JP2013254380A - Image processing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a calculation amount and shorten processing time using a relatively small scale circuit when correctly recognizing a subject by 3D range-finding and 2D template matching.SOLUTION: An image processing method includes: 3D range-finding processing for searching for corresponding points on a pair of subject images whose imaging positions are different; tilt correction processing for correcting tilt of the subject image based on a three-dimensional position obtained by the 3D range-finding processing; and 2D template matching processing for detecting coincidence of the subject image subjected to tilt correction and a prestored template image. In the 3D range-finding processing, information on at least two end positions is obtained from the template image used in the 2D template matching processing as a comparison object and the corresponding points are searched for in the peripheral range of the end position of the subject image.

Description

  The present invention relates to an image processing method for performing 2D template matching processing for correcting a tilt of a subject image based on a three-dimensional position obtained by 3D distance measurement processing and detecting a match with a template image.

  In the development and production process of industrial products, all information related to design, development and production is centralized and managed, and information processing systems using computers are used to improve process efficiency and shorten the period. .

  In this information processing system, management of design-related data consisting of drawing data such as CAD data and document data such as specifications, management of component data constituting the product and cooperation with purchasing / material systems, design / It is composed mainly of functions such as workflow management to grasp production schedules and improve efficiency.

  In the production process, it is possible to perform operations such as picking and assembling components placed on the table by controlling the robot by 3D distance measurement by the stereo matching method and 2D template matching.

  Here, 3D ranging by the stereo matching method is an image taken by the left camera using a pair of images taken by two cameras (stereo cameras) arranged on the left and right. This is a method of determining which part of the image taken by the right camera corresponds to the area correlation calculation and estimating the three-dimensional position of each point by triangulation using the correspondence.

  The 2D template matching is a technique for comparing a template image of a target object held in advance with a captured image and searching for a specific subject (target object) from the captured image.

  If a plurality of objects on the table can be photographed from directly above without tilting, 3D distance measurement is unnecessary and only 2D template matching is required. However, in reality, there is an inclination in the direction in which the component is placed and the shooting direction of the camera, so 3D distance measurement by the stereo matching method described above is necessary as preprocessing for 2D template matching.

  In addition, when performing 3D distance measurement, it is necessary to calculate the degree of correlation between a pair of images for all the pixels of a captured image or subject image, and it is known that the calculation amount is enormous and processing time is also required. ing.

  In view of this, a technique for reducing the amount of calculation in 3D ranging and shortening the processing time has been proposed in the following patent documents.

JP 2008-58279 A

  In Patent Document 1 described above, when a plurality of objects with different distances are present in the captured image, the objects having different distances are identified and extracted by extracting the edges of the objects. It has been proposed to reduce the amount of calculation by limiting the range.

  However, although the method of Patent Document 1 identifies the overlapping objects and limits the calculation range, there is no change in calculating the correlation between a pair of images for all pixels of the original subject image. Compared with the prior art, the calculation amount and processing time of 3D ranging are not greatly reduced.

  In addition, a POC process that can perform highly accurate 3D distance measurement processing by decomposing a captured image into amplitude information and phase information and searching for corresponding points using the phase information has been proposed. However, this POC process requires a Fourier transform, requires a high-performance computing device, and has a problem that it takes a long processing time. As a result, since the processing takes time as a whole, high-speed processing has been desired as a whole.

  In view of such a problem, the present invention reduces the amount of calculation and shortens the processing time with a relatively small circuit when accurately recognizing a subject by 3D distance measurement and 2D template matching. An object of the present invention is to provide an image processing method capable of

  The above object is achieved by the invention described below.

  (1) This invention searches for corresponding points on a pair of subject images with different shooting positions and measures a three-dimensional position, and a three-dimensional distance obtained by the 3D distance measurement process. An image processing method for performing a tilt correction process for correcting a tilt of the subject image according to a position, and a 2D template matching process for detecting a match between the subject image whose tilt has been corrected and a template image held in advance. In the 3D ranging process, information on at least two end positions is obtained from the template image used as a comparison target in the 2D template matching process, and corresponding points are searched in the peripheral range of the end position of the subject image. It is characterized by performing.

  (2) The present invention is characterized in that, in the above (1), the end position is a position where an influence of a three-dimensional position change is large due to an influence of a tilt generated by photographing the subject image.

