JP2019163980A - Image processing device, laser irradiation device, and target position specifying method - Google Patents

Abstract

To obtain an image processing device with which it is possible to suppress a reduction in the accuracy of specifying the position of a target even when irradiating it with a repeating laser.SOLUTION: An image processing device 20-1 for specifying the position of a target irradiated with a first laser comprises: an image acquisition unit 21 for acquiring a first image captured while the target is irradiated with a second laser and a second image captured while the target is not irradiated with the second laser; a difference processing unit 22 for generating a difference image that indicates a difference between the first and the second images; and a verification unit 23 for specifying the position of the target on the basis of the difference image.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an image processing apparatus, a laser irradiation apparatus, and a target position specifying method for specifying a position of a target to be irradiated with laser using image processing.

  When irradiating a predetermined target with laser, it is necessary to grasp the position of the target to be irradiated with laser. Patent Document 1 describes that the position of a target to be irradiated with a laser is specified using a visible image or an infrared image.

JP 2014-126468 A

  However, according to the technique described in Patent Document 1, when a single target is repeatedly irradiated with a laser, there is a problem that the position specifying accuracy of the target may decrease as described below. When the position of a target is specified using an image, there is a method of collating a collation image indicating the shape of a target prepared in advance with an acquired image. However, for example, when the target is irradiated with a laser capable of thermally destroying the target, the target is heated in the vicinity of the irradiation point and becomes high temperature, and thermal radiation is generated around the irradiation point. Therefore, the acquired image includes a heat radiation component in addition to the shape of the target. In this case, an error is generated by the amount of the heat radiation component, and the position specifying accuracy of the target object is lowered.

  The present invention has been made in view of the above, and an image processing apparatus, a laser irradiation apparatus, and a target capable of suppressing a decrease in position specifying accuracy of a target even when repeatedly irradiating a laser. The object is to obtain a method for locating an object.

  In order to solve the above-described problems and achieve the object, an image processing apparatus according to the present invention is an image processing apparatus that specifies a position of a target to be irradiated with a first laser, and uses the second laser as a target. An image acquisition unit that acquires a first image captured in the irradiated state and a second image captured in a state where the target is not irradiated with the second laser, and a difference indicating a difference between the first image and the second image The image processing apparatus includes: a difference processing unit that generates an image; and a collation unit that specifies a position of the target based on the difference image.

  According to the present invention, there is an effect that it is possible to suppress a decrease in target position specifying accuracy even when laser irradiation is repeatedly performed.

The figure which shows the structure of the laser irradiation apparatus which concerns on Embodiment 1 of this invention. The flowchart which shows operation | movement of the laser irradiation apparatus shown in FIG. The figure which shows the function structure of the image processing apparatus shown in FIG. Explanatory drawing about the image processing which the image processing apparatus shown in FIG. 3 performs 3 is a flowchart showing the operation of the image processing apparatus shown in FIG. FIG. 3 is a diagram showing a functional configuration of an image processing apparatus according to a second embodiment of the present invention. Explanatory drawing about the image processing which the image processing apparatus shown in FIG. 6 performs Flowchart showing the operation of the image processing apparatus shown in FIG. The figure which shows the function structure of the image processing apparatus concerning Embodiment 3 of this invention. Explanatory drawing about the image processing which the image processing apparatus shown in FIG. 9 performs 9 is a flowchart showing the operation of the image processing apparatus shown in FIG. 1 is a diagram illustrating a hardware configuration that implements the functions of an image processing apparatus according to first to third embodiments of the present invention using software. The figure which shows the structure which implement | achieves the function of the image processing apparatus concerning Embodiment 1-3 of this invention using exclusive hardware.

  Hereinafter, an image processing apparatus, a laser irradiation apparatus, and a target position specifying method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  Note that in this specification, in the case where a plurality of constituent elements having the same function, property, and the like are not distinguished from each other, a common reference numeral is assigned to each of the plurality of constituent elements. When distinguishing each of a plurality of constituent elements, a hyphen and a number following the hyphen are added after a common code.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a laser irradiation apparatus 1-1 according to Embodiment 1 of the present invention. The laser irradiation device 1-1 includes a first laser device 11, a moving device 12, a second laser device 13, an imaging device 14, a synchronization circuit 15, and an image processing device 20-1.

