidate position.

4. The image processing apparatus according to claim 3, wherein the determination unit obtains a distribution of the detected positions in each of a plurality of areas, and determines the candidate area based on the distribution.

5. The image processing apparatus according to claim 4, wherein the determination unit determines the candidate area giving priority to areas with a small distribution.

6. The image processing apparatus according to claim 1, wherein the presentation unit displays the candidate position on a display device which can be referenced by an operator who moves the index.

7. The image processing apparatus according to claim 6, wherein the display device is provided on a terminal carried by the operator.

8. The image processing apparatus according to claim 1, wherein the detection unit detects the index based on a color and a size.

9. The image processing apparatus according to claim 1, further comprising a discrimination unit configured to discriminate whether the index detected by the detection unit is to be used for a calibration by the calibration unit.

10. The image processing apparatus according to claim 1, wherein, based on a positional relation between an index detected in the past and a newly detected index, a discrimination unit discriminates whether to use the newly detected index for calibration.

11. An image processing method comprising:

detecting positions of an index of which an arrangement is sequentially changed from respective images captured by two imaging devices;

calibrating a position of at least one of the two imaging devices based on the positions of the index arranged at an identical position detected from the respective images captured by the two imaging devices;

determining a candidate position where the index is to be arranged based on the positions where the index has already been detected; and

presenting the candidate position.

12. A non-transitory computer-readable storage medium storing a program for causing a computer to function as:

a detection unit configured to detect positions of an index of which an arrangement is sequentially changed from respective images captured by two imaging devices;

a calibration unit configured to calibrate a position of at least one of the two imaging devices based on the positions of the index arranged at an identical position detected from the respective images captured by the two imaging devices;

a determination unit configured to determine a candidate position where the index is to be newly arranged based on the positions where the index has already been detected; and

a presentation unit configured to present the candidate position.