  (3) The present invention is characterized in that, in the above (1)-(2), the end position is generated by information held in advance together with the template image.

  (4) The present invention is characterized in that, in the above (1) to (2), the end position is generated by extracting an edge of the template image.

  (5) The present invention is characterized in that, in the above (4), the edge extraction is performed by any one of a search-based method, a zero-crossing method-based method, or a Canny method.

  (6) In the above (4), the present invention is characterized in that, in the 3D distance measurement process, three or more end positions are designated based on the edge.

  (7) According to the present invention, in the 3D distance measurement process of (4), the center position of the template image is obtained, and the end position is designated based on the distance from the center position and the edge. It is characterized by that.

  (8) The present invention is characterized in that, in the 3D distance measurement process of (4), a position where the mutual distance is the largest is designated as the end position.

  (9) The present invention is characterized in that, in the 3D distance measuring process of (4), the end position is specified based on a pixel at a head position and a pixel at a terminal position when an image is processed by scanning. And

  (10) According to the present invention, in the above (1) to (9), in the 3D distance measuring process, the pair of captured images are decomposed into amplitude information and phase information, and the corresponding points are determined using the phase information. It is characterized by searching.

  The present invention measures the three-dimensional position of a subject image by 3D distance measurement processing, corrects the tilt of the subject image based on the three-dimensional position, the subject image in which the tilt is corrected, and a template image held in advance. Is detected by 2D template matching processing, information on at least two end positions is obtained with reference to the template image to be compared with the subject image, and 3D measurement is performed in the peripheral range of the end position of the subject image. Since the corresponding point is searched by the distance processing and the three-dimensional position is measured, the range of the corresponding point search is narrowed to a specific range, so that the calculation amount for the corresponding point search is greatly reduced and the accuracy is lowered. Therefore, the processing time can be reduced with a relatively small circuit.

  Note that the above-described end position is a position where the influence of the three-dimensional position change is large due to the influence of the tilt caused by photographing the subject image, so that the accuracy of the tilt correction is increased.

  In addition, information related to the end position of the template image is stored in advance together with the template image, and the end position information is generated based on the information related to the end position held in advance. It is possible to efficiently narrow the search range and shorten the processing time.

  In addition, by extracting the edge of the template image and generating the end position, it is possible to efficiently narrow the range of the corresponding point search and reduce the processing time. Note that the edge extraction at this time can be performed by any one of a search-based method, a method based on the zero-crossing method, or the Canny method.

  Further, by designating a plurality of end positions of three or more as end positions based on the edges of the template image, the range of corresponding point search can be effectively narrowed without reducing accuracy. It becomes possible to shorten the processing time. For example, when the shape of the subject is complex or when it is unknown in which direction the tilt occurs, the degree of correlation between a pair of images is calculated for the peripheral area near the end of three or more locations. By searching for points, the accuracy of calculating the degree of tilt increases.

  In addition, by obtaining the barycentric position of the template image and specifying the end position based on the distance from the barycentric position and the edge, the corresponding point search range can be efficiently narrowed without reducing accuracy, and the processing time Can be shortened.

  In addition, by designating the edge position as the position where the distance between the edges of the template image is the largest, it is possible to efficiently narrow down the corresponding point search range and reduce the processing time without reducing accuracy. become.

  In addition, at the edge of the template image, the start position and the end position when processing the image by scanning are designated as end positions, so that the corresponding point search range can be effectively narrowed down without reducing accuracy. Can be shortened.

  In addition, when a pair of captured images is decomposed into amplitude information and phase information by Fourier transform or the like, and a corresponding point is searched using the phase information, the range of the corresponding point search is efficiently narrowed. It becomes possible to shorten the processing time.

It is a block diagram which shows the structure of the apparatus which performs the process which concerns on 1st Embodiment. It is a block diagram which shows the principal part structure of the apparatus which performs the process which concerns on 1st Embodiment. It is a flowchart which shows the control flow of a comparative example. It is explanatory drawing which shows typically the mode of the process of a comparative example. It is a flowchart which shows the control flow of 1st Embodiment. It is explanatory drawing which shows typically the mode of the process of 1st Embodiment. It is explanatory drawing which shows typically the mode of the process of 1st Embodiment. It is explanatory drawing which shows typically the mode of the process of 1st Embodiment.

