Three-dimensional information processing apparatus and method

• US 6,823,080 B2
• Filed: 07/29/2002
• Issued: 11/23/2004
• Est. Priority Date: 07/01/1996
• Status: Expired due to Fees

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Mori, Katsuhiko, Matsugu, Masakazu, Iijima, Katsumi, Yano, Kotaro, Katayama, Tatsushi, Okauchi, Shigeki, Sekine, Masayoshi, Ishikawa, Motohiro, Kurahashi, Sunao
• Primary Examiner(s): Mehta, Bhavesh M.
• Assistant Examiner(s): CHAWAN, SHEELA C
• Application Number:
  US10/206,596
• Publication Number:
  US 20030007680A1
• Time in Patent Office: 848 Days
• Field of Search: 382/153, 382/154, 382/190, 382/195, 382/203, 382/201, 382/312, 382/305, 348/42, 348/46, 348/50, 348/51, 359/462, 352/86, 352/2, 356/2, 356/12, 356/375, 356/376
• US Class Current: 382/154
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/189 Recording image signals; Reproducing recorded image signals
• CPC Class Codes: H04N 13/194 Transmission of image signals
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/221 using the relative movement between cameras and objects
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects
• CPC Class Codes: H04N 13/296 Synchronisation thereof; Control thereof
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

A three-dimensional information processing apparatus for obtaining three-dimensional information from an object having a three-dimensional shape, and performing predetermined information processing, comprises: a camera for sensing images of the object from a plurality of coordinate positions using an image sensing system having one or a plurality of optical systems. A plurality of depth information are extracted from image sensing related information sensed by the camera at the plurality of coordinate positions, and the plurality of extracted depth information are converted and unified into depth information expressed by a unified coordinate system.

Claims

1. An image sensing method comprising:

the image sensing step of sensing images of an object;

the storage step of storing image information of the object;

the image sensing condition detection step of detecting a relative relationship between the object and an image sensing apparatus main body; and

the control step of controlling a storage operation of the image information,

wherein the control step includes the step of controlling the storage operation in the storage step in accordance with a detection result of the image sensing condition detection step.

2. The method according to claim 1, wherein the control step includes the step of controlling to store information associated with the relative relationship between the object and the image sensing apparatus main body together with sensed images sensed in the image sensing step in the storage step.

3. The method according to claim 1, wherein the image sensing condition detection step includes the step of detecting the relative relationship using a sensor for detecting an angle and translation movement of the image sensing apparatus main body.

4. The method according to claim 1, wherein the image sensing condition detection step includes the step of analyzing an object image and images around the object sensed by the image sensing apparatus main body, and detecting an angle and translation movement of the image sensing apparatus main body on the basis of changes in state of sensed images sensed in the image sensing step.

5. The method according to claim 1, wherein the image sensing condition detection step includes the step of analyzing an object image and images around the object sensed by the image sensing apparatus main body, and detecting changes in relative position relationship between the object and the image sensing apparatus main body on the basis of an error signal generated upon analyzing the images.

6. The method according to claim 1, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting changes in occlusion state of the object.

7. The method according to claim 1, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting an overlapping region area between time-serial object images.

8. The method according to claim 1, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting changes in distance image of the object.

9. The method according to claim 1, wherein the image analysis step includes the step of performing an analysis calculation for acquiring a three-dimensional shape and a surface image of the object using a plurality of images.

10. An image sensing method comprising:

the image sensing step of sensing images of an object;

the analysis step of analyzing image information obtained in the image sensing step;

the image sensing condition detection step of detecting a relative relationship between the object and an image sensing apparatus main body; and

the control step of controlling an image analysis operation in the analysis step,

wherein the control step includes the step of controlling the image analysis operation in accordance with a detection result of the image sensing condition detection step.

11. The method according to claim 10, wherein the analysis step includes the step of performing an analysis calculation for acquiring a three-dimensional shape and a surface image of the object using a plurality of images.

12. The method according to claim 10, wherein the image sensing condition detection step uses a sensor for detecting an angle and translation movement of the image sensing apparatus main body.

