JP3720511B2 - Camera adjustment image processing apparatus and camera adjustment method using the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is an image processing apparatus that captures an image with a CCD camera, and is an image processing apparatus for camera adjustment that is useful when adjusting the mounting position and brightness of a camera after the camera is replaced or after the mounting position is shifted. The present invention relates to a camera adjustment method using the same.
[0002]
[Prior art]
When changing the CCD camera or when the camera mounting position is deviated, as a conventional technique for adjusting the camera position such as camera position and orientation, the setting conditions for specifying the area to be measured (window processing) on the image are moved all at once. There is a way to make it.
[0003]
In this method, the camera position can be adjusted by moving all windows registered in advance in the image processing apparatus by the amount of displacement (simultaneous movement function) after camera replacement and when the camera is displaced.
[0004]
[Problems to be solved by the invention]
In the case of the above-described prior art, all the preset windows are moved all at once after camera replacement or in a shifted state, so that the windows may protrude from the image capturing range of the CCD camera. In that case, it is necessary to readjust the position and orientation of the camera. In addition, since there is no element for adjusting the brightness, there is a disadvantage that the lens aperture cannot be adjusted.
[0005]
[Means for Solving the Problems]
An image processing apparatus for camera adjustment of the present invention includes a replaceable CCD camera,
A binary image for adjustment created by binarizing an image obtained by imaging a predetermined adjustment object installed at a predetermined installation location before the CCD camera is exchanged or before the mounting position is shifted. And an adjustment data storage in which the threshold value for binarization used for the binarization process and the area, the center of gravity, and the average density of the adjustment target portion in the binary image for adjustment are stored in advance. Means,
Binary image creating means for binarizing the image captured by the CCD camera using the threshold value for binarization stored in the adjustment data storage means to create and output a binary image When,
Difference image creation means for calculating and outputting a difference image between the binary image output from the binary image creation means and the adjustment binary image stored in the adjustment data storage means;
The area, the center of gravity, and the average density of the adjustment target portion in the binary image output from the binary image creation means are obtained and output, and the area, the center of gravity, and the average density are read from the adjustment data storage means and output. Output means.
The camera adjustment method of the present invention is a camera adjustment method using the above-described image processing apparatus for camera adjustment,
After replacing the CCD camera or after the mounting position has shifted, install the adjustment target at a predetermined installation location,
After displaying the adjustment binary image stored in the adjustment data storage means on the monitor,
The difference image output from the difference image creating means is displayed on the monitor, and the position, orientation, and lens aperture of the CCD camera are adjusted while viewing the difference image,
When performing further fine adjustment, the output result from the output means is displayed on the monitor, the position and orientation of the CCD camera are adjusted until the area difference becomes zero, and the CCD is changed until the center of gravity difference becomes zero. The position and orientation of the camera are adjusted, and the aperture of the CCD camera is adjusted until the average density difference becomes zero.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to FIGS.
[0007]
FIG. 1 is a block diagram of an image processing apparatus 1. A CCD camera 2 includes a charge coupled device that converts an image formed on a CCD surface into an electrical signal. The A / D converter 3 converts the video signal from the CCD camera 2 into a digital signal, and the camera / display controller 4 controls the timing of outputting the image data captured from the CCD camera 2 to the frame memory 6 or the monitor 11. LSI. The D / A converter 5 is a converter that converts image data from the camera / display controller 4 into an analog signal and outputs the analog signal to the monitor 11. The frame memory 6 is a memory for storing image data obtained by digitally converting the video signal captured from the CCD camera 2 by the A / D converter 3. The CPU 7 controls image processing calculations, image processing calculation condition registration, and the entire apparatus 1, and the ROM 9 stores an execution program for the CPU 7. The RAM 8 stores the conditions for image processing calculation set by the CPU 7 and the calculation result of the image processing.
[0008]
FIG. 2 is a flowchart for explaining the registration operation of the adjustment data before the camera replacement or before the camera mounting position is shifted.
[0009]
First, a figure to be a model for camera adjustment is set from the image data captured from the CCD camera 2, image data corresponding to the set adjustment figure is registered in the frame memory 6, and adjustment is performed from the image data in the frame memory 6. And a threshold value for an optimal binarized image are registered in the RAM 8 (step S1). The CPU 7 registers the binary image for adjustment binarized using the position and size of the measurement target and the threshold for binarization in the RAM 8 (step S2), and for size adjustment as detailed adjustment data In addition, the area (sum of the number of white pixels in the window range), the center of gravity as the position adjustment data, and the average density as the lens aperture (brightness) adjustment data are registered in the RAM 8 (steps S3 and S4).
[0010]
FIG. 3 is a flowchart for explaining the adjustment operation after replacement of the camera or after the mounting position of the camera is deviated.
[0011]
First, a figure serving as a model for camera adjustment is installed, and a binary image registered in advance before adjustment is read from the RAM 8 and displayed on the monitor 11. Next, when the display mode is switched to the binary image difference mode, the CPU 7 converts the image captured by the CCD camera 2 in the current camera state into a binarized image under the same conditions as when the adjustment data was registered by the CPU 7. A difference image of a binary image registered in advance before adjustment is calculated. The difference image is transferred to the frame memory 6, converted into an analog signal by the D / A converter 5, and the image pickup signal is copied to the monitor 11. Examples of the output display are FIGS. 4A, 4B, and 4C (in the figure, white of the image display is represented by black), FIG. 4A is completely matched, and FIG. 4B is misaligned. In the case (c), there is a difference in size. As is clear from this figure, if there is a shift in position, size, or brightness, the part corresponding to the shift is displayed in white, so adjust the camera position and orientation and the lens aperture until it is completely black. (Steps S11 and S12).
[0012]
Further, when fine adjustment is required, the area / center of gravity of the binary feature parameter obtained by binarizing the image captured by the CCD camera 2 in the current camera state under the same conditions as when the adjustment data was registered, and the average density The area, center of gravity, and average density registered as adjustment data are compared in real time, and the difference in size is the area difference, the positional deviation is the center of gravity difference, and the brightness is adjusted until the average density difference is “0”. (Area; steps S13, S14), (centroid: steps S15, S16), (brightness; steps S17, S18).
[0013]
5A and 5B show characteristic parameters (in the figure, white in the image display is represented by black), (a) explains the area, and (b) explains the center of gravity. .
[0014]
As described above, first, the binary image of the adjustment target registered in advance before the camera replacement or before the mounting position shifts, and the binary image of the adjustment target after the camera replacement or after the mounting position is shifted. Differences in size, deviation, and brightness are displayed as white images from the difference image, and if they match completely, a black screen is obtained, so that rough adjustment is possible. For finer adjustments, the area, the center of gravity, and the average density of the binary image feature parameters to be adjusted that have been registered in advance before the camera replacement or before the mounting position is shifted, after the camera replacement or after the mounting position has shifted By comparing the area, the center of gravity, and the average density of the binary image feature parameters to be adjusted, the size can be adjusted from the difference in area, the position can be shifted from the difference in the center of gravity, and the brightness can be adjusted from the average density. As described above, it is easy to adjust the position of the camera and the lens aperture without changing the position of the window set as the measurement condition.
[0015]
As described above, according to the present invention, adjustment can be performed while viewing the display of the difference image between binary images, so that differences in brightness, position, and size can be determined at a glance, and rough adjustment is possible. Further, fine adjustment is possible while viewing the numerical display of the binary feature parameters (area, center of gravity, ferret diameter). Therefore, replacement when the camera is broken or alignment when the mounting position of the camera is shifted due to some external factor is easy, and the adjustment time is shortened.
[Brief description of the drawings]
FIG. 1 is a block diagram of an image processing apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart for explaining the first half operation of the embodiment of the present invention.
FIG. 3 is a flowchart illustrating the latter half operation of the embodiment of the present invention.
FIG. 4 is a diagram showing an output display example according to an embodiment of the present invention.
FIG. 5 is a diagram illustrating feature parameters in an embodiment of the present invention.
[Explanation of symbols]
1 Image Processing Device 2 CCD Camera 3 A / D Converter 4 Camera / Display Controller 5 D / A Converter 6 Frame Memory 7 CPU
8 RAM
9 ROM
10 I / O
11 Monitor