  The first laser device 11 emits a first laser. The first laser is light having a wavelength capable of thermally destroying the target 2. The moving device 12 changes the direction in which the first laser device 11 emits the first laser 3 in accordance with the directivity signal input from the image processing device 20-1. The second laser device 13 emits the second laser 4a. The second laser is light having a wavelength with which the imaging device 14 has sensitivity, and when the target 2 is irradiated, the imaging device 14 can capture the shape of the target 2. The imaging device 14 captures an image of the illumination range in which the second laser device 13 irradiates the second laser 4 a at a timing according to the intermittent synchronization signal from the synchronization circuit 15. The illumination range of the second laser device 13 includes a target, and the imaging device 14 captures an image including the target.

  The synchronization circuit 15 captures the timing when the second laser device 13 emits the second laser 4a, and based on the captured timing, the synchronization circuit 15 generates an intermittent synchronization signal indicating the timing at which the imaging device 14 acquires an image. To enter. The timing at which the imaging device 14 acquires an image is determined based on the timing at which the reflected light 4b of the second laser 4a emitted from the second laser device 13 reaches the imaging device 14. Specifically, the imaging device 14 acquires an image in a state where the second laser 4 a is irradiated on the target 2 and an image in a state where the second laser 4 a is not irradiated on the target 2. The imaging device 14 inputs an image signal indicating the acquired image to the image processing device 20-1.

  The image processing device 20-1 specifies the position of the target 2 based on the image acquired by the imaging device 14. When the position of the target 2 is specified, the image processing device 20-1 determines the irradiation point of the first laser 3 based on the specified position of the target 2, and moves the first laser device 11 in the direction of the irradiation point. A directional signal to be directed is generated. The image processing device 20-1 inputs the generated directional signal to the moving device 12.

  FIG. 2 is a flowchart showing the operation of the laser irradiation apparatus 1-1 shown in FIG. First, the second laser device 13 irradiates the target 2 with the second laser 4a (step S101). The synchronization circuit 15 captures the timing at which the second laser device 13 emits the second laser 4a, and generates an intermittent synchronization signal indicating the timing at which the imaging device 14 acquires an image based on the captured timing (step S102). ).

  The imaging device 14 operates at a timing based on the intermittent synchronization signal. Thereby, the imaging device 14 first acquires a first image that is an image to be captured in a state where the target 2 is irradiated with the second laser 4a (step S103). Subsequently, the imaging device 14 acquires a second image that is an image to be captured in a state where the target 2 is not irradiated with the second laser 4a (step S104). The imaging device 14 outputs an image signal indicating the acquired first image and second image to the image processing device 20-1.

  The image processing apparatus 20-1 specifies the position of the target 2 using the first image and the second image acquired by the imaging device 14, and determines the irradiation position of the first laser 3 based on the specified position. Then, image processing for generating a directivity signal indicating the direction in which the first laser device 11 emits the first laser 3 is performed (step S105). Detailed contents of the image processing will be described later.

  When the moving device 12 changes the direction of the first laser device 11 based on the directivity signal, the first laser device 11 irradiates the target 2 with the first laser 3 (step S106). The laser irradiation apparatus 1-1 repeatedly performs the process shown in FIG. 2 until the target 2 is destroyed.

  FIG. 3 is a diagram illustrating a functional configuration of the image processing apparatus 20-1 illustrated in FIG. FIG. 4 is an explanatory diagram of image processing performed by the image processing apparatus 20-1 illustrated in FIG. Hereinafter, the functional configuration of the image processing apparatus 20-1 will be described using the example illustrated in FIG.

  The image processing device 20-1 includes an image acquisition unit 21, a difference processing unit 22, a collation unit 23, and a directional signal generation unit 24. The image acquisition unit 21 irradiates the target 2 with the second laser 4a to illuminate the target 2 and the first images 31-1 and 31-2 and the second laser 4a to the target 2. Image signals indicating the second images 32-1 and 32-2 photographed without irradiation are acquired from the imaging device 14. The image acquisition unit 21 inputs image signals indicating the acquired first images 31-1 and 31-2 and second images 32-1 and 32-2 to the difference processing unit 22.

