JP2015182712A - Image processing device, method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a user with a real thing imaged in an input image in which the surrounding of an underwater sailing body is imaged, and association information related to the real thing, efficiently.SOLUTION: An image acquisition part 111 acquires an input image which is generated by imaging the surrounding of an underwater sailing body 2000. A positional information acquisition part 112 acquires sailing body positional information which indicates a current position of the underwater sailing body 2000. An association information image generation part 113 generates an association information image which is an image indicating the association information related to the real thing imaged in the input image, based on the input image acquired by the image acquisition part 111, and the sailing body positional information acquired by the positional information acquisition part 112. An output image generation part 114 generates an output image by superimposing the association information image which is generated by the association information image generation part 113, to the input image acquired by the image acquisition part 111.

Description

  The present invention relates to an image processing apparatus and the like, and for example, relates to an apparatus that performs image processing on an input image generated by imaging the periphery of an underwater vehicle (such as an underwater robot).

  2. Description of the Related Art In recent years, in order to guide a car or the like to a target or a target location, a technique in which a plurality of information is merged by an operator with a captured image obtained by capturing the periphery of a moving body with a camera is widely known.

  In relation to this technology, technologies that provide an image obtained by superimposing a plurality of information on a captured image captured by a camera using augmented reality technology are disclosed in, for example, Patent Documents 1 and 2.

JP2013-228511A JP2012-244509A

  However, Patent Document 1 and Patent Document 2 are technical contents that are assumed to be used on land, and cannot be simply applied to an underwater vehicle that travels underwater (for example, an underwater robot). was there.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide related information associated with an actual object together with the actual object displayed in the input image obtained by imaging the periphery of the underwater vehicle. In addition, an object is to provide an image processing apparatus or the like that can be efficiently provided to a user.

  An image processing apparatus according to the present invention acquires an image acquisition unit that acquires an input image generated by imaging the periphery of an underwater vehicle, and navigation body position information that indicates a current position of the underwater vehicle. Based on the position information acquisition unit, the input image acquired by the image acquisition unit, and the navigation vehicle position information acquired by the position acquisition unit, related information associated with the real object shown in the input image A related information image generating unit that generates a related information image that is an image indicating the image, and an output obtained by superimposing the related information image generated by the related information image generating unit on the input image acquired by the image acquiring unit And an output image generation unit that generates an image.

  The image processing method of the present invention acquires an image acquisition step of acquiring an input image generated by imaging the periphery of an underwater vehicle and navigation vehicle position information indicating a current position of the underwater vehicle. Based on the position acquisition step, the input image acquired by the image acquisition step, and the navigation body position information acquired by the position acquisition step, related information associated with the real object shown in the input image is obtained. A related information image generating step for generating a related information image, which is an image to be displayed, and an output image by superimposing the related information image generated by the related information image generating step on the input image acquired by the image acquiring step Generating an output image.

  The image processing program of the present invention acquires an image acquisition step of acquiring an input image generated by imaging the periphery of an underwater vehicle and navigation vehicle position information indicating a current position of the underwater vehicle. Based on the position acquisition step, the input image acquired by the image acquisition step, and the navigation body position information acquired by the position acquisition step, related information associated with the real object shown in the input image is obtained. A related information image generating step for generating a related information image, which is an image to be displayed, and an output image by superimposing the related information image generated by the related information image generating step on the input image acquired by the image acquiring step The computer is caused to perform a process including an output image generation step for generating.

  According to the image processing apparatus and the like according to the present invention, it is possible to efficiently provide a user with related information associated with a real object together with the real object reflected in the input image obtained by imaging the periphery of the underwater vehicle. Can do.

It is a block diagram which shows the structure containing the image processing apparatus in embodiment of this invention. It is a flowchart which shows the flow of operation | movement of the image processing apparatus in embodiment of this invention. It is a figure which shows an example of the display content of a display part.

<Embodiment>
A configuration including the image processing apparatus 100 according to the embodiment of the present invention will be described.

  FIG. 1 is a block diagram showing a configuration including the image processing apparatus 100. As shown in FIG. 1, the ship 1000 floats on the water 900. An image processing apparatus 100 is mounted on the ship 1000. The underwater vehicle 2000 travels underwater. The underwater vehicle 2000 is a general instrument that travels underwater, such as an underwater robot. The ship 1000 tows the underwater vehicle 2000. The ship 1000 and the underwater vehicle 2000 are connected by a communication line 300. That is, the ship 1000 and the underwater vehicle 2000 communicate various information with each other via the communication line 300. The communication line 300 is an optical cable, for example. Here, it has been described that the ship 1000 and the underwater vehicle 2000 communicate with each other using the wired communication line 300. On the other hand, the ship 1000 and the underwater vehicle 2000 may communicate information with each other by wireless communication.

