JP2017078877A5 - - Google Patents
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- JP2017078877A5 JP2017078877A5 JP2015205301A JP2015205301A JP2017078877A5 JP 2017078877 A5 JP2017078877 A5 JP 2017078877A5 JP 2015205301 A JP2015205301 A JP 2015205301A JP 2015205301 A JP2015205301 A JP 2015205301A JP 2017078877 A5 JP2017078877 A5 JP 2017078877A5
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- JP
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- Prior art keywords
- marker
- image
- detecting
- threshold
- image processing
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- 239000003550 marker Substances 0.000 claims 29
- 238000001514 detection method Methods 0.000 claims 12
- 238000003384 imaging method Methods 0.000 claims 3
- 238000007476 Maximum Likelihood Methods 0.000 claims 2
- 238000000034 method Methods 0.000 claims 1
Claims (11)
前記画像から前記マーカーを検出するための閾値として最尤推定により求められた値を用いて前記マーカーを検出した結果に基づいて、前記マーカーと、マーカー検出方法とを対応付けたテーブルを生成し、
前記テーブルに基づいて選択した前記マーカー検出方法によって、前記マーカーを検出する、
画像処理装置。 From the image marker is captured, an image processing device for detecting said marker,
Based on the result of detecting the marker using a value obtained by maximum likelihood estimation as a threshold for detecting the marker from the image, generate a table that associates the marker with a marker detection method,
The marker is detected by the marker detection method selected based on the table .
Image processing device.
前記第１マーカーの前記マーカー検出方法と、前記第２マーカーの前記マーカー検出方法とは異なる、
請求項１に記載の画像処理装置。 The marker includes a first marker and a second marker,
The marker detection method of the first marker is different from the marker detection method of the second marker.
The image processing apparatus according to claim 1.
請求項１又は２に記載の画像処理装置。 The plurality of marker detection methods include a first detection method for detecting the marker by changing a threshold for detecting the marker from the image within a predetermined range.
The image processing apparatus according to claim 1.
請求項１から３のうちいずれか一項に記載の画像処理装置。 The plurality of marker detection methods include a second detection method for detecting the marker using a value obtained by maximum likelihood estimation as a threshold for detecting the marker from the image.
The image processing apparatus according to any one of claims 1 to 3.
請求項１から４のうちいずれか一項に記載の画像処理装置。 The plurality of marker detection methods include a third detection method for detecting the marker using a predetermined value as a threshold for detecting the marker from the image.
The image processing apparatus according to any one of claims 1 to 4.
請求項３から５のうちいずれか一項に記載の画像処理装置。 The threshold is a threshold for binarizing the image.
The image processing apparatus according to claim 3.
請求項３から６のうちいずれか一項に記載の画像処理装置。 The threshold is a threshold for determining the color of the image.
The image processing apparatus according to any one of claims 3 to 6.
請求項１から７のうちいずれか一項に記載の画像処理装置。 It said markers included in the image, and the marker imaging conditions and the image is included in the different images, on the basis, to determine the marker detection method,
The image processing apparatus as claimed in any one of claims 1 7.
請求項１から８のうちいずれか一項に記載の画像処理装置。 And the threshold for detecting the markers included in the image, and the image is displayed on a display unit, and a threshold value for detecting the marker image pickup condition is included in the different images, the marker detection from the user accepting an editing method,
The image processing apparatus as claimed in any one of claims 1 to 8.
ロボット。 The image processing apparatus according to any one of claims 1 to 9 , comprising:
robot.
請求項１０に記載のロボットと、
を備えるロボットシステム。 An imaging unit for imaging a range including the marker as the image;
A robot according to claim 1 0,
A robot system comprising:
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015205301A JP2017078877A (en) | 2015-10-19 | 2015-10-19 | Image processing device, robot, and robot system |
| US15/290,324 US10311596B2 (en) | 2015-10-16 | 2016-10-11 | Image processing device, robot, robot system, and marker |
| US16/385,365 US20190244388A1 (en) | 2015-10-16 | 2019-04-16 | Image processing device, robot, robot system, and marker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015205301A JP2017078877A (en) | 2015-10-19 | 2015-10-19 | Image processing device, robot, and robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2017078877A JP2017078877A (en) | 2017-04-27 |
| JP2017078877A5 true JP2017078877A5 (en) | 2018-11-22 |
Family
ID=58665390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2015205301A Withdrawn JP2017078877A (en) | 2015-10-16 | 2015-10-19 | Image processing device, robot, and robot system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2017078877A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7279533B2 (en) * | 2019-06-14 | 2023-05-23 | ソニーグループ株式会社 | Sensor device, signal processing method |
| JP7351265B2 (en) * | 2020-06-26 | 2023-09-27 | 株式会社豊田自動織機 | Recognition device and recognition method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3794463B2 (en) * | 1998-06-30 | 2006-07-05 | ソニー株式会社 | Multidimensional code recognition processing method, multidimensional code recognition processing apparatus, and multidimensional code recognition processing program |
| JP5060672B2 (en) * | 2006-08-30 | 2012-10-31 | 株式会社キーエンス | Setting device, setting system, setting method and setting program for optical code reader |
| JP5447235B2 (en) * | 2009-07-31 | 2014-03-19 | セイコーエプソン株式会社 | Marker processing method, marker processing apparatus, and marker processing program |
| JP4724802B1 (en) * | 2010-07-30 | 2011-07-13 | 株式会社シフト | 2D code reader and program |
| JP2012218140A (en) * | 2011-04-14 | 2012-11-12 | Seiko Epson Corp | Method for teaching detection of position of object, device for teaching detection of position of object, and robot system |
-
2015
- 2015-10-19 JP JP2015205301A patent/JP2017078877A/en not_active Withdrawn
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