Computer-readable storage medium, image recognition apparatus, image recognition system, and image recognition method
First Claim
1. A non-transitory computer-readable storage medium having stored thereon an image recognition program which, when execute by a computer of an information processing apparatus, causes the computer to perform operations comprising:
- calculating a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel;
when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel or a pixel value of a pixel near the second pixel; and
detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel.
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Abstract
First, a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel is calculated, the second pixel placed a predetermined number of pixels away from the first pixel. Then, when the difference is equal to or greater than a predetermined value, an edge determination threshold is calculated on the basis of: the pixel value of the first pixel or a pixel value of a pixel near the first pixel; and the pixel value of the second pixel or a pixel value of a pixel near the second pixel. Then, an edge pixel corresponding to an edge present between the first pixel and the second pixel is detected by comparing the edge determination threshold with a pixel value of each pixel placed between the first pixel and the second pixel.
36 Citations
18 Claims
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1. A non-transitory computer-readable storage medium having stored thereon an image recognition program which, when execute by a computer of an information processing apparatus, causes the computer to perform operations comprising:
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calculating a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel or a pixel value of a pixel near the second pixel; and detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An image recognition apparatus comprising:
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a memory; and at least one processor communicatively coupled to the memory and configured to perform operations comprising; calculating a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel or a pixel value of a pixel near the second pixel; and detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel.
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15. An image recognition method comprising:
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calculating a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel or a pixel value of a pixel near the second pixel; and detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel.
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16. An image recognition system comprising:
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at least one camera; and at least one processor communicatively coupled to the at least one camera, and configured to perform operations comprising; receiving an image captured by the camera; calculating a difference between a pixel value of a first pixel in the image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of;
the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel or a pixel value of a pixel near the second pixel; anddetecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel.
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17. An image recognition system including an image recognition apparatus and a marker, the image recognition apparatus comprising:
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a capturing section for capturing an image including the marker; and at least one processor configured to perform operations comprising; receiving the image from the capturing section; calculating a difference between a pixel value of a first pixel in the image and a pixel value of a second pixel located a predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a reference value, calculating an edge determination threshold on the basis of the pixel value of the first pixel or a pixel value of a pixel near the first pixel, and the pixel value of the second pixel corresponding to the first pixel or a pixel value of a pixel near the second pixel; and detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel.
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18. An image recognition apparatus comprising:
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a memory; and a processing system communicatively coupled to the memory and configured to perform operations comprising; calculating a difference between a pixel value of a first pixel in an image and a pixel value of a second pixel located in a same row or column as the first pixel and being predetermined number of pixels away from the first pixel; when the difference is equal to or greater than a predetermined value, calculating an edge determination threshold on the basis of a first local maximum pixel value determined from a first group of pixels including the first pixel and one or more pixels proximate to the first pixel and located in the same row or column and a second local maximum pixel value determined from a second group of pixels including the second pixel and one or more pixels proximate to the second pixel and located in the same row or column; and detecting an edge pixel corresponding to an edge present between the first pixel and the second pixel, by comparing the edge determination threshold with pixel values of respective pixels located between the first pixel and the second pixel in the same row or column.
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Specification