  The difference processing unit 22 uses the image signal input from the image acquisition unit 21 to generate a difference image 33 that indicates the difference between the first image 31 and the second image 32. In the example illustrated in FIG. 4, the difference processing unit 22 includes a difference image 33-1 indicating a difference between the first image 31-1 and the second image 32-1, and a first image 31-2 and the second image 32. A difference image 33-2 showing a difference from -2. As shown in FIG. 4, the first image 31-2 photographed after the target 2 is irradiated with the first laser includes the target shape 2a and the thermal radiation component P. The thermal radiation includes various wavelength components, and includes the wavelength of the second laser. Therefore, the second image 32-2 taken after the target 2 is irradiated with the first laser does not include the target shape 2a but includes the heat radiation component P. The first image 31-1 photographed before the target 2 is irradiated with the first laser includes the target shape 2 a and does not include the heat radiation component P. The second image 32-1 captured before the target 2 is irradiated with the first laser does not include the target shape 2a or the thermal radiation component P. When the time for acquiring the first image 31-2 and the time for acquiring the second image 32-2 are close enough, the heat radiation component P included in the first image 31-2 and the second image 32-2 are included. The heat radiation component P is substantially the same. For this reason, the heat radiation component P can be reduced by subtracting the image signal of the second image 32-2 from the image signal of the first image 31-2. The difference processing unit 22 inputs the generated difference images 33-1 and 33-2 to the matching unit 23.

  The collation unit 23 specifies the position of the target 2 based on the difference images 33-1 and 33-2 output from the difference processing unit 22. Specifically, the collation unit 23 collates each of the difference images 33-1 and 33-2 with a collation image 30 that is an image of the target 2 acquired in advance, and determines the position of the target 2. Identify. The collation unit 23 outputs information indicating the position of the identified target 2 to the directional signal generation unit 24.

  The directivity signal generator 24 determines the irradiation position of the first laser 3 based on the position of the target 2, generates a directivity signal indicating the direction in which the first laser device 11 emits the first laser 3, and generates the directivity signal The directed signal is input to the mobile device 12.

  FIG. 5 is a flowchart showing the operation of the image processing apparatus 20-1 shown in FIG. Here, description will be made using an example in which image signals indicating the first image 31-2 and the second image 32-2 illustrated in FIG. 4 are input to the image processing device 20-1.

  The image acquisition unit 21 acquires the first image 31-2 and the second image 32-2 from the image signal input from the imaging device 14 (step S201). The image acquisition unit 21 inputs the acquired first image 31-2 and second image 32-2 to the difference processing unit 22.

  The difference processing unit 22 performs a difference process for subtracting the second image 32-2 from the first image 31-2, and a difference image 33-2 indicating a difference between the first image 31-2 and the second image 32-2. And the difference process of inputting the generated difference image 33-2 to the collation unit 23 is performed (step S202).

  The collation unit 23 collates the difference image 33-2 input from the difference processing unit 22 with a collation image 30 that is an image acquired in advance and indicating the shape of the target object 2, and the target object The collation process which specifies the position of 2 is performed. The collation unit 23 inputs information indicating the position of the identified target 2 to the directional signal generation unit 24 (step S203).

  The directivity signal generator 24 determines the irradiation position of the first laser 3 based on the information input from the collator 23 and generates a directivity signal indicating the direction in which the first laser device 11 emits the first laser 3. Then, the generated directional signal is input to the mobile device 12 (step S204).

  As described above, according to the present embodiment, the position of the target 2 is specified using the difference image 33-2 in which the influence of the heat radiation component P is reduced. For this reason, it becomes possible to suppress the fall of the position specific accuracy of the target 2.

Embodiment 2. FIG.
A laser irradiation apparatus 1-2 according to a second embodiment of the present invention is an image processing apparatus having an alignment function between images instead of the image processing apparatus 20-1 of the laser irradiation apparatus 1-1 illustrated in FIG. 20-2. Since other configurations are the same as those of the laser irradiation apparatus 1-1, description thereof is omitted here.

  If the acquisition time of the first image 31 is different from the acquisition time of the second image 32, or if the movement of the target 2 or the movement of the moving device 12 is fast, the position of the thermal radiation component P in the first image 31 and the first There may be a shift in the position of the heat radiation component P in the two images 32. For this reason, the image processing apparatus 20-2 according to the present embodiment includes a positioning function for aligning the position of the heat radiation component P between images.

  FIG. 6 is a diagram illustrating a functional configuration of the image processing apparatus 20-2 according to the second embodiment of the present invention. FIG. 7 is an explanatory diagram of image processing performed by the image processing apparatus 20-2 illustrated in FIG. Hereinafter, the function of the image processing apparatus 20-2 will be described using the example shown in FIG.

