Image recognition method and apparatus
First Claim
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1. An image recognition method for recognizing an object, comprising:
- capturing the object to generate a range image having three-dimensional information representing a three-dimensional shape of the object;
generating a three-dimensional deformed image by three-dimensionally deforming the range image;
recognizing three-dimensional motion of the object in the range image by comparing the deformed image with a newly captured range image obtained by capturing the object currently; and
segmenting the range image of the object in units of voxels according to a distance value of the range image,wherein the deformed image is generated by deforming the range image based on a position of the voxel.
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Abstract
An image recognition apparatus has an image capture section for capturing a range image, an image deformation section for deforming the range image captured by the image capture section, and a recognition section for recognizing the presence/absence of three-dimensional motion of an object by comparing the deformed image obtained by the image deformation section, and a new range image captured by the image capture section.
25 Citations
7 Claims
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1. An image recognition method for recognizing an object, comprising:
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capturing the object to generate a range image having three-dimensional information representing a three-dimensional shape of the object; generating a three-dimensional deformed image by three-dimensionally deforming the range image; recognizing three-dimensional motion of the object in the range image by comparing the deformed image with a newly captured range image obtained by capturing the object currently; and segmenting the range image of the object in units of voxels according to a distance value of the range image, wherein the deformed image is generated by deforming the range image based on a position of the voxel. - View Dependent Claims (2, 3)
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4. An image recognition apparatus to recognize an object, comprising:
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an image capture unit configured to capture the object to generate a range image having three-dimensional information representing the object; an image deformation unit configured to three-dimensionally deform the range image; a recognition unit configured to recognize three-dimensional motion of an object by comparing a three-dimensionally deformed image obtained by said image deformation unit with a new range image captured by said image capture unit; and a segmentation unit configured to segment the range image of the object in units of voxels according to a distance value of the range image, wherein the deformation unit is configured to three-dimensionally deform the range image based on a position of the voxel. - View Dependent Claims (5, 6)
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7. An article of manufacture comprised of a computer-usable medium having computer-readable program code means that implements computer-readable program code means for recognizing an object, comprising:
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computer-readable program code means for making a computer generate a range image having three-dimensional information representing a three-dimensional shape of the object; computer-readable program code means for making the computer three-dimensionally deform the range image to generate a deformed image; computer-readable program code means for making the computer recognize three-dimensional motion of the object by comparing the deformed image with a new range image generated currently; and computer-readable program code means for making the computer segment the range image of the object in units of voxels according to a distance value of the range image, wherein the deformed image is generated by deforming the range image based on a position of the voxel.
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Specification