JP4349004B2 - Television receiver detection apparatus and method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a television receiver detection apparatus, and more particularly to a television receiver detection apparatus and method that are provided in a home robot or the like and determine the position of a room television receiver and detect its position.
[0002]
[Prior art]
For a self-propelled robot used in the home, it is important to detect the position of the indoor television receiver and detect its position.
[0003]
For example, in a self-propelled cleaning robot, it is possible to recognize the position of the robot in the room by identifying the television receiver and knowing its position, and it is possible to perform cleaning efficiently.
[0004]
In addition, a personal robot that exchanges information with the user at home can recognize the position of other objects by identifying the TV receiver and knowing its position, and can easily take various actions accordingly. It becomes.
[0005]
Conventionally, as a means for causing a robot to detect the position of a detection target in a room, a dedicated marker or light emitter is provided on the detection target, and the detection target is recognized by a visual sensor installed on the robot. The position of the object is detected (for example, refer to Patent Document 1).
[0006]
Alternatively, as a means for causing the robot to discriminate surrounding objects, a TV camera and a laser measurement device are attached to the robot, and the shape, distance, color, temperature, etc. of the object are recognized from the image data and the laser measurement result, and the type of the object (See, for example, Patent Document 2).
[0007]
[Patent Document 1]
JP 2002-287824 A (FIG. 3)
[Patent Document 2]
JP 2002-122415 A (FIG. 2)
[0008]
[Problems to be solved by the invention]
In the former case of the above-described conventional example, it is necessary to provide a marker and a light emitter, which takes time and cost for the user. In addition, there is a problem in that these markers and light emitters visually give a sense of resistance.
[0009]
In the latter case of the conventional example, a TV camera and a laser measuring device are provided in the robot to determine the type of the object. However, if the function is limited to the TV receiver as the object to be detected, the cost and detection accuracy are reduced. Have problems.
[0010]
An object of the present invention is to accurately determine a television receiver based on a captured image and detect its position without providing a marker or a light emitter on a detection target and without providing a laser measurement device on a robot. An object of the present invention is to provide an apparatus and method for detecting a television receiver.
[0013]
[Means for Solving the Problems]
  The television receiver detection apparatus of the present invention isAn imaging unit that outputs captured image data, a memory that temporarily stores image data output from the imaging unit, and a difference between current image data and a plurality of past image data stored in the memory Inter-frame difference calculation means for accumulating and outputting binarized inter-frame difference data that has been binarized according to a predetermined threshold, and quadrilateral detection means for detecting a quadrangle based on the binarized inter-frame difference data; Have
[0014]
The quadrangle detection means may detect a quadrangle by extracting a line segment group corresponding to an edge based on the binarized interframe difference data, or may detect pixels having the same value based on the binarized interframe difference data. You may make it search a connection area | region and may detect a square connection area | region.
[0016]
  in frontCompare the areas of multiple quadrilaterals detected by the quadrilateral detection means and determine that the largest one is a TV screenOrIt is reasonable to estimate the actual size by obtaining the distance for a plurality of rectangles detected by the rectangle detection means.OrVerify whether or notVerification means can be provided.
[0017]
  The present inventionTeThe Levi receiver detection device acquires image data of a broadcast channel received by the television receiver, and compares the image data captured by the imaging unit to determine the television screen.
[0018]
Specifically, imaging means for outputting captured image data, channel specifying means for specifying a broadcast channel received by the television receiver, and broadcast receiving means for receiving a broadcast channel specified by the channel specifying means And collating means for searching and discriminating a television screen by collating the image data received by the broadcast receiving means with the image data of the imaging means.
[0019]
The channel specifying means may obtain and inquire a user through an interface such as voice / character / GUI, or obtain a broadcast channel received by the television receiver from the television receiver via a communication line. Alternatively, the broadcast channel received by the television receiver by searching the nearest image by comparing the image data acquired by sequentially switching the channel by the broadcast receiving unit and the image data of the imaging unit. May be specified.
[0020]
Further, the channel specifying means has a microphone for converting sound propagated from the television receiver into an electric signal, and an audio signal acquired by the microphone and an audio signal acquired by sequentially switching channels by the broadcast receiving means. May be used to identify the broadcast channel received by the television receiver.
[0021]
Further, the collating unit divides the image data of the imaging unit into a plurality of small areas, and discriminates a television image by collating the image data received by the broadcast receiving unit with the image data of the small area.
