Image processing device, image processing method, and image processing program

• US 8,836,812 B2
• Filed: 03/14/2013
• Issued: 09/16/2014
• Est. Priority Date: 03/21/2012
• Status: Expired due to Fees

• Current Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Original Assignee: Honda Elesys Co., Ltd. (Nidec Corporation)
• Inventors: Kanamoto, Junji, Mitsui, Tomokazu
• Primary Examiner(s): CHEN, CHIA WEI A
• Application Number:
  US13/829,149
• Publication Number:
  US 20130300897A1
• Time in Patent Office: 551 Days
• Field of Search: 348/222.1, 348/218.1, 348/231.99, 382103-105, 382/173, 382276-308
• US Class Current: 348/222.1
• CPC Class Codes: B60R 2300/00 Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
• CPC Class Codes: B60R 2300/8093 for obstacle warning
• CPC Class Codes: G06V 10/507 Summing image-intensity values; Histogram projection analysis
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: H04N 23/80 Camera processing pipelines; Components thereof

Abstract

An image processing device includes an image acquiring unit, a storage unit, and an image processing unit, wherein the image region is divided into a plurality of sub-regions in the vertical direction, and wherein when the rectangular range set in the image region extends over two or more sub-regions, the image processing unit acquires the cumulative value at a pixel position in the lowermost sub-region of the two or more sub-regions by adding the cumulative values in the upper sub-regions at the pixel position in the same column of a lowermost row in the upper sub-regions, over which the rectangular range extends, to the cumulative value in the lowermost sub-region at the pixel position in the lowermost sub-region.

Claims

1. An image processing device comprising:

an image acquiring unit configured to acquire an image;

a storage unit configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions, in the image acquired by the image acquiring unit; and

an image processing unit configured to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in the image region based on the information stored in the storage unit,

wherein the image region is divided into a plurality of sub-regions in the vertical direction, and

wherein when the rectangular range set in the image region extends over two or more sub-regions, the image processing unit acquires the cumulative value at a pixel position in the lowermost sub-region of the two or more sub-regions by adding the cumulative values in the upper sub-regions at the pixel position in the same column of a lowermost row in the upper sub-regions, over which the rectangular range extends, to the cumulative value in the lowermost sub-region at the pixel position in the lowermost sub-region.

2. The image processing device according to claim 1,

wherein when the rectangular range set in the image region is received in one sub-region, the image processing unit acquires the cumulative value of a value associated with a pixel in the image acquired by the image acquiring unit with the rectangular range using information of the cumulative value in the corresponding region at pixel positions of four vertices of the rectangular range stored in the storage unit.

3. The image processing device according to claim 1,

wherein the storage unit stores information on cumulative values of pixels, which are included in a range of a rectangular portion having a predetermined reference pixel position and each pixel position as diagonal vertices, as the information on the cumulative value at each pixel position for each sub-region, which is obtained by dividing the image region into a plurality of sub-regions, in the image acquired by the image acquiring unit.

4. The image processing device according to claim 1,

wherein an intensity value of a pixel is used as the value associated with the pixel, and

wherein an integral image is used as an integrated value of the value associated with the pixel.

5. The image processing device according to claim 1,

wherein a gradient value of a pixel for each gradient direction is used as the value associated with the pixel, and

wherein an integral histogram for each gradient direction is used as an integrated value of the value associated with the pixel.

6. An image processing device comprising:

an image acquiring unit configured to acquire an image;

a storage unit configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions, in the image acquired by the image acquiring unit; and

an image processing unit configured to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in the image region based on the information stored in the storage unit,

wherein the image region is divided into a plurality of sub-regions in the horizontal direction, and

wherein when the rectangular range set in the image region extends over two or more sub-regions, the image processing unit acquires the cumulative value at a pixel position in the rightmost sub-region of the two or more sub-regions by adding the cumulative values in the left sub-regions at the pixel position in the same row of a rightmost column in the left sub-regions, over which the rectangular range extends, to the cumulative value in the rightmost sub-region at the pixel position in the rightmost sub-region.