Claims (2)

An interchangeable CCD camera,
A binary image for adjustment created by binarizing an image obtained by imaging a predetermined adjustment object installed at a predetermined installation location before the CCD camera is exchanged or before the mounting position is shifted. And an adjustment data storage in which the threshold value for binarization used for the binarization process and the area, the center of gravity, and the average density of the adjustment target portion in the binary image for adjustment are stored in advance. Means,
Binary image creating means for binarizing the image captured by the CCD camera using the threshold value for binarization stored in the adjustment data storage means to create and output a binary image When,
Difference image creation means for calculating and outputting a difference image between the binary image output from the binary image creation means and the adjustment binary image stored in the adjustment data storage means;
The area, the center of gravity, and the average density of the adjustment target portion in the binary image output from the binary image creation means are obtained and output, and the area, the center of gravity, and the average density are read from the adjustment data storage means and output. An image processing apparatus for camera adjustment, comprising: an output unit. A camera adjustment method using the camera adjustment image processing apparatus according to claim 1,
After replacing the CCD camera or after the mounting position has shifted, install the adjustment target at a predetermined installation location,
After displaying the adjustment binary image stored in the adjustment data storage means on the monitor,
The difference image output from the difference image creating means is displayed on the monitor, and the position, orientation, and lens aperture of the CCD camera are adjusted while viewing the difference image,
When performing further fine adjustment, the output result from the output means is displayed on the monitor, the position and orientation of the CCD camera are adjusted until the area difference becomes zero, and the CCD is changed until the center of gravity difference becomes zero. A camera adjustment method, wherein the position and orientation of the camera are adjusted, and the aperture of the CCD camera is adjusted until the average density difference becomes zero.

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