[0022]
  The present inventionTeThe Levi receiver detection device includes an imaging unit that outputs captured image data, a memory that temporarily stores the image data output from the imaging unit, a plurality of past images stored in the current image data and the memory An inter-frame difference calculating means for accumulating and outputting the binarized inter-frame difference data obtained by obtaining a difference from the image data and binarizing each with a predetermined threshold, and a quadrangle based on the binarized inter-frame difference data A quadrangle detecting means for detecting the channel, a channel specifying means for specifying a broadcast channel received by the television receiver, a broadcast receiving means for receiving the broadcast channel specified by the channel specifying means, and a reception by the broadcast receiving means. The image data thus converted is congruent with the quadrangle detected by the quadrangle detection means and collated with the image data of the imaging means. And a collating means for searching to determine a more television screen.
[0023]
The collation means may extract and collate image features such as luminance values and color distribution histograms, or extract image features such as luminance values and color distribution histograms, and the time at which time changes occur. Matching may be performed based on the difference between the images, or by using correlation between images.
[0024]
  The present inventionTeThe Levi receiver detection device includes: an imaging unit that outputs captured image data; a memory that temporarily stores image data output from the imaging unit; a remote operation unit that forcibly changes an image on a television screen; The difference between frame image data and the past plural pieces of image data stored in the memory are obtained, and the difference between frames is accumulated and output by binarizing the difference data between the binarized frames respectively by a predetermined threshold value. A change area detecting means for determining a television screen by comparing the binarized difference image data before and after the change in the image on the television screen by the remote operation means and detecting a change area of the image data; Is provided.
[0028]
  The television receiver detection method of the present invention is,A television receiver detection method for detecting a television receiver by processing image data output from an imaging means,Obtaining the difference between the current image data output from the imaging means and a plurality of past image data, and binarizing and accumulating them according to a predetermined threshold value to obtain binary inter-frame difference data; Rectangle is detected based on difference data between value framesThe TV screenSteps.
[0029]
The quadrangle detection step may detect a quadrangle by extracting a line segment group corresponding to an edge based on the binary inter-frame difference data, or may detect pixels having the same value based on the binary inter-frame difference data. A quadrilateral may be detected by searching for a connected area.
[0031]
  in frontCompare the areas of multiple quadrilaterals detected in the quadrilateral detection step and determine that the largest one is a TV screenStep to do, orIt is reasonable to estimate the actual size by obtaining the distance for the detected squaresOrVerify whether or notSteps may be provided.
[0032]
  The present inventionTeIn the Levi receiver detection method, image data of a broadcast channel received by a television receiver is acquired, and the television screen is determined by collating with image data captured by an imaging unit.
[0033]
Specifically, a step of identifying a broadcast channel received by the television receiver, and a collation step of searching and determining the television screen by collating the image data of the identified broadcast channel with the image data of the imaging means With.
[0034]
The step of specifying the broadcast channel may be obtained by inquiring the user via an interface such as voice, text, GUI, or the television channel received by the television receiver via the communication line. May be obtained from Further, the broadcast channel may be specified by sequentially switching the broadcast channel and comparing the received image data with the image data of the imaging means.
[0035]
Furthermore, the step of specifying the broadcast channel may specify the broadcast channel by collating an audio signal acquired by a microphone with an audio signal received by sequentially switching the broadcast channel.
[0036]
Further, the collating step divides the image data of the imaging means into a plurality of small areas, and discriminates a television image by collating the image data of the specified broadcast channel with the image data of the small area.
[0037]
  The present inventionTeIn the Levi receiver detection method, the difference between the current image data output from the image pickup means and a plurality of past image data is obtained and binarized and accumulated according to a predetermined threshold value, and binarized inter-frame difference data Determining a square based on the binarized inter-frame difference data, specifying a broadcast channel received by the television receiver, and detecting the image data of the specified broadcast channel. A collation step of searching for and determining a television screen by collating with the quadrangle and collating with the image data of the imaging means.
[0038]
The collation step may be performed by extracting image features such as luminance values and color distribution histograms, or extracting image features such as luminance values and color distribution histograms, and the time at which changes occur. Matching may be performed based on the difference between the images, or by using correlation between images.
[0040]
DETAILED DESCRIPTION OF THE INVENTION
Next, the present invention will be described with reference to the drawings.
[0041]
FIG. 1 is a block diagram showing a first embodiment of the present invention, showing a configuration example of a television receiver detection device provided in a robot.
[0042]
By the way, if the television receiver is receiving a television broadcast, the image displayed on the display screen of the television receiver (hereinafter referred to as a television screen) usually changes with time. Further, since the television screen is rectangular, when the television screen is imaged from the outside, for example, as shown in FIG. 10, the rectangle becomes a quadrangle obtained by affine transformation.