  For convenience of explanation, first, the configuration of the underwater vehicle 2000 will be described, and then the configuration of the image processing apparatus 100 will be described.

  As shown in FIG. 1, the underwater vehicle 2000 includes a position detection sensor 210 and an imaging camera 220.

  The position detection sensor 210 detects the current position of the underwater vehicle 2000 and acquires this as navigation vehicle position information. For the position detection sensor 210, for example, one or more of a sonar, an inertial navigation device, a Doppler log, an acoustic positioning device, and the like are used. The underwater vehicle 2000 transmits the vehicle position information to the processing unit 110 of the image processing apparatus 100 on the ship 1000 via the communication line 300.

  The imaging camera 220 generates an input image by imaging the periphery of the underwater vehicle 2000. The underwater vehicle 2000 transmits the input image to the processing unit 110 of the image processing apparatus 100 on the ship 1000 via the communication line 300.

  The configuration of the underwater vehicle 2000 has been described above.

  Next, the configuration of the image processing apparatus 100 will be described. As illustrated in FIG. 1, the image processing apparatus 100 includes a processing unit 110, a display unit 120, an input unit 120, and a steering unit 140. The display unit 120, the input unit 120, and the steering unit 140 are not essential components of the present invention.

  As illustrated in FIG. 1, the processing unit 110 includes an image acquisition unit 111, a position information acquisition unit 112, a related information generation unit 113, and an output image generation unit 114. The processing unit 110 is connected to the display unit 120, the input unit 120, and the steering unit 140 by, for example, Ethernet (registered trademark) such as a LAN (Local Area Network).

  The image acquisition unit 111 acquires an input image (an underwater video image, an underwater still image, etc.) generated by imaging the periphery of the underwater vehicle 2000. That is, the image acquisition unit 111 receives an input image transmitted from the underwater vehicle 2000 from the processing unit 110.

  The position information acquisition unit 112 acquires traveling body position information indicating the current position of the underwater traveling body 2000. That is, the position information acquisition unit 112 receives the input image transmitted from the underwater vehicle 2000 from the processing unit 110.

  The related information generation unit 113 represents related information associated with the actual object shown in the input image based on the input image acquired by the image acquisition unit 111 and the navigation vehicle position information acquired by the position acquisition unit 112. A related information image is generated.

  Here, the related information image is, for example, an image representing a real object shown in the input image as a target location to which the underwater vehicle 2000 is headed. More specifically, the related information generation unit 113 generates a destination display image such as a destination tag and a destination tag as the related information presentation image.

  The related information image is, for example, an image representing guidance for moving the underwater vehicle 2000 toward a real object shown in the input image. More specifically, the related information generation unit 113 generates a direction instruction image such as a navigation tag as the related information presentation image.

  The output image generation unit 114 generates an output image by superimposing the related information image generated by the related information generation unit 113 on the input image acquired by the image acquisition unit 111.

  The display unit 120 is connected to the processing unit 110 via the Internet or the like. The display unit 120 displays and provides the output image generated by the output image generation unit 114. As the display unit 120, for example, a liquid crystal display, an organic EL (Electro-Luminescence) display device, a head mounted display, or the like is used.

  The input unit 130 is connected to the processing unit 110 via the Internet or the like. The input unit 130 receives various operations of the operator. For example, the operator sets the destination of the underwater vehicle 2000 using the input unit 130.

  The steering unit 140 is connected to the processing unit 110 via the internet or the like. The steering unit 140 operates the rudder of the underwater vehicle 2000 to advance the underwater vehicle 2000 in a desired direction.

  The configuration of the image processing apparatus 100 has been described above.

  Next, the operation of the image processing apparatus 100 will be described.

  FIG. 2 is a flowchart showing an operation flow of the image processing apparatus 100. As shown in FIG. 2, first, a target or a target location is set by the input unit 130 (S1). That is, the operator of the water navigation vehicle 2000 uses the input unit 130 to input a target or a target location that is the destination of the underwater vehicle 2000.

  Next, the image acquisition unit 111 acquires an input image (S2). That is, first, the imaging camera 220 generates an input image by imaging the vicinity of the underwater vehicle 2000. This input image is input by the underwater vehicle 2000 to the processing unit 110 of the image processing apparatus 100 via the communication line 300. Then, the image acquisition unit 111 acquires an input image from the processing unit 110.

