JPH04360286A - Space filtering image processor - Google Patents

Abstract

PURPOSE:To provide a space filtering image processor shortened at its processing time and reduced at its production cost. CONSTITUTION:A space filtering processor 29 inputs image information from a frame memory 271, executes space filtering processing and directly and simultaneously outputs plural output signals per picture element to a lookup table 30. Output from the processor 29 to the table 30 does not pass a frame memory. The table 30 simultaneously outputs table values to both frame memories 272, 273 based upon the output signals simultaneously outputted from the processor 29.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spatial filtering image processing apparatus for converting image data using spatial filtering and lookup tables.

0002

2. Description of the Related Art Conventionally, spatial filtering and data conversion using a look-up table performed in an image processing apparatus have been performed with a configuration and operation as shown in FIG. That is, first, an original image photographed by a camera or the like is stored in the frame memory 41. This stored original image is read out pixel by pixel and input to the spatial filter processor 46. The spatial filter processor 46 calculates, for example, a local differential DX in the X direction and outputs it to the frame memory 42. The frame memory 42 stores this (loop 1). Similarly, the original image stored in the frame memory 41 is read out pixel by pixel and input to the spatial filter processor 46. In the spatial filter processor 46,
This time, the local differential DY in the Y direction is calculated and output to the frame memory 43. The frame memory 43 stores this (loop 2).

Next, the local differentials DX and DY stored in the frame memory 42 and the frame memory 43 are read out for each pixel, and a two-input lookup table is created according to each read value i, j. A table value, for example √(i2 + j2), is read from the (LUT) 47. This read value is stored in the frame memory 44 (loop 3). Similarly, frame memory 4
2 and the local differential DX and DY stored in the frame memory 43 are read out for each pixel, and a table value, for example tan- 1(j/i) is read. This read value is stored in the frame memory 45 (loop 4).

A two-input lookup table is a two-input lookup table in which the calculation result of a certain function f(x, y) is a two-dimensional input address x, y.
It consists of a memory stored in advance at the intersection of 2 inputs x,
When y is input from the address bus, the above calculation result is output from the data bus. The two-input lookup table has two tables that are switched according to the contents of input table designation bits, and each table stores calculation results of different functions.

[0005]

[Problems to be Solved by the Invention] By the way, in order to perform data conversion using spatial filtering and look-up tables and obtain image processing results stored in the frame memory 44 and frame memory 45 from the original image, the following steps are required:
The results had to be written to the frame memory for each processing loop, and data input/output was required four times (four loops). Further, even if the data stored in the frame memory 42 and the frame memory 43 is ultimately unnecessary, in such conventional devices, the data must be stored in the middle of a series of processing, and therefore, such data cannot be stored. It was necessary to include a frame memory 42 and a frame memory 43.

However, conventional apparatuses that meet the above requirements have the problems of long processing times and high manufacturing costs. The present invention has been made in view of these points, and it is an object of the present invention to provide a spatial filtering image processing device with short processing time and low manufacturing cost.

[0007]

[Means for Solving the Problems] In order to solve the above problems, the present invention provides a spatial filtering image processing device that performs spatial filtering processing on input image information and further performs image data conversion using a lookup table. input, perform spatial filtering processing, and directly input the spatial filter that outputs multiple output signals per pixel together, and the output signals output together from the spatial filter, and based on the input signals, create a table. A spatial filtering image processing device is provided, characterized in that it has a lookup table that outputs a value.

[0008]

[Operation] The spatial filter inputs image information, performs spatial filtering processing, and outputs a plurality of output signals per pixel together directly to a lookup table. There is no intervening frame memory in the output from the spatial filter to the lookup table. The lookup table outputs a table value based on the output signals output together from the spatial filter. Therefore, multiple frame memories for multiple output signals are not required, and processing time for writing and reading multiple output signals into and from the frame memories can be saved.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a schematic configuration diagram of an image processing device connected to a robot device. The host processor 21 processes image information input from the camera 23 via the camera interface 22 according to a processing program stored in the ROM 24, and sends the image information to the robot device 26 via the communication control unit 25.
tell to. Image information from the camera 23 is temporarily stored in the frame memory 27, and the host processor 21 reads out and processes the stored information, and stores the processing results in the RAM 2.
8 and the frame memory 27. frame memory 2
Reference numeral 7 has a configuration capable of storing a plurality of frames, and includes three frame storage units for the spatial filtering image processing apparatus according to the present invention.

The spatial filtering image processing apparatus according to the present invention comprises the frame memory 27, a spatial filter processor 29, and a look-up table (LUT) 30. The frame memory 27, spatial filter processor 29, and lookup table 30 are operated under the control of the host processor 21. 31 represents a bus.

