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Dual-input image processor for recognizing, isolating, and displaying specific objects from the input images

  • US 5,995,649 A
  • Filed: 09/22/1997
  • Issued: 11/30/1999
  • Est. Priority Date: 09/20/1996
  • Status: Expired due to Fees
First Claim
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1. An image processor that extracts only an image of a specific object from input images, comprising:

  • an image pickup means that is equipped with plural image pickup devices for picking up said object;

    a parameter calculating means for extracting feature points on a reference solid from the images obtained by picking up said reference solid where a known pattern is picked up by said image pickup means, and calculating the relative position and posture parameters of each said image pickup device arranged on said image pickup means;

    a reference point extracting means for extracting a reference point as a feature point having features on an image, wherein the image is one image of plural images picked up by said image pickup means, and calculating coordinate values of said image of the reference point;

    a corresponding point detecting means for detecting corresponding points to be feature points having features on an image which correspond with said reference points, wherein said corresponding points are detected for all the images except the images that extract said reference points, among said plural images, by coordinate values of said reference points extracted by said reference point extracting means, and calculating coordinate values in each image at the corresponding points;

    a three dimensional coordinates calculating means for calculating coordinate values in the three dimensional space of said reference points, by using the relative position and posture parameters of each said image pickup device calculated by said parameter calculating means, coordinate values of said reference points extracted by said reference point extracting means, and coordinate values of said corresponding points detected by said corresponding point detecting means;

    a contour point extracting means for extracting contour points showing a contour of said object among images picked up by said image pickup means, on the basis of coordinate values of said reference points extracted by said reference point extracting means and said three dimensional coordinates values calculated by said three dimensional coordinates value calculating means, and calculating their coordinate values; and

    an object display means for extracting an image of said object from images picked up by said image pickup means based on coordinate values of said contour points extracted by said contour point extracting means, and displaying them on a display device.

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