  Further, the position information acquisition unit 112 acquires navigation body position information indicating the current position of the underwater vehicle 2000 (S3). That is, first, the position detection sensor 210 detects the current position of the underwater vehicle 2000 and acquires this as navigation vehicle position information. The navigation body position information is input by the underwater navigation body 2000 to the processing unit 110 of the image processing apparatus 100 via the communication line 300. The position information acquisition unit 112 acquires navigation body position information from the processing unit 110.

  Note that the processing of S2 and S3 may be performed simultaneously, or either one may be performed first.

  Next, based on the input image acquired in the process of S2 and the navigation vehicle position information acquired in the process of S3, the related information generation unit 113 displays related information associated with the actual object shown in the input image. A related information image to be represented is generated (S4).

  As described above, the related information image is, for example, an image that represents a real object shown in the input image as a destination to which the underwater vehicle 2000 is headed, and more specifically, a destination tag, a destination tag, etc. It is a purpose display image. The related information image is, for example, an image representing guidance for moving the underwater vehicle 2000 toward a real object shown in the input image, and more specifically, a direction indication image such as a navigation tag. is there.

  Next, the output image generation unit 114 generates an output image by superimposing the related information image generated in S4 on the input image acquired in S2 (S5).

  Returning to FIG. 2, the display unit 120 displays the output image generated by the process of S5 (S6). That is, the processing unit 110 outputs the output image generated by the output image generation unit 114 to the display unit 120. The display unit 120 provides display of the output image output by the processing unit 120.

  FIG. 3 is a diagram illustrating an example of display contents of the display unit 120. As shown in FIG. 3, “target, target value tag” and “navigation tag” are superimposed on the input image as related information. As described above, it is possible to efficiently provide the user with the related information associated with the real object together with the real object shown in the input image obtained by imaging the periphery of the underwater vehicle 2000. As a result, the operator of the underwater vehicle 2000 can receive the guidance for reaching the target or the real object that is the target place in an easily understandable form. For this reason, the operator of the underwater vehicle 2000 can easily steer the underwater vehicle 2000 toward the target or a real object that is the target location by viewing the output image.

  Finally, the underwater vehicle 2000 is steered by the steering unit 140 toward the target or the real object that is the target location (S7). That is, the operator of the underwater vehicle 2000 steers the underwater vehicle 2000 toward the target or a real object that is the target location while viewing the output image displayed on the display unit 120 in the process of S6. be able to.

  As described above, the image processing apparatus 100 according to the embodiment of the present invention includes the image acquisition unit 111, the position information acquisition unit 112, the related information image generation unit 113, and the output image generation unit 114. The image acquisition unit 111 acquires an input image generated by imaging the periphery of the underwater vehicle 2000. The position information acquisition unit 112 acquires traveling body position information indicating the current position of the underwater traveling body 2000. Based on the input image acquired by the image acquisition unit 111 and the navigation vehicle position information acquired by the position acquisition unit 112, the related information image generation unit 113 displays related information associated with the actual object shown in the input image. A related information image that is an image to be shown is generated. The output image generation unit 114 generates an output image by superimposing the related information image generated by the related information image generation unit 113 on the input image acquired by the image acquisition unit 111.

  In this manner, the related information image generation unit 113 generates a related information image that is an image indicating related information associated with the real object shown in the input image, based on the input image and the traveling body position information. The output image generation unit 114 generates an output image by superimposing the related information image on the input image. For this reason, both the input image in which the real object is reflected and the related information image associated with the real object can be included in one output image. Therefore, it is possible to efficiently provide the user with the related information associated with the real object together with the real object shown in the input image obtained by imaging the periphery of the underwater vehicle 2000. As a result, the operator of the underwater vehicle 2000 can receive the related information image associated with the real object together with the image of the real object included in the output image in an easily understandable form. For this reason, the operator of the underwater vehicle 2000 can easily steer the underwater vehicle 2000 toward the target or a real object that is the target location by viewing the output image.

  In the image processing apparatus 100 according to the embodiment of the present invention, the related information image is an image representing a real object shown in the input image as a target location to which the underwater vehicle 2000 heads. Thereby, the destination to which the underwater vehicle 2000 is directed can be superimposed on the input image and included in the output image. As a result, the operator of the underwater vehicle 2000 can easily understand the destination to which the underwater vehicle 2000 is directed as the related information image associated with the real object together with the image of the actual object included in the output image. Can be confirmed.

