Accurately determining the position and orientation of each of a plurality of identical recognition target objects in a search target image
First Claim
1. A system executed by a computer to determine a recognition target pattern present in a target image, the system comprising:
- a processing unit operatively coupled to memory;
dictionary image data including a recognition target pattern, a plurality of feature points of the recognition target pattern including a size (Rm) and direction (θ
m) of a feature vector, and an offset (Ox, Oy) from coordinates at a center of an image to coordinates of a feature point;
sizes (Rt) and directions (θ
t) of feature vectors for coordinates (Tx, Ty) of a plurality of feature points in the target image;
the processing unit to calculate coordinates (Fx, Fy) of a virtual center point in the target image derived from Tx, Ty, Ox, Oy, Rm, Rt, θ
m, and θ
t;
the processing unit to count additional virtual center points within a radius (r) of the coordinates (Fx, Fy) of the virtual center point; and
data storage to store the coordinates (Fx, Fy) of the virtual center point and the number of counted virtual center points as candidates, wherein each feature point in the plurality of feature points in the target image is a matching feature point of at least one feature point in the target image and at least one feature point in the recognition target pattern.
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Accused Products
Abstract
Embodiments of the invention relate to detecting the number, position, and orientation of objects when a plurality of recognition target objects are present in a search target image. Dictionary image data is provided, including a recognition target pattern, a plurality of feature points of the recognition target pattern, and an offset (Ox, Oy) from the coordinates at the center of the image to the coordinates of the feature point. The sizes (Rt) and directions (θt) of feature vectors for the coordinates (Tx, Ty) of a plurality of feature points in the target image are also provided. The coordinates (Fx, Fy) of a virtual center point in the target image is derived. Additional virtual center points within a radius of the coordinates (Fx, Fy) is counted. Presence of a recognition target object is recognized near the virtual center point coordinates of the search target image.
10 Citations
8 Claims
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1. A system executed by a computer to determine a recognition target pattern present in a target image, the system comprising:
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a processing unit operatively coupled to memory; dictionary image data including a recognition target pattern, a plurality of feature points of the recognition target pattern including a size (Rm) and direction (θ
m) of a feature vector, and an offset (Ox, Oy) from coordinates at a center of an image to coordinates of a feature point;sizes (Rt) and directions (θ
t) of feature vectors for coordinates (Tx, Ty) of a plurality of feature points in the target image;the processing unit to calculate coordinates (Fx, Fy) of a virtual center point in the target image derived from Tx, Ty, Ox, Oy, Rm, Rt, θ
m, and θ
t;the processing unit to count additional virtual center points within a radius (r) of the coordinates (Fx, Fy) of the virtual center point; and data storage to store the coordinates (Fx, Fy) of the virtual center point and the number of counted virtual center points as candidates, wherein each feature point in the plurality of feature points in the target image is a matching feature point of at least one feature point in the target image and at least one feature point in the recognition target pattern. - View Dependent Claims (2, 3, 4)
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5. A computer program product to determine a recognition target pattern present in a target image, the computer program product comprising a non-transitory computer readable storage device having program code therein, the program code being executable by a processor to:
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provide dictionary image data including a recognition target pattern, a plurality of feature points of the recognition target pattern including a size (Rm) and direction (θ
m) of a feature vector, and an offset (Ox, Oy) from coordinates at a center of a target image to coordinates of a feature point;provide a size (Rt) and direction (θ
t) of the feature vector for coordinates (Tx, Ty) of a plurality of feature points in the target image;calculate coordinates (Fx, Fy) of a virtual center point in the target image derived from Tx, Ty, Ox, Oy, Rm, Rt, θ
m, and θ
t;count a number of additional virtual center points within a predetermined radius (r) of the coordinates (Fx, Fy) of the virtual center point; and store the coordinates (Fx, Fy) of the virtual center point and the number of counted virtual center points, wherein each feature point in the plurality of feature points in the target image is a matching feature point of at least one feature point in the target image and at least one feature point in the recognition target pattern. - View Dependent Claims (6, 7, 8)
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Specification