[0043]
In the first embodiment, a television receiver is detected using such a feature of the television screen.
[0044]
In FIG. 1, an imaging unit 1 such as a video camera that outputs captured image data, a memory 2 that temporarily stores image data output from the imaging unit 1, past image data stored in the memory 2, and current The inter-frame difference calculation means 3 for calculating the inter-frame difference from the image data and binarizing with a predetermined threshold and outputting the binarized inter-frame difference data, and the quadrangle based on the binarized inter-frame difference data And square detection means 4 for detection.
[0045]
The operation of the first embodiment will be described with reference to the flowchart shown in FIG.
[0046]
First, the imaging unit 1 sends the captured image data to the inter-frame difference calculation unit 3 (step 101).
[0047]
The inter-frame difference calculation means 3 calculates the difference between the image data sent from the imaging means 1 and the past image data stored in the memory 2 to generate difference image data (step 102).
[0048]
Then, the image data sent from the imaging means 1 is stored in the memory 2 as past image data. In this case, the used old image data stored in the memory 2 is discarded (step 103).
[0049]
Further, the inter-frame difference calculation means 3 binarizes the difference image data with a predetermined threshold value to generate binarized difference image data. In this case, the value of the pixel whose difference image data value is larger than the threshold is set to “1”, and the value of the pixel smaller than the threshold is set to “0” (step 104).
[0050]
Here, if the television receiver is receiving a television broadcast, the image on the television screen changes with time, so the binary difference between the image data sent from the imaging means 1 and a plurality of past image data. By calculating and accumulating the image data, the pixel of the television screen (rectangle) in the captured image becomes “1”.
[0051]
The quadrangle detection means 4 detects a quadrangle based on the binarized difference image data, and determines that the detected quadrangle is a television screen (step 105).
[0052]
Thereafter, steps 101 to 105 are repeated until the detection operation of the television receiver is stopped (step 106).
[0053]
As a quadrangle detection method, for example, an edge is extracted from binarized difference image data using a differential filter, a sobel filter, or the like, and a straight line is extracted from the extracted edge image data using Hough transform or the like. Then, if the number of extracted straight lines is four, it is determined to be a quadrangle, and if it is not four, it is determined not to be a quadrangle.
[0054]
As another example, for binarized difference image data, a region where pixels having the same value are connected is extracted and labeled, and it is detected whether or not the shape of the extracted connected region is a rectangle.
[0055]
Since the television screen can be detected by detecting the quadrangle in this way, the television receiver can be detected with high accuracy.
[0056]
Note that the direction of the television screen can be calculated by performing affine transformation processing based on the detected quadrangular shape.
[0057]
FIG. 3 is a block diagram showing a second embodiment of the present invention.
[0058]
Here, the difference from the first embodiment shown in FIG. 1 is that a verification unit 5 is provided for verifying the quality of the television screen for the quadrangle detected by the quadrangle detection unit 4.
[0059]
The imaging unit 1, the memory 2, the inter-frame difference calculation unit 3, and the quadrangle detection unit 4 are the same as those shown in FIG. 1, and are given the same reference numerals.
[0060]
FIG. 4 is a flowchart for explaining the operation of the second embodiment.
[0061]
First, the imaging unit 1 sends the captured image data to the inter-frame difference calculation unit 3 (step 201).
[0062]
The inter-frame difference calculation means 3 calculates the difference between the image data sent from the imaging means 1 and the past image data stored in the memory 2 to generate difference image data (step 202), and the imaging means The image data sent from 1 is stored in the memory 2 as past image data (step 203).
[0063]
The interframe difference calculation means 3 binarizes the difference image data with a predetermined threshold value to generate binary difference image data (step 204), and the quadrangle detection means 4 is based on the binarized difference image data. A rectangle is detected (step 205).
[0064]
The verification unit 5 verifies whether or not the quadrangle detected by the quadrangle detection unit 4 is appropriate as a television screen (step 206).
[0065]
As a verification method of the verification unit 5, for example, a plurality of quadrangles detected by the quadrangle detection unit 4 having a large area are determined to be a television screen.
[0066]
Alternatively, the actual size of the detected quadrangle is calculated based on the distance to the quadrangular region obtained by the camera's autofocus mechanism or stereo vision, and it is verified whether or not the size corresponds to the television screen. The method for calculating the distance by stereo vision is described in, for example, the document “3D Vision” (Xu, Taku, Kyoritsu Shuppan (1998)).
[0067]
Thereafter, steps 201 to 206 are repeated until the detection operation of the television receiver is stopped (step 207).
