JP2007104516A5

JP2007104516A5 -

Info

Publication number: JP2007104516A5
Application number: JP2005294330A
Authority: JP
Filing date: 2005-10-07
Publication date: 2008-11-20
Anticipated expiration: 2025-10-07

Claims

In an image processing apparatus that detects the movement of an imaging unit that captured the moving image based on a plurality of frames in the moving image,
Obtaining means for obtaining the moving image;
Motion vector detection means for detecting a motion vector at any interval in the moving image acquired by the acquisition means;
Separating means for separating the motion vector detected by the motion vector detection means into a first motion vector due to movement of the imaging means and a second motion vector due to rotation of the imaging means;
The image processing apparatus, wherein the separation unit statistically calculates the first motion vector and the second motion vector.

A movement information detecting means for detecting movement of the imaging means to obtain movement information of the imaging means;
The separating means includes
A far region estimation means for estimating a region in which a sufficiently far subject in the frame in the moving image is imaged;
Removing means for removing, from the motion vector detected by the motion vector detecting means, a third motion vector due to rotation around the optical axis of the imaging means;
A movement relationship for estimating a relationship between the movement information detected by the movement information detection unit and the actual movement of the imaging unit based on the motion vector from which the third motion vector has been removed by the removal unit. An estimation means;
Rotation estimation means for estimating rotation of the imaging means around the optical axis;
The image processing apparatus according to claim 1, further comprising: a movement estimation unit that estimates a movement of the imaging unit.

The frame further comprises rotational motion correction means for correcting the rotational movement of the imaging means using affine transformation and converting it to a past frame,
The movement information detection unit detects the motion vector between the past frame converted by the rotational motion correction unit and the frame, and obtains the movement information by inverting the detected motion vector. 2. The image processing apparatus according to 2.

The removing means calculates a point-symmetrical position with the center point of the frame as a rotation center point for each pixel of the frame, and adds the motion vectors at the point-symmetrical positions to add a motion around the optical axis. The image processing apparatus according to claim 2, wherein a rotation component is removed.

The far region estimation means calculates at least one of a norm, an angle, or a rate of change with a nearby sample point of the motion vector, and statistically processes the calculated value to subject a sufficiently far subject The image processing device according to claim 2, wherein the imaged area is estimated.

The image processing apparatus according to claim 5, wherein the far region estimation unit estimates a region in which a sufficiently far subject is imaged by obtaining a position where a norm value of the motion vector is minimum.

The far region estimation means has a difference between a minimum value of the norm of the motion vector and a norm of the motion vector at each position equal to or less than a change rate at a point where the minimum value of the norm of the motion vector is taken. The image processing apparatus according to claim 6, wherein the area is estimated as an area where a sufficiently distant subject is imaged.

6. The distant area estimation means estimates an area where a sufficiently distant subject is imaged by using a value obtained by normalizing the norm value of the motion vector in all pixels in the frame as a weight. An image processing apparatus according to 1.

The movement relationship estimation unit estimates a speed ratio and a pan / tilt component of a rotational movement of the imaging unit in a region where a sufficiently far subject in the frame estimated by the far region estimation unit is imaged. Item 3. The image processing apparatus according to Item 2.

The rotation estimation means removes the movement of the imaging means estimated by the movement relationship estimation means and the pan / tilt component of the rotational movement of the imaging means from the motion vector detected by the motion vector detection means. The image processing apparatus according to claim 9, wherein rotation of the imaging unit around the optical axis is estimated.

In an image processing method of an image processing apparatus for detecting a motion of an imaging unit that has captured the moving image based on a plurality of frames in the moving image,
Acquiring in the moving image,
Detecting a motion vector at an arbitrary interval in the moving image;
An image processing method including a step of separating the motion vector into a first motion vector due to movement of the imaging unit and a second motion vector due to rotation of the imaging unit by statistical calculation.

A program for causing a computer to execute processing for detecting camera movement from a plurality of frames in a moving image captured by an imaging unit,
Acquiring in the moving image,
Detecting a motion vector at an arbitrary interval in the moving image;
A program that causes a computer to execute processing including a step of separating the motion vector into a first motion vector due to movement of the imaging unit and a second motion vector due to rotation of the imaging unit by statistical calculation.

A recording medium in which the program according is recorded to claim 1 2.