Processing-target image generation device, processing-target image generation method and operation support system

• US 8,848,981 B2
• Filed: 10/11/2012
• Issued: 09/30/2014
• Est. Priority Date: 04/12/2010
• Status: Active Grant

• Current Assignee: Sumitomo Heavy Industries Limited
• Original Assignee: Sumitomo Heavy Industries Limited
• Inventors: Kiyota, Yoshihisa
• Primary Examiner(s): Azarian, Syed
• Application Number:
  US13/649,357
• Publication Number:
  US 20130034269A1
• Time in Patent Office: 719 Days
• Field of Search: 382/100, 382/103, 382106-107, 382/162, 382/168, 382/173, 382/181, 382191-194, 382/199, 382/209, 382/232, 382/254, 382/274, 382/276, 382286-291, 382/305, 382/312, 348/222.1, 348/115, 348/116, 701/128
• US Class Current: 382/103
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: G06T 15/205 Image-based rendering
• CPC Class Codes: G06T 3/12 Panospheric to cylindrical image transformations
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A processing-target image generation device generates a processing-target image which is an object to be subjected to an image conversion process for acquiring an output image based on an input image taken by an image-taking part. A coordinates correspondence part causes input coordinates, spatial coordinates, and projection coordinates to correspond to each other, the input coordinates being on an input image plane on which the input image is located, the spatial coordinates being on a space model on which the input image is projected, the projection coordinates being on a processing-target image plane on which the processing-target image is positioned and the image projected on the space model is re-projected.

Claims

1. A processing-target image generation device that generates a processing-target image which is an object to be subjected to an image conversion process for acquiring an output image based on an input image taken by an image-taking part, the processing-target image generation device comprising:

a coordinates correspondence part configured to cause input coordinates, spatial coordinates, and projection coordinates to correspond to each other, the input coordinates being on an input image plane on which said input image is located, the spatial coordinates being on a space model on which said input image is projected, the projection coordinates being on a processing-target image plane on which said processing-target image is positioned and the image projected on said space model is re-projected,

wherein said coordinate correspondence part causes said spatial coordinates on said space model to correspond to said projection coordinates on said processing-target image plane so that lines connecting a plurality of coordinates positions on said processing-target image plane and a plurality of coordinates positions on said space model corresponding to the plurality of coordinates positions on said processing-target image plane, respectively, are parallel to each other on a plane perpendicular to said processing-target image plane.

2. The processing-target generation device as claimed in claim 1, further comprising a storage part configured to store correspondence information, as map information, acquired by correspondence by said coordinates correspondence part.

3. An operation support system that supports a movement or an operation of a body to be operated, comprising:

the processing-target image generation device as claimed in claim 1; and

a display part configured to display an output image generated based on the processing-target image generated by said processing-target image generation device.

4. The operation support system as claimed in claim 3, wherein said display part is installed in an operator room to move or operate said body to be operated.

5. A processing-target image generation device that generates a processing-target image which is an object to be subjected to an image conversion process for acquiring an output image based on an input image taken by an image-taking part, the processing-target image generation device comprising:

a coordinates correspondence part configured to cause input coordinates, spatial coordinates, and projection coordinates to correspond to each other, the input coordinates being on an input image plane on which said input image is located, the spatial coordinates being on a space model on which said input image is projected, the projection coordinates being on a processing-target image plane on which said processing-target image is positioned and the image projected on said space model is re-projected,

wherein said coordinate correspondence part causes said spatial coordinates on said space model to correspond to said projection coordinates on said processing-target image plane so that each of lines connecting a plurality of coordinates positions on said processing-target image plane and a plurality of coordinates positions on said space model corresponding to the plurality of coordinates positions on said processing-target image plane, respectively, passes a predetermined single point.

6. The processing-target generation device as claimed in claim 5, further comprising a storage part configured to store correspondence information, as map information, acquired by correspondence by said coordinates correspondence part.

7. An operation support system that supports a movement or an operation of a body to be operated, comprising:

the processing-target image generation device as claimed in claim 5; and

a display part configured to display an output image generated based on the processing-target image generated by said processing-target image generation device.

8. The operation support system as claimed in claim 7, wherein said display part is installed in an operator room to move or operate said body to be operated.

9. A processing-target image generation method that generates a processing-target image which is an object to be subjected to an image conversion process for acquiring an output image based on an input image taken by an image-taking part, the processing-target image generation method comprising:

a coordinates correspondence step of causing input coordinates, spatial coordinates, and projection coordinates to correspond to each other, the input coordinates being on an input image plane on which said input image is located, the spatial coordinates being on a space model on which said input image is projected, the projection coordinates being on a processing-target image plane on which said processing-target image is positioned and the image projected on said space model is re-projected,

wherein said coordinate correspondence step includes a step of causing said spatial coordinates on said space model to correspond to said projection coordinates on said processing-target image plane so that lines connecting a plurality of coordinates positions on said processing-target image plane and a plurality of coordinates positions on said space model corresponding to the plurality of coordinates positions on said processing-target image plane, respectively, are parallel to each other on a plane perpendicular to said processing-target image plane.

10. The processing-target generation method as claimed in claim 9, further comprising a step of storing correspondence information, as map information, acquired by correspondence by said coordinates correspondence part in a storage part.

11. A processing-target image generation method that generates a processing-target image which is an object to be subjected to an image conversion process for acquiring an output image based on an input image taken by an image-taking part, the processing-target image generation method comprising:

a coordinates correspondence step of causing input coordinates, spatial coordinates, and projection coordinates to correspond to each other, the input coordinates being on an input image plane on which said input image is located, the spatial coordinates being on a space model on which said input image is projected, the projection coordinates being on a processing-target image plane on which said processing-target image is positioned and the image projected on said space model is re-projected,

wherein said coordinate correspondence step includes a step of causing said spatial coordinates on said space model to correspond to said projection coordinates on said processing-target image plane so that each of lines connecting a plurality of coordinates positions on said processing-target image plane and a plurality of coordinates positions on said space model corresponding to the plurality of coordinates positions on said processing-target image plane, respectively, passes a predetermined single point.

12. The processing-target generation method as claimed in claim 11, further comprising a step of storing correspondence information, as map information, acquired by correspondence by said coordinates correspondence part in a storage part.