  Hereinafter, the present invention will be described based on specific examples, but the present invention is not limited to the specific examples shown in the embodiments.

[A] Configuration:
FIG. 1 is a configuration diagram showing a configuration of an image processing system or an information processing system that realizes the image processing method according to the first embodiment. Hereinafter, the image processing system and the information processing system are collectively referred to as an image processing system.

  The image processing system includes a processing device 100 that performs the image processing method of the present embodiment, imaging units 110a and 110b that generate a pair of captured images with different imaging positions for stereo matching, and processing performed by the processing device 100. The display unit 120 displays results and various situations, and includes an operation unit 130 having a keyboard and a pointing device for inputting various settings to the processing apparatus 100.

  The processing apparatus 100 is used in an image processing system or the like in the development of industrial products or production processes. The processing apparatus 100 receives a pair of captured images from the imaging units 110a and 110b, and performs preprocessing by stereo matching and template matching. Perform post-processing.

  Here, the processing apparatus 100 holds in advance a control unit 101 that performs various controls when performing the image processing method of the present embodiment, pre-processing by stereo matching, and subject images extracted by the pre-processing. An image processing unit 103 that performs post-processing by template matching for detecting matching of template images, and a storage unit 105 that stores in advance a template image used for comparison with a subject image at the time of template matching. Configured.

  The processing result of the processing apparatus 100 is displayed on the display unit 120 and also sent to a production apparatus such as a robot (not shown). The imaging units 110a and 110b are each provided with an imaging lens, an imaging device, an A-D converter, and the like.

  The detailed configuration of the image processing unit 103 is shown in FIG. The image processing unit 103 includes a 3D distance measurement processing unit 1031, a corrected image creation processing unit 1033, and a 2D template matching processing unit 1035.

  Here, the 3D distance measurement processing unit 1031 performs the 3D distance measurement process as a pre-process before the 2D template matching process (post-process) described later.

  Note that the 3D distance measurement processing unit 1031 includes a stereo matching processing unit 1031a for executing the 3D distance measurement processing, and was captured by the two imaging units 110a and 110b (stereo cameras) arranged on the left and right. Area correlation indicating which part of the image captured by one camera corresponds to the image captured by one camera by stereo matching 3D distance measurement processing using a pair of captured images The three-dimensional position of each point is estimated by triangulation using the corresponding relationship.

  In the stereo matching method 3D distance measurement processing in the stereo matching processing unit 1031a, highly accurate 3D measurement is performed by decomposing a captured image into amplitude information and phase information and searching for corresponding points using the phase information. Perform distance processing.

  In addition, the 3D ranging processing unit 1031 includes an end position specifying unit 1031b that specifies an end position when executing the 3D ranging process within a limited range. The end position specifying unit 1031b obtains information on at least two end positions from a template image used as a comparison target in the 2D template matching process, and searches for corresponding points of the subject image in the 3D distance measurement process. Identify the surrounding area of the position.

  The corrected image creation processing unit 1033 receives the measurement result of the 3D distance measurement processing unit 1031 and the captured images from the imaging units 110a and 110b, and applies a tilt (with respect to the optical axis of the imaging target surface) to the subject included in the captured image. A subject image is created in a state in which distortion occurring during shooting such as (tilt) is corrected.

  As a post-processing, the 2D template matching processing unit 1035 compares the template image of the target object from the storage unit 105 with the distortion-corrected captured image created by the corrected image creation processing unit 1033, and identifies the target image in the captured image. Find the subject (object).

[B] Operation:
The operation of the first embodiment will be described below with reference to the flowcharts of FIGS. 3 and 5 and the explanatory diagrams of FIGS. 4 and 6 while comparing with the conventional operation.

  Here, with reference to FIG. 3, the operation of the conventional example corresponding to the first embodiment will be described. Here, it is assumed that the operation of the conventional example is executed by the image processing system corresponding to FIG.

  First, photographing is performed with an imaging unit (stereo camera), and a pair of captured images (FIGS. 4A and 4B) is obtained (step S11 in FIG. 3).

  Then, by 3D distance measurement processing using the stereo matching method, the portion of the image captured by one camera corresponds to which part of the image captured by the other camera is calculated by area correlation, and the correspondence is used. Three-dimensional position information of each point is generated by triangulation (step S12 in FIG. 3).

