Image recognition system and apparatus using active eyes

• US 6,226,401 B1
• Filed: 02/02/1998
• Issued: 05/01/2001
• Est. Priority Date: 01/31/1997
• Status: Expired due to Fees

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Ooi, Junji, Yamafuji, Kazuo
• Primary Examiner(s): Grant, II, Jerome
• Assistant Examiner(s): KIANNI, KAVEH C
• Application Number:
  US09/016,918
• Time in Patent Office: 1,184 Days
• Field of Search: 382/154, 382/153, 382/103, 382/224, 382/225, 358/520
• US Class Current: 382/165
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes

Abstract

An image recognition system for recognizing a target having a color and a pattern includes a plurality of active eyes for recognizing a target. Each active eye is an information processing unit formed in a closed frame defined on a display screen, and each active eye is movable on the display screen, wherein each active eye moves until a color within the closed frame of the active eye is the color of the target in a memory, wherein plural active eyes are located at a boundary between the target and the background on the display screen, thereby forming a colony having a shape. When the shape of the colony matches the pattern of the target in the memory, the target is identified. The time of each processing cycle is very short, and thus, the movement of the object can be traced without a time lag.

Claims

1. An image recognition system for recognizing a target having a color and a pattern, comprising:

(a) a display screen formed with a plurality of pixels for displaying an image including a target and its background, using a CCD camera;

(b) an active eye system comprising;

(i) a plurality of cursor-like movable sections, denoted as active eyes, indicated on the display screen using a portion of the pixels, each active eye being a closed frame defined on the display screen and being programmed to obtain color data from the area enclosed within the frame, said active eyes being movable on the display screen under predetermined rules to move each active eye to a boundary of a region, denoted as a colony, where a color within the closed frame of the active eye matches the color of the target pre-stored in a memory;

(ii) a pattern recognition unit for recognizing a shape of the colony which is formed when connecting plural active eyes located along the boundary of the colony, wherein if the recognized shape does not match the pattern of the target pre-stored in a memory, each active eye moves until the pattern of the target in the memory is recognized; and

(iii) a location calculation unit programmed to calculate the coordinates of the recognized pattern of the target based on coordinates of the active eyes; and

(c) a pretreatment unit, which transfers a RGB system of a color from the CCD camera into a combination of hue, saturation, and brightness, and which compares the combination of hue, saturation, and brightness with the color data of the target in the memory, thereby outputting a value indicating the likelihood of color image in each active eye matching the target.

2. The image recognition system according to claim 1, wherein each active eye is a square of approximately 3 pixels×

3 pixels.

3. The image recognition system according to claim 1, wherein the predetermined rules are as follows:

(i) if no active eyes recognize the color of the target or form a colony of the color, the active eyes move randomly;

(ii) if a plurality of active eyes recognize the color of the target and form a colony of the color, the active eyes move away from the center of the colony;

(iii) if an active eye has been recognizing the color of the target until now but loses track of the color at this moment, the active eye moves toward the center of a colony located closest to the active eye,

whereby the active eye moves ultimately to a boundary of the colony.

4. The image recognition system according to claim 1, wherein the colony is recognized by connecting the active eyes which are recognizing the color of the target or had been recognizing the color of the target but lost track of the color, under the following rules:

(i) an active eye is linked to another active eye closest to the active eye;

(ii) an active eye is not linked to an active eye which has already linked to another active eye.

5. A method for recognizing a target having a color and a pattern, using an image recognition system comprising:

(a) a display screen formed with a plurality of pixels for displaying an image including a target and its background, using a CCD camera;

(b) an active eye system comprising;

(i) a plurality of cursor-like movable sections, denoted as active eyes, indicated on the display screen using a portion of the pixels, each active eye being a closed frame defined on the display screen and being programmed to obtain color data from the area enclosed within the frame;

(ii) a pattern recognition unit for recognizing a shape which is formed when connecting plural active eyes; and

(iii) a location calculation unit programmed to calculate the coordinates of the recognized shape based on coordinates of the active eyes; and

(c) a pretreatment unit, which transfers a RGB system of a color from the CCD camera into a combination of hue, saturation, and brightness, and which compares the combination of hue, saturation, and brightness with the color data of the target in the memory, thereby outputting a value indicating the likelihood of color image in each active eye matching the target,

said method comprising the steps of;

(A) displaying an image including a target and its background on the display screen, using the CCD camera;

(B) moving the active eyes on the display screen under the predetermined rules to move each active eye to a boundary of a region, denoted as a colony, where a color within the closed frame of the active eye matches the color of the target stored in a memory based on a value indicating the likelihood of color image in each active eye matching the target outputted from the pretreatment unit;

(C) upon formation of the colony by the active eyes, comparing at the pattern recognition the shape of the colony with the pattern of the target stored in a memory, and if the shape does not match the pattern of the target, further moving the active eyes until the pattern of the target is recognized; and

(D) calculating the coordinates of the recognized shape as the target based on coordinates of the active eyes.

6. The method according to claim 5, wherein each active eye is a square of approximately 3 pixels×

3 pixels.

7. The method according to claim 5, wherein the predetermined rules are as follows:

(i) if no active eyes recognize the color of the target or form a colony of the color, the active eyes move randomly;

(ii) if a plurality of active eyes recognize the color of the target and form a colony of the color, the active eyes move away from the center of the colony;

(iii) if an active eye has been recognizing the color of the target until now but loses track of the color at this moment, the active eye moves toward the center of a colony located closest to the active eye,

whereby the active eye moves ultimately to a boundary of the colony.

8. The method according to claim 5, wherein the colony is recognized by connecting the active eyes which are recognizing the color of the target or had been recognizing the color of the target but lost track of the color, under the following rules:

(i) an active eye is linked to another active eye closest to the active eye;

(ii) an active eye is not linked to an active eye which has already linked to another active eye.