Moving body recognition apparatus
First Claim
1. A moving body recognition apparatus, comprising image input means for receiving an image of a moving body, feature point extraction means for extracting feature points from said image and feature point storage means for storing said extracted feature points, for recognizing a shape and movement of a moving body based on position data of the feature points in an orthogonal projection image of the moving body, comprising:
- feature point position normalization means for providing normalized coordinates of the feature points in the XYZ coordinate system stored in the feature point storage means by determining an image plane of the moving body in the image input means as the XY plane, the direction of the orthogonal projection image of a rotation axis of the moving body formed on the image plane as the Y axis and a direction of an image capture operation by the image input means as the Z axis perpendicular to said XY plane; and
rotation axis calculation means for calculating an angle between the rotation axis of the moving body and the Y axis as a depression angle PSI based on the output of said feature point position normalization means.
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Abstract
Apparatus which recognizes a shape and movement of a moving body based on position data of feature points in an image of the moving body in an orthogonal projection image of the moving body. The moving body recognition apparatus includes a feature point position normalization unit for providing normalized coordinates of a feature point by determining an image capture plane of the moving body as the XY plane, a direction in which an orthogonal projection image of a rotation axis of the moving body formed on the image capture plane as the Y axis and a direction of an image capture operation as a Z axis perpendicular to the XY plane and a rotation axis calculation unit for calculating the angle between the axis of rotation of the moving body and the Y axis.
46 Citations
39 Claims
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1. A moving body recognition apparatus, comprising image input means for receiving an image of a moving body, feature point extraction means for extracting feature points from said image and feature point storage means for storing said extracted feature points, for recognizing a shape and movement of a moving body based on position data of the feature points in an orthogonal projection image of the moving body, comprising:
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feature point position normalization means for providing normalized coordinates of the feature points in the XYZ coordinate system stored in the feature point storage means by determining an image plane of the moving body in the image input means as the XY plane, the direction of the orthogonal projection image of a rotation axis of the moving body formed on the image plane as the Y axis and a direction of an image capture operation by the image input means as the Z axis perpendicular to said XY plane; and rotation axis calculation means for calculating an angle between the rotation axis of the moving body and the Y axis as a depression angle PSI based on the output of said feature point position normalization means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A moving body recognition apparatus, comprising image input means for receiving an image of a moving body, feature point extraction means for extracting feature points from said image and feature point storage means for storing said extracted feature points, for recognizing the shape and movement of a moving body based on position data of the feature points in an orthogonal projection image of the moving body, comprising:
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feature point position normalization means for providing normalized coordinates of the feature points in the XYZ coordinate system stored in the feature point storage means by determining an image plane of the moving body in the image input means as the XY plane, the direction of the orthogonal projection image of a rotation axis of the moving body formed on the image plane as the Y axis and a direction of an image capture operation by the image input means as the Z axis perpendicular to said XY plane; shape and movement calculation means for obtaining the normalized Z coordinate of the feature points of the moving body as the shape of the moving body, and a rotation amount θ
around the rotation axis of the moving body as the movement, based on a depression angle PSI between the rotation axis of the moving body and the Y axis and the output of said feature point position normalization means. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A moving body recognition apparatus, comprising image input means for receiving an image of a moving body, feature point extraction means for extracting feature points from said image and feature point storage means for storing said extracted feature points, for recognizing a shape and movement of a moving body based on position data of the feature points in an orthogonal projection image of the moving body, comprising:
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feature point position normalization means for providing normalized coordinates of the feature points in the XYZ coordinate system stored in the feature point storage means by determining an image plane of the moving body in the image input means as the XY plane, the direction of the orthogonal projection image of a rotation axis of the moving body formed on the image plane as the Y axis and a direction of an image capture operation by the image input means as the Z axis perpendicular to said XY plane; shape and movement calculating means for calculating the shape and movement of the moving body in a virtual rotation state of the moving body when the rotation axis of the moving body is made in parallel to the YZ plane to permit the rotation axis of the moving body to match with the Y axis based on the output from the feature point position normalization means and a depression angle PSI between the rotation axis of the moving body and the Y axis, thereby obtaining the shape and movement of the moving body in the actual rotation state of the moving body based on said calculation result. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A moving body recognition apparatus for recognizing a movement of a moving body based on positional data in an image of feature points of the moving body generated by an image input means, comprising;
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depression angle recognizing means for obtaining an angle between a rotation axis of the moving body and the Y axis when an image taking plane of the moving body of the image input means is determined as an XY plane and an image taking direction of the image input means is determined as a Z axis; and movement recognition means for recognizing the movement of the moving body based on a value of the angle obtained by said depression angle recognition means.
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Specification