  In the image processing apparatus 100 according to the embodiment of the present invention, the related information image is an image representing guidance for moving the underwater vehicle 2000 toward the real object shown in the input image. Thereby, the guidance for moving the underwater vehicle 2000 toward the real object shown in the input image can be superimposed on the input image and included in the output image. As a result, the operator of the underwater vehicle 2000 can easily guide the guide for moving toward the real object as a related information image associated with the real object together with the image of the real object included in the output image. Can be confirmed.

  The image processing apparatus 100 according to the embodiment of the present invention includes a display unit 120. The display unit 120 displays and provides the output image generated by the output image generation unit 114. Thereby, the operator of the underwater vehicle 2000 can know the contents of the output image by viewing the contents displayed on the display unit 120.

  The image processing method according to the embodiment of the present invention includes an image acquisition step, a position acquisition step, a related information image generation step, and an output image generation step. In the image acquisition step, an input image generated by imaging the periphery of the underwater vehicle 2000 is acquired. In the position acquisition step, navigation body position information indicating the current position of the underwater vehicle 2000 is acquired. In the related information image generation step, an image showing related information associated with an actual object shown in the input image based on the input image acquired in the image acquisition step and the navigation vehicle position information acquired in the position acquisition step. A related information image is generated. In the output image generation step, an output image is generated by superimposing the related information image generated in the related information image generation step on the input image acquired in the image acquisition step. This image processing method also has the same effect as the image processing apparatus 100 described above.

  An image processing program according to an embodiment of the present invention causes a computer to perform processing including an image acquisition step, a position acquisition step, a related information image generation step, and an output image generation step. In the image acquisition step, an input image generated by imaging the periphery of the underwater vehicle 2000 is acquired. In the position acquisition step, navigation body position information indicating the current position of the underwater vehicle 2000 is acquired. In the related information image generation step, an image showing related information associated with an actual object shown in the input image based on the input image acquired in the image acquisition step and the navigation vehicle position information acquired in the position acquisition step. A related information image is generated. In the output image generation step, an output image is generated by superimposing the related information image generated in the related information image generation step on the input image acquired in the image acquisition step. This image processing program also has the same effect as the image processing apparatus 100 described above.

  The present invention has been described above based on the embodiment. The embodiment is an exemplification, and various modifications, increases / decreases, and combinations may be added to the above-described embodiments without departing from the gist of the present invention. It will be understood by those skilled in the art that modifications to which these changes, increases / decreases, and combinations are also within the scope of the present invention.

DESCRIPTION OF SYMBOLS 100 Image processing apparatus 110 Processing part 111 Image acquisition part 112 Position information acquisition part 113 Related information generation part 114 Output image generation part 120 Display part 130 Input part 140 Steering part 210 Position detection sensor 220 Imaging camera 1000 Ship 2000 Underwater vehicle

Claims (6)

An image acquisition unit for acquiring an input image generated by imaging the periphery of the underwater vehicle,
A position information acquisition unit for acquiring navigation body position information indicating a current position of the underwater vehicle;
A relationship indicating related information associated with a real object shown in the input image based on the input image acquired by the image acquisition unit and the navigation vehicle position information acquired by the position acquisition unit A related information image generation unit for generating an information image;
An image processing apparatus comprising: an output image generation unit configured to generate an output image by superimposing the related information image generated by the related information image generation unit on the input image acquired by the image acquisition unit.   The image processing apparatus according to claim 1, wherein the related information image is an image that represents a real object reflected in the input image as a target location toward which the underwater vehicle is headed.   The image processing apparatus according to claim 1, wherein the related information image is an image representing guidance for moving the underwater vehicle toward a real object shown in the input image.   The image processing apparatus according to claim 1, further comprising a display unit that displays and provides the output image generated by the output image generation unit. An image acquisition step of acquiring an input image generated by imaging the periphery of the underwater vehicle,
A position acquisition step of acquiring navigation body position information indicating a current position of the underwater vehicle;
A relationship indicating related information associated with an actual object shown in the input image based on the input image acquired in the image acquisition step and the navigation vehicle position information acquired in the position acquisition step A related information image generation step for generating an information image;
An image processing method comprising: an output image generation step of generating an output image by superimposing the related information image generated in the related information image generation step on the input image acquired in the image acquisition step. An image acquisition step of acquiring an input image generated by imaging the periphery of the underwater vehicle,
A position acquisition step of acquiring navigation body position information indicating a current position of the underwater vehicle;
A relationship indicating related information associated with an actual object shown in the input image based on the input image acquired in the image acquisition step and the navigation vehicle position information acquired in the position acquisition step A related information image generation step for generating an information image;
An image that causes a computer to perform processing including an output image generation step of generating an output image by superimposing the related information image generated in the related information image generation step on the input image acquired in the image acquisition step Processing program.

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