  The image processing device 20-2 includes an image acquisition unit 21, a processing unit 25, an alignment unit 26, a difference processing unit 22-1, a collation unit 23, and a directional signal generation unit 24. The image processing device 20-2 includes a processing unit 25 and an alignment unit 26 in addition to the image processing device 20-1.

  The image acquisition unit 21 acquires the first image 31-3 and the second image 32-3, and inputs the acquired first image 31-3 and second image 32-3 to the processing unit 25. The processing unit 25 cuts out a reference image 34 including a reference position that is used as a reference for alignment from the second image 32-3. The reference position may be any position that can indicate the position of the heat radiation component P in the image, and is, for example, the center of the region including the heat radiation component P. Further, the processing unit 25 identifies the reference position CP2 in the second image 32-3, and generates a processed second image 35 including information on the reference position CP2. The processing unit 25 inputs the processed second image 35 and the reference image 34 to the alignment unit 26.

  The alignment unit 26 aligns the first image 31-3 and the second image 32-3. Specifically, the alignment unit 26 performs alignment processing for specifying the reference position CP1 in the first image 31 using the reference image 34. The alignment unit 26 collates the reference image 34 and the first image 31-3, and based on the position that most closely matches the reference image 34 in the first image 31-3, the reference in the first image 31. The position CP1 is specified, and a processed first image 36 including information on the reference position CP1 is generated. The alignment unit 26 inputs the processed first image 36 and the processed second image 35 to the difference processing unit 22-1.

  Based on the result of the alignment process performed by the alignment unit 26, the difference processing unit 22-1 includes the reference position CP1 in the first image 36 after processing and the reference position CP2 in the second image 35 after processing. The difference image 33-3 is generated in a state in which the two are matched. By matching the reference positions, the position of the thermal radiation component P in the first image 31 and the position of the thermal radiation component P in the second image 32 can be matched. The difference processing unit 22-1 inputs the generated difference image 33-3 to the matching unit 23. The functions of the collation unit 23 and the directional signal generation unit 24 are the same as those in the first embodiment. The collation unit 23 collates the input difference image 33-3 with the collation image 30.

  FIG. 8 is a flowchart showing the operation of the image processing apparatus 20-2 shown in FIG. Hereinafter, the operation of the image processing apparatus 20-2 will be described using the example shown in FIG. First, the image acquisition unit 21 acquires the first image 31-3 and the second image 32-3 from the image signal input from the imaging device 14, and acquires the acquired first image 31-3 and second image 32-3. Input to the processing section 25 (step S201). The processing unit 25 generates the reference image 34 from the second image 32-3 (step S301). The processing unit 25 specifies the reference position CP2 in the second image 32-3, and generates a processed second image 35 including information on the reference position CP2. The processing unit 25 inputs the reference image 34 and the processed second image 35 to the alignment unit 26.

  The alignment unit 26 collates the reference image 34 and the first image 31-3, and performs alignment processing for specifying the reference position CP1 in the first image 31-3 (step S302). The difference processing unit 22-1 performs difference processing for generating a difference image 33-3 in a state where the reference position CP1 in the first image 31-3 and the reference position CP2 in the second image 32-3 are matched. (Step S303). Since the collation process (step S203) and the process for generating the directivity signal (step S204) are the same as those in the first embodiment, description thereof is omitted here.

  As described above, the image processing apparatus 20-2 according to the second embodiment of the present invention has a function of aligning the first image 31-3 and the second image 32-3. For this reason, the acquisition time of the first image 31-3 is different from the acquisition time of the second image 32-3, the movement of the target 2 or the movement of the moving device 12 is fast, and the first image 31- 3, even if there is a deviation between the position of the thermal radiation component P in 3 and the position of the thermal radiation component P in the second image 32-3, the deterioration of the position specifying accuracy of the target 2 is suppressed. Is possible.

Embodiment 3 FIG.
A laser irradiation apparatus 1-3 according to the third embodiment of the present invention includes an image processing apparatus 20-3 instead of the image processing apparatus 20-1 of the laser irradiation apparatus 1-1 illustrated in FIG. Since other configurations are the same as those of the laser irradiation apparatus 1-1, description thereof is omitted here.