13. The method according to claim 10, wherein the image sensing condition detection step includes the step of analyzing an object image and images around the object sensed by the image sensing apparatus main body, and detecting an angle and translation movement of the image sensing apparatus main body on the basis of changes in state of sensed images sensed in the image sensing step.

14. The method according to claim 10, wherein the image sensing condition detection step includes the step of analyzing an object image and images around the object sensed by the image sensing apparatus main body, and detecting changes in relative position relationship between the object and the image sensing apparatus main body on the basis of an error signal generated upon analyzing the images.

15. The method according to claim 10, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting changes in occlusion state of the object.

16. The method according to claim 10, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting an overlapping region area between time-serial object images.

17. The method according to claim 10, wherein the image sensing condition detection step includes the step of analyzing an object image sensed by the image sensing apparatus main body, and detecting changes in distance image of the object.

18. The method according to claim 10, wherein the image sensing condition detection step includes the step of stopping the image sensing step and the analysis step during a period in which neither storage processing nor analysis processing are performed.

19. An image sensing apparatus comprising:

image sensing means for sensing images of an object;

storage means for storing image information of the object;

image sensing condition detection means for detecting a relative relationship between the object and an image sensing apparatus main body; and

control means for controlling said storage means,

wherein the control means controls said storage means in accordance with an output from said image sensing condition detection means.

20. The apparatus according to claim 19, wherein said control means controls said storage means to store information associated with the relative relationship between the object and the image sensing apparatus main body together with sensed images sensed by said image sensing means.

21. The apparatus according to claim 19, wherein said image sensing condition detection means comprises a sensor for detecting an angle and translation movement of the image sensing apparatus main body.

22. The apparatus according to claim 19, wherein said image sensing condition detection means analyzes an object image and images around the object sensed by the image sensing apparatus main body, and detects an angle and translation movement of the image sensing apparatus main body on the basis of changes in state of sensed images sensed by said image sensing means.

23. The apparatus according to claim 19, wherein said image sensing condition detection means analyzes an object image and images around the object sensed by the image sensing apparatus main body, and detects changes in relative position relationship between the object and the image sensing apparatus main body on the basis of an error signal generated upon analyzing the images.

24. The apparatus according to claim 19, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects changes in occlusion state of the object.

25. The apparatus according to claim 19, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects an overlapping region area between time-serial object images.

26. The apparatus according to claim 19, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects changes in distance image of the object.

27. An image sensing apparatus comprising:

image sensing means for sensing images of an object;

image analysis means for analyzing image information sensed by said image sensing means;

image sensing condition detection means for detecting a relative relationship between the object and an image sensing apparatus main body; and

control means for controlling said image analysis means,

wherein said control means controls said image analysis means in accordance with an output from said image sensing condition detection means.

28. The apparatus according to claim 27, wherein said image analysis means performs an analysis calculation for acquiring a three-dimensional shape and a surface image of the object using a plurality of images.

29. The apparatus according to claim 27, wherein said image sensing condition detection means comprises a sensor for detecting an angle and translation movement of the image sensing apparatus main body.

30. The apparatus according to claim 27, wherein said image sensing condition detection means analyzes an object image and images around the object sensed by the image sensing apparatus main body, and detects an angle and translation movement of the image sensing apparatus main body on the basis of changes in state of sensed images sensed by said image sensing means.

31. The apparatus according to claim 27, wherein said image sensing condition detection means analyzes an object image and images around the object sensed by the image sensing apparatus main body, and detects changes in relative position relationship between the object and the image sensing apparatus main body on the basis of an error signal generated upon analyzing the images.

32. The apparatus according to claim 27, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects changes in occlusion state of the object.

33. The apparatus according to claim 27, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects an overlapping region area between time-serial object images.

34. The apparatus according to claim 27, wherein said image sensing condition detection means analyzes an object image sensed by the image sensing apparatus main body, and detects changes in distance image of the object.

35. The apparatus according to claim 27, wherein said image sensing condition detection means stops operations of said image sensing means and said image analysis means during a period in which neither storage processing nor analysis processing are performed.