  In this case, the degree of correlation between a pair of images is calculated for a certain pixel (FIG. 4c00) in one image (FIG. 4C) and for all pixels of the subject in the other image (FIG. 4D). Search for corresponding points. Such processing is sequentially repeated for the entire range of one subject.

  Thereafter, based on the three-dimensional position information obtained by the 3D distance measurement process of the stereo matching method described above, the amount of tilt (degree of tilt) of the subject included in the captured image is calculated (step S13 in FIG. 3).

  Then, based on the calculated amount of tilt, tilt correction correction processing is performed on the subject in the captured image (step S14 in FIG. 3).

  Then, a 2D template matching process is performed for detecting a match with a template image held in advance for the subject subjected to the tilt correction process (step S15 in FIG. 3).

  Next, the operation of the first embodiment will be described with reference to FIG.

  First, imaging is performed by the imaging units (stereo cameras) 110a and 110b, and a pair of captured images (FIGS. 6A and 6B) is obtained (step S101 in FIG. 5).

  Note that FIG. 6A is a captured image obtained by the left camera in the imaging units 110a and 110b, for example, and Gtg_L is a subject image in the captured image and has distortion due to tilt. . FIG. 6B is a photographed image obtained by the right camera in the imaging units 110a and 110b, for example, and Gtg_R is a subject image in the photographed image and has a distortion due to tilt. .

  Here, the edge position specifying unit 1031b extracts the edge (vertically long rectangle c0 in FIG. 6C) of the template image (Gtmp in FIG. 6C) used as a comparison target in the 2D template matching process (FIG. 6). 5 in step S102). Note that the edge extraction at this time can be performed by any one of a search-based method, a method based on the zero-crossing method, or the Canny method.

  Then, the end position specifying unit 1031b specifies at least two end positions (such as c1 and c2 in FIG. 6C) with reference to the edge region of the template image (c0 in FIG. 6C). Position information is generated (step S103 in FIG. 5). This end position is for limiting the processing range when measuring a three-dimensional position by searching for a corresponding point in a 3D ranging process described later. For this reason, the above end position is a position where the influence of the three-dimensional position change is likely to occur greatly due to the influence of the tilt generated by photographing the subject image.

  Further, the end position may be generated by information previously stored in the storage unit 105 together with the template image.

  Note that the end position is not extracted from the edge by the end position specifying unit 1031b, and a template image (FIG. 6C) is displayed on the display unit 120 by the operator from the operation unit 130. May be used to specify the end position (c1 and c2 etc. in FIG. 6C).

  Then, the end position specifying unit 1031b sets not only at least two end positions but also three or more end positions as positions where the influence of the three-dimensional position change is likely to occur due to the influence of the tilt. May be specified. Further, the number of end positions may be increased depending on the shape of the template image.

  Further, the end position specifying unit 1031b obtains the centroid position of the template image, and increases the distance from the centroid position so that the distance from the centroid position becomes larger, such as one end side and the other end side, centered on the center position. The position information of the end position is generated within the range on the edge as a position where the influence of the three-dimensional position change is likely to occur greatly due to the influence of the above.

  Note that the end position specifying unit 1031b specifies the end position where the distance between the plurality of end positions is the largest when the end position is specified and the position information is generated as described above. It is desirable. Thus, the position is likely to be greatly affected by a three-dimensional position change due to the influence of the tilt.

  Then, based on the template image as described above, in the state where the end position where the influence of the three-dimensional position change is large due to the influence of the tilt generated by photographing the subject image is specified, the stereo matching processing unit 1031a For the images Gtg_L and Gtg_R, the corresponding points are limited to the peripheral range of the end position, and the corresponding points are searched by the 3D distance measurement process to measure the three-dimensional position (step S104 in FIG. 5).

  Here, a case where there are two end portions will be described as a specific example. First, for a certain pixel (d1 in FIG. 6D) near the end c1 of the subject in one image (Gtg_L in FIG. 6D), the subject in the other image (Gtg_R in FIG. 6E). ), For the peripheral ranges d11 and d12 in the vicinity of the end c1, the degree of correlation is calculated between a pair of images to search for corresponding points. For example, the correlation calculation is performed with c1 being 25 pixels of 5 × 5 pixels and d11 and d12 being 25 pixels of 5 × 5 pixels.