FIG. 1 is a block diagram showing a portion of the spatial filtering image processing device shown in FIG. 2. As shown in FIG. The frame memories 271, 272, and 273 are part of the frame memory 27. The frame memory 271 stores the original image input from the camera 23, and the frame memories 272 and 273 store two different image processing results. This is the part to remember. The lookup table 30 consists of a memory in which the calculation result of a certain function f(x, y) is stored in advance at the intersection of two-dimensional input addresses x, y.
When input from the address bus, the above calculation result is output from the data bus. Further, the lookup table 30 has two tables, a first table and a second table, which are switched according to the contents of the table designation bits, and each table stores calculation results of different functions.

Image information for each pixel is input to the spatial filter processor 29 from the frame memory 271 via the 8-bit data bus 1. Spatial filter processor 2
In 9, the local differential DX in the X direction is calculated for one pixel using the differential operator for the The local differential DY in the Y direction is computed using the differential operator for DY, and is stored in the 8-bit high-order byte of the output register. Initially, 0 is input to the table specification section of the remaining 1 bit of the register, and the spatial filter processor 29 inputs all the information stored in the register into 17
The bits are sent to the lookup table 30 via the address bus 2. The lookup table 30 reads the first table based on this information, and the read table value is stored in the frame memory 272 via the 8-bit data bus 3. When the reading of the first table is completed, 1 is inputted into the remaining 1-bit table designation section of the register, and the spatial filter processor 29
sends all the information stored in the register to lookup table 30 along with the 16 bits of information previously stored in the register. The lookup table 30 reads the second table based on this information, and the read table value is stored in the frame memory 273 via the 8-bit data bus 4. After reading out the second table, the spatial filter processor 29 reads the image information of the next pixel from the frame memory 271 and repeats the above series of image processing.

FIG. 3 is a diagram showing first and second tables stored in lookup table 30. Figure 3 (A
) is the first value used when the table specification bit is 0.
FIG. 3B shows a second table used when the table designation bit is 1. In each table, the differential value DX located in the lower byte of the input signal
, for example, enter i (0 to FF in hexadecimal) in column 30.
1,304, and the differential value DY located in the high-order byte of the input signal, for example j (0 to FF when expressed in hexadecimal)
are shown in columns 302 and 305. Column 303 contains the function √(D
The calculated value of
The calculated value of n-1 (DY/DX) is described. That is, for example, in FIG. 3(A), the input local differential value D
When X is i and local differential value DY is j, the calculated value of the function √(i2 + j2) written at the intersection of column i and row j is read out as an output.

As described above, the spatial filter processor 2
The output of the X-direction differential DX and Y-direction differential DY from 9 is
Since the data is sent directly to the lookup table 30 without being stored in the frame memory, the frame memories 42 and 43 of the conventional device shown in FIG. It only needs to be done once compared to the conventional four times, thus saving the component cost of two frame memories and also saving the processing time required for three processing loops.

In the above explanation, the spatial filter processor 29 calculates the differential values DX and DY, but the present invention can be applied even when the spatial filter processor 29 performs other spatial filtering processing such as smoothing. Also 1
The output of the spatial filter processor 29 for the pixel is 2
It may be more than that. However, if the number of outputs of the spatial filter processor 29 for one pixel is n, for example, the lookup table 30 needs to have n-dimensional input addresses. Furthermore, in the above description, the lookup table 30 has the first and second tables, but the number of tables is not limited to this, and the number of tables can be arbitrarily selected, and the contents of the functions can also be arbitrarily selected. You can choose.

[0016]

Effects of the Invention As explained above, in the present invention, the spatial filter performs spatial filtering processing on image information, and
Outputs multiple output signals per pixel together directly to a lookup table without intervening frame memory etc.
Since the look-up table outputs a table value based on the output signals output together, processing time and manufacturing costs can be reduced.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a spatial filtering image processing device of the present invention.

FIG. 2 is a schematic configuration diagram of an image processing device connected to a robot device.

FIG. 3 is a diagram showing first and second tables stored in a lookup table.

FIG. 4 is a block diagram of a conventional image processing device.

[Explanation of symbols]

1 Data bus 2 Address bus 3 Data bus 4 Data bus 29 Spatial filter processor 30 Lookup table 271 Frame memory 272 Frame memory 273 Frame memory

Claims (4)

[Claims] Claim 1. A spatial filtering image processing device that performs spatial filtering processing on input image information and further performs image data conversion using a lookup table. It is characterized by having a spatial filter that outputs output signals together, and a lookup table that directly inputs the output signals that are output together from the spatial filter and outputs a table value based on the input signals. spatial filtering image processing device. 2. The spatial filtering image processing device according to claim 1, wherein the spatial filter calculates and outputs a local differential in the X direction and a local differential in the Y direction for each pixel from input image information. . 3. The calculated local differential value in the X direction and the local differential value in the Y direction are output together as upper bits and lower bits of one output signal. Spatial filtering image processing device. 4. The lookup table is comprised of a plurality of different tables, and each table value is output for each table with respect to the output signals output together from the spatial filter. 1. The spatial filtering image processing device according to 1.