7. The image processing device according to claim 6,

wherein when the rectangular range set in the image region is received in one sub-region, the image processing unit acquires the cumulative value of a value associated with a pixel in the image acquired by the image acquiring unit with the rectangular range using information of the cumulative value in the corresponding region at pixel positions of four vertices of the rectangular range stored in the storage unit.

8. The image processing device according to claim 6,

wherein the storage unit stores information on cumulative values of pixels, which are included in a range of a rectangular portion having a predetermined reference pixel position and each pixel position as diagonal vertices, as the information on the cumulative value at each pixel position for each sub-region, which is obtained by dividing the image region into a plurality of sub-regions, in the image acquired by the image acquiring unit.

9. The image processing device according to claim 6,

wherein an intensity value of a pixel is used as the value associated with the pixel, and

wherein an integral image is used as an integrated value of the value associated with the pixel.

10. The image processing device according to claim 6,

wherein a gradient value of a pixel for each gradient direction is used as the value associated with the pixel, and

wherein an integral histogram for each gradient direction is used as an integrated value of the value associated with the pixel.

11. An image processing method comprising:

causing an image acquiring unit to acquire an image; and

causing an image processing unit to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in an image region based on information stored in a storage unit, which is configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions in the vertical direction, in the image acquired by the image acquiring unit, and to acquire the cumulative value at a pixel position in the lowermost sub-region of two or more sub-regions by adding the cumulative values in the upper sub-regions at the pixel position in the same column of a lowermost row in the upper sub-regions, over which the rectangular range extends, to the cumulative value in the lowermost sub-region at the pixel position in the lowermost sub-region when the rectangular range set in the image region extends over the two or more sub-regions.

12. An image processing method comprising:

causing an image acquiring unit to acquire an image; and

causing an image processing unit to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in an image region based on information stored in a storage unit, which is configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions in the horizontal direction, in the image acquired by the image acquiring unit, and to acquire the cumulative value at a pixel position in the rightmost sub-region of two or more sub-regions by adding the cumulative values in the left sub-regions at the pixel position in the same row of a rightmost column in the left sub-regions, over which the rectangular range extends, to the cumulative value in the rightmost sub-region at the pixel position in the rightmost sub-region when the rectangular range set in the image region extends over the two or more sub-regions.

13. An image processing program stored on a non-transitory computer-readable medium for causing a computer to perform:

a sequence of causing an image acquiring unit to acquire an image; and

a sequence of causing an image processing unit to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in an image region based on information stored in a storage unit, which is configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions in the vertical direction, in the image acquired by the image acquiring unit, and to acquire the cumulative value at a pixel position in the lowermost sub-region of two or more sub-regions by adding the cumulative values in the upper sub-regions at the pixel position in the same column of a lowermost row in the upper sub-regions, over which the rectangular range extends, to the cumulative value in the lowermost sub-region at the pixel position in the lowermost sub-region when the rectangular range set in the image region extends over the two or more sub-regions.

14. An image processing method program stored on a non-transitory computer-readable medium for causing a computer to perform:

a sequence of causing an image acquiring unit to acquire an image; and

a sequence of causing an image processing unit to acquire a cumulative value of a value associated with a pixel of the image acquired by the image acquiring unit in a rectangular range set in an image region based on information stored in a storage unit, which is configured to store information on a cumulative value of a value associated with a predetermined pixel for each sub-region, which is obtained by dividing an image region into a plurality of sub-regions in the horizontal direction, in the image acquired by the image acquiring unit, and to acquire the cumulative value at a pixel position in the rightmost sub-region of two or more sub-regions by adding the cumulative values in the left sub-regions at the pixel position in the same row of a rightmost column in the left sub-regions, over which the rectangular range extends, to the cumulative value in the rightmost sub-region at the pixel position in the rightmost sub-region when the rectangular range set in the image region extends over the two or more sub-regions.