  Further, for a certain pixel (d2 in FIG. 6D) near the end c2 of the subject in one image (Gtg_L in FIG. 6D), the subject in the other image (Gtg_R in FIG. 6E). ), For the peripheral ranges d21 and d22 in the vicinity of the end c2, the degree of correlation is calculated between a pair of images to search for corresponding points. For example, the correlation calculation is performed with c2 being 25 pixels of 5 × 5 pixels and d21 and d22 being 25 pixels of 5 × 5 pixels.

  Then, the 3D distance measurement processing unit 1031 calculates the tilting degree of the subject based on the three-dimensional position information of the subject image calculated as described above (step S105 in FIG. 5).

  In addition, when the shape of the subject is complex or when it is unknown in which direction the tilt occurs, it is possible to calculate the degree of correlation between a pair of images for the peripheral area near the end of three or more locations. By searching for points, the accuracy of calculating the degree of tilt increases.

  In FIG. 7, the template image Gtmp (one-dot chain line in FIG. 7) and the subject image Gtg (one of the subject image Gtg_L and the subject image Gtg_R (two-dot chain line in FIG. 7)) are shown in an overlapped state. Yes. Note that the template image Gtmp may be considered as a subject image in which no tilt is generated. Here, the subject image Gtg (two-dot chain line in FIG. 7) is inclined by θ around the center axis (dashed line in FIG. 7) with respect to the template image Gtmp (one-dot chain line in FIG. 7). Has occurred.

  Here, as shown in FIG. 8, the 3D ranging processing unit 1031 calculates, based on the calculated three-dimensional position information, the length L of the side causing the tilt and the difference Z in the depth direction caused by the tilt. The tilt angle θ is calculated as θ = arcsin (Z / L).

  In addition, by specifying the end position where the distance between the plurality of end positions is the largest, or by specifying the end position so that the mutual distance from the center of gravity position is increased around the center of gravity position, Since L and Z in this equation are increased, the accuracy in obtaining the tilt angle θ is increased.

  The 3D distance measurement processing unit 1031 that has calculated the tilt angle θ as the tilt degree as described above transmits a measurement result including the three-dimensional position information and the tilt degree information to the corrected image creation processing unit 1033.

  The corrected image creation processing unit 1033 receives the measurement result of the 3D distance measurement processing unit 1031 and the captured images from the imaging units 110a and 110b, and the tilt angle θ generated at the time of capturing is determined for the subject included in the captured image. A subject image in a corrected state is created (step S106 in FIG. 5).

  Then, the 2D template matching processing unit 1035 performs 2D template matching processing for detecting a match with the template image held in advance in the storage unit 105 for the subject image subjected to the tilt correction processing (step S107 in FIG. 5). .

  In the above embodiment, when the 2D template matching process is executed after the 3D ranging process, information on at least two end positions is obtained with reference to the template image to be compared with the subject image, and the subject image Since the corresponding point is searched for in the peripheral range of the end position by the 3D ranging process and the three-dimensional position is measured, the calculation amount for the corresponding point search is reduced by narrowing the corresponding point search range to a specific range. Therefore, the processing time can be reduced with a relatively small circuit without degrading accuracy.

  That is, conventionally, as shown in FIGS. 4C and 4D, it takes a long processing time even if a high-performance processing device is used to search for corresponding points in all pixels. In the embodiment, as shown in FIGS. 6D and 6E, it is only necessary to search for the corresponding points only in the peripheral range of the end position, so that the processing is greatly reduced.

  Hereinafter, the calculation amount will be described with a specific example. For example, when the image size is 1600 pixels × 1200 pixels, according to the conventional method, the number of processing points is 400 × 150 = 60,000 points. On the other hand, when the number of processing points is limited to 32 × 16 pixels around the four ends according to the present embodiment, 4 × 32 × 16 = 2,048 points. That is, compared with the conventional 60,000 points, the present invention can reduce the number to 2,048 points, so the calculation amount is about 1/30. Therefore, it is possible to shorten the processing time with a relatively small circuit without reducing accuracy.

  Note that the above-described end position is a position where the influence of the three-dimensional position change is large due to the influence of the tilt caused by photographing the subject image, so that the accuracy of the tilt correction is increased.