  FIG. 9 is a diagram illustrating a functional configuration of the image processing apparatus 20-3 according to the third embodiment of the present invention. The image processing device 20-3 has a function of generating a plurality of difference images 33 and specifying the position of the target 2 using the difference image 33 in which the thermal radiation component P is most reduced among the plurality of difference images 33. Have. FIG. 10 is an explanatory diagram of image processing performed by the image processing apparatus 20-3 illustrated in FIG. Hereinafter, the function of the image processing apparatus 20-3 will be described using the example shown in FIG.

  The image processing device 20-3 includes an image acquisition unit 21, a difference processing unit 22-2, a collation unit 23-1, a selection unit 27, and a directional signal generation unit 24. The image acquisition unit 21 acquires the first image 31-4 and the second image 32-4, and inputs the acquired first image 31-4 and second image 32-4 to the difference processing unit 22-2. .

  The difference processing unit 22-2 generates a plurality of difference images 33-4 using each of a plurality of candidates for the amount of deviation between the first image 31-4 and the second image 32-4. The plurality of deviation amount candidates have different deviation amount values. For this reason, when the difference processing unit 22-2 generates the difference image 33-4, the degree of coincidence between the heat radiation component P in the first image 31-4 and the heat radiation component P in the second image 32-4. However, it differs for each candidate amount of deviation. The difference processing unit 22-2 inputs the generated plurality of difference images 33-4 to the matching unit 23-1.

  The collation unit 23-1 collates each of the plurality of input difference images 33-4 with the collation image 30. The collation unit 23-1 outputs a plurality of collation results to the selection unit 27. The selection unit 27 selects one of the matching results based on the degree of matching between each of the plurality of difference images 33-4 and the matching image 30. For example, the selection unit 27 can select one of the matching results using an evaluation value indicating the degree of matching between each of the plurality of difference images 33-4 and the matching image 30. The selection unit 27 outputs information indicating the position of the target 2 indicated by the selected matching result to the directional signal generation unit 24.

  FIG. 11 is a flowchart showing the operation of the image processing apparatus 20-3 shown in FIG. Hereinafter, the operation of the image processing apparatus 20-3 will be described using the example shown in FIG. First, the image acquisition unit 21 acquires the first image 31-4 and the second image 32-4 from the image signal input from the imaging device 14, and acquires the acquired first image 31-4 and second image 32-4. The difference is input to the difference processing unit 22-2 (step S201).

  The difference processing unit 22-2 performs difference processing using the first image 31-4 and the second image 32-4. At this time, the difference processing unit 22-2 generates a plurality of difference images 33-4 using each of the plurality of deviation amount candidates, and inputs the generated plurality of difference images 33-4 to the matching unit 23-1. (Step S401).

  The collation unit 23-1 performs collation processing using each of the plurality of difference images 33-4 and the collation image 30, and inputs the collation result to the selection unit 27 (step S402). Using the collation result, the selection unit 27 performs an evaluation value calculation process indicating the degree of coincidence between each of the plurality of difference images 33-4 and the collation image 30 (step S403). The selection unit 27 performs a selection process for selecting one of a plurality of matching results based on the evaluation value. For example, if the degree of coincidence between the difference image 33-4 and the matching image 30 is higher as the evaluation value is larger, the selection unit 27 selects a matching result having the largest evaluation value (step S404). The process for generating the directional signal (step S204) is the same as that in the first embodiment.

  As described above, the image processing apparatus 20-3 according to the third embodiment of the present invention includes the first image 31-4 including the target shape 2a and the heat radiation component P, and the first image including the heat radiation component P. A plurality of candidates for the amount of deviation from the two images 32-4 are assumed, and a plurality of difference images 33-4 are generated using the plurality of candidates for the amount of deviation. And collation processing is performed using a plurality of difference images 33-4, one of a plurality of collation results is selected, and the position of target 2 is specified based on the selected collation results. Thereby, the acquisition time of the first image 31-4 and the acquisition time of the second image 32-4 are separated from each other, or the movement of the target 2 or the movement of the moving device 12 is fast. 4, even if there is a deviation between the position of the heat radiation component P in 4 and the position of the heat radiation component P in the second image 32-4, it is possible to suppress a decrease in the position specifying accuracy of the target 2. Is possible.

  Next, a hardware configuration for realizing the functions of the image processing apparatuses 20-1 to 20-3 will be described. FIG. 12 is a diagram illustrating a hardware configuration that implements the functions of the image processing apparatuses 20-1 to 20-3 according to the first to third embodiments of the present invention using software.

  Each function provided in the image processing apparatuses 20-1 to 20-3 can be realized by using the processor 91 and the memory 92 shown in FIG. The processor 91 is a CPU (Central Processing Unit), and is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor). The memory 92 is nonvolatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). Such as a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD (Digital Versatile Disk).

  The processor 91 reads out the computer program stored in the memory 92 and executes the read-out computer program, whereby each function of the image processing apparatuses 20-1 to 20-3 can be realized. The memory 92 is also used as a temporary memory in each process executed by the processor 91.

  FIG. 13 is a diagram illustrating a configuration in which the functions of the image processing apparatuses 20-1 to 20-3 according to the first to third embodiments of the present invention are realized using dedicated hardware. Each function provided in the image processing apparatuses 20-1 to 20-3 can also be realized by using dedicated hardware such as a processing circuit 93 shown in FIG. The processing circuit 93 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof.

  Each function provided in the image processing apparatuses 20-1 to 20-3 is partly realized by using the processor 91 and the memory 92 shown in FIG. 12, and partly realized by using the processing circuit 93 shown in FIG. Also good.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  1-1, 1-2, 1-3 Laser irradiation device, 2 target, 2a shape of target, 3 1st laser, 4a 2nd laser, 4b reflected light, 11 1st laser device, 12 moving device, 13 Second laser device, 14 image pickup device, 15 synchronization circuit, 20-1, 20-2, 20-3 image processing device, 21 image acquisition unit, 22, 22-1, 22-2 difference processing unit, 23, 23- DESCRIPTION OF SYMBOLS 1 Collation part, 24 Directional signal production | generation part, 25 Processing part, 26 Position alignment part, 27 Selection part, 30 Collation image, 31-1, 31-2, 31-3, 31-4, 36 1st image, 32 −1, 32-2, 32-3, 32-4, 35 Second image, 33-1, 33-2, 33-3, 33-4 Difference image, 34 Reference image, 91 Processor, 92 Memory, 93 Processing Circuit, CP1, CP2 Reference position, P Thermal radiation generation Minutes.

Claims (6)

An image processing apparatus for specifying a position of a target to be irradiated with a first laser,
An image acquisition unit that acquires a first image captured in a state where the target is irradiated with a second laser and a second image captured in a state where the target is not irradiated with the second laser;
A difference processing unit that generates a difference image indicating a difference between the first image and the second image;
A collation unit that identifies the position of the target based on the difference image;
An image processing apparatus comprising: A processing unit that generates a reference image including a reference position as a reference for alignment from the second image, and specifies the reference position in the second image;
An alignment unit that identifies the reference position in the first image using the reference image and aligns the first image and the second image;
Further comprising
The image according to claim 1, wherein the difference processing unit generates the difference image in a state where the reference position in the first image and the reference position in the second image are matched. Processing equipment.   The image processing apparatus according to claim 2, wherein the reference position indicates a position of a heat radiation component included in a region irradiated with the first laser. The difference processing unit generates a plurality of the difference images using each of a plurality of candidates for the amount of deviation between the first image and the second image,
The collation unit collates each of the plurality of difference images with a collation image that is an image of the target acquired in advance,
A selection unit that selects one of the matching results based on the degree of matching between each of the plurality of difference images and the matching image;
The image processing apparatus according to claim 1, further comprising: A first laser device for emitting a first laser;
A moving device for changing a direction in which the first laser device emits the first laser;
A second laser device for emitting a second laser;
An imager for imaging the target;
Based on the timing at which the second laser device emits the second laser, an intermittent synchronization signal indicating the timing at which the imaging device captures an image is generated, and the first image in a state in which the target is irradiated with the second laser And a synchronization circuit that causes the imaging device to capture a second image in a state in which the target is not irradiated with the second laser,
An image processing apparatus according to any one of claims 1 to 4,
A laser irradiation apparatus comprising: A target position specifying method for specifying a position of a target to be irradiated with a first laser,
Obtaining a first image taken in a state in which the target is irradiated with a second laser that illuminates the target;
Obtaining a second image taken without irradiating the target with the second laser;
Generating a difference image indicating a difference between the first image and the second image;
Collating an image for collation that is an image of the target acquired in advance and the difference image to identify the position of the target;
A method for specifying a position of a target object.

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