  In addition, information related to the end position of the template image is stored in advance together with the template image, and the end position information is generated based on the information related to the end position held in advance. It is possible to efficiently narrow the search range and shorten the processing time.

  In addition, by extracting the edge of the template image and generating the end position, it is possible to efficiently narrow the range of the corresponding point search and reduce the processing time.

  In addition, by specifying a plurality of end positions of 3 or more based on edges as end positions, it is possible to efficiently narrow the corresponding point search range and reduce the processing time without reducing accuracy. become. In other words, when the shape of the subject is complex or when it is unknown in which direction the tilt occurs, the degree of correlation between a pair of images is calculated for the peripheral area near the end of three or more locations. By searching for points, the accuracy of calculating the degree of tilt increases.

  For example, by performing corresponding point search in the peripheral range of the four end positions, it is possible to cope with any occurrence of a tilt, and if compared with the conventional corresponding point search for all pixels The scope of processing is greatly narrowed.

  In addition, by obtaining the barycentric position of the template image and specifying the end position based on the distance from the barycentric position and the edge, the corresponding point search range can be efficiently narrowed without reducing accuracy, and the processing time Can be shortened.

  In addition, by designating the end position as the position where the mutual distance is the largest in the template image, it is possible to efficiently narrow the range of the corresponding point search and reduce the processing time without reducing accuracy. Become.

  Also, obtain the start position pixel and the end position pixel on the edge of the template image when processing the image along a certain direction by raster scan, and specify this as the end position In this case as well, the processing time can be shortened by efficiently narrowing the corresponding point search range without reducing accuracy. Similarly, even in a scan in which processing for each row is moved in the column direction, the pixel that first intersects the edge of the template image and the pixel that intersects last in this scan may be designated as the end position. Is possible.

  In addition, when a POC process that requires Fourier transform or the like is employed, a pair of captured images is decomposed into amplitude information and phase information, and corresponding points are searched using phase information, the range of corresponding point search Therefore, it is possible to increase the accuracy while shortening the processing time.

  Moreover, since the processing time of the 3D ranging process and the 2D template matching process can be shortened according to this embodiment, there is a margin in the operation time in a production apparatus (not shown) such as a robot, The picking of parts placed on the table can be executed more reliably than before. That is, the productivity can be increased by a reliable operation as a production apparatus.

DESCRIPTION OF SYMBOLS 100 Processing apparatus 101 Control part 103 Image processing part 105 Memory | storage part 110a, 110b Imaging unit 120 Display part 130 Operation part 1031 3D ranging process part 1033 Correction image creation processing part 1035 2D template matching process part 1031a Stereo matching process part 1031b End part Positioning part

Claims (10)

3D distance measurement processing for searching for corresponding points on a pair of subject images having different shooting positions and measuring a three-dimensional position;
A tilt correction process for correcting a tilt of the subject image based on a three-dimensional position obtained by the 3D ranging process;
An image processing method for performing a 2D template matching process for detecting a match between the subject image corrected for tilt and a template image held in advance,
In the 3D ranging process, information on at least two end positions is obtained from the template image used as a comparison target in the 2D template matching process, and corresponding points are searched in the peripheral range of the end position of the subject image. Do,
An image processing method. The end position is a position where the influence of the three-dimensional position change is large due to the influence of the tilt generated by photographing the subject image.
The image processing method according to claim 1. The end position is generated by information held in advance together with the template image.
The image processing method according to claim 1-2. The end position is generated by extracting an edge of the template image.
The image processing method according to claim 1-2. The extraction of the edge is performed by one of a search-based method, a method based on a zero crossing method, or a Canny method.
The image processing method according to claim 4. In the 3D ranging process, three or more end positions are designated based on the edge.
The image processing method according to claim 4. In the 3D ranging process,
Find the center of gravity position of the template image,
Based on the distance from the center of gravity position and the edge, the end position is designated.
The image processing method according to claim 4. In the 3D ranging process, a position where the distance between each other is the largest is designated as the end position.
The image processing method according to claim 4. In the 3D distance measurement processing, the end position is designated based on a pixel at a head position and a pixel at a terminal position when an image is processed by scanning.
The image processing method according to claim 4. In the 3D ranging process, the pair of captured images are decomposed into amplitude information and phase information, and the corresponding points are searched using the phase information.
The image processing method according to claim 1, wherein:

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