[0068]
By providing the verification means 5 in this way, even when there are moving objects other than the television receiver screen and a plurality of quadrangles are detected, the television screen can be reliably identified, so that the detection accuracy of the television receiver is increased. can do.
[0069]
FIG. 5 is a block diagram showing a third embodiment of the present invention.
[0070]
In the third embodiment, a broadcast receiving unit is provided to receive the same broadcast channel as the detection target television receiver, and the television screen is displayed by collating the video data of the broadcast receiving unit with the image data of the imaging unit. Configure to discriminate.
[0071]
In FIG. 5, imaging means 1 such as a video camera for outputting captured image data, channel specifying means 6 for specifying a broadcast channel received by a television receiver to be detected, and broadcasting specified by the channel specifying means. Broadcast receiving means 7 for receiving a channel and checking means 8 for searching the television screen by checking the image data received by the broadcast receiving means 7 and the image data of the imaging means 1 are provided.
[0072]
Next, the operation will be described with reference to the flowchart shown in FIG.
[0073]
The imaging unit 1 sends the captured image data to the verification unit 8 (step 301).
[0074]
The channel specifying means 6 specifies the broadcast channel received by the detection target television receiver (step 302).
[0075]
Here, as a method for the channel specifying means 6 to specify a channel, a first example is a method of inquiring the user via an interface such as voice, text, GUI, or the like. The second example is a method of acquiring operation state information (information such as a broadcast channel being received) of the television receiver by communicating with the television receiver via the Internet, infrared rays, or other communication lines.
[0076]
The third example is a method in which the broadcast receiving means 7 sequentially receives a plurality of broadcast channels at a constant period and is specified by the collation result in the collation means 8. In the fourth example, the channel specifying means 6 is provided with a microphone, the broadcast receiving means 7 sequentially receives a plurality of broadcast channels at a constant period and outputs the TV audio signal, and the audio from the TV receiver acquired by the microphone is used. And the audio signal received by the broadcast receiving means 7 for identification.
[0077]
Note that the broadcast channel may be specified by combining the above-described methods.
[0078]
When the channel specifying means 6 can specify the reception channel of the television receiver (step 303), the broadcast receiving means 7 converts the video signal of the specified broadcast channel into image data and sends it to the collating means (step 304).
[0079]
The collating unit 8 calculates where the image received by the broadcast receiving unit 7 appears in the image captured by the imaging unit 1 and discriminates the television screen (step 305).
[0080]
A first example of the collating method in the collating means 8 is a method using a histogram of light and shade and color distribution.
[0081]
First, based on the image data of the broadcast receiving means 7, a histogram of shading or color distribution is created. Here, a vector representing a gray value or a color is x, and the frequency of the vector x is h (x).
[0082]
Further, the image picked up by the image pickup means 1 is divided into a plurality of small areas, and a grayscale or color distribution histogram is created for each small area. Here, a number is assigned to each small area, and a vector representing the gray value or color for the small area number n is x, and the frequency of the vector x is H (n, x).
[0083]
Then, a small area where the difference between h (x) and H (n, x) is minimized is detected as the position of the television screen.
[0084]
The second example is a method that focuses on the change in the image sequence.
[0085]
For example, it is compared whether or not a time-series change such as a histogram shown in the first example matches between a captured image and a received image, and a small region having the smallest difference is detected as a television position.
[0086]
For extracting time-series changes, for example, using the technique of scene analysis described in the literature “Computer Vision Technology Review and Future Prospects” Chapter 17 (Matsuyama et al., New Technology Communications (1998)) This can be realized by extracting the scene change time from each image to be verified and evaluating whether or not they match.
[0087]
Thereafter, steps 301 to 305 are repeated until the detection operation of the television receiver is stopped (step 306).
[0088]
By doing in this way, a television receiver can be detected by a method different from the first and second embodiments in which a quadrangle is detected based on inter-frame difference data.
[0089]
FIG. 7 is a block diagram showing a fourth embodiment of the present invention.
[0090]
The fourth embodiment has a configuration in which the second embodiment shown in FIG. 3 and the third embodiment shown in FIG. 5 are combined.
[0091]
The imaging unit 1, the memory 2, the inter-frame difference calculation unit 3, and the quadrangle detection unit 4 are the same as those in the second embodiment shown in FIG. 3, and are denoted by the same reference numerals.
[0092]
In FIG. 7, an imaging unit 1 such as a video camera that outputs captured image data, a memory 2 that temporarily stores image data output from the imaging unit 1, past image data stored in the memory 2, and current The inter-frame difference calculation means 3 for calculating the inter-frame difference from the image data and binarizing with a predetermined threshold and outputting the binarized inter-frame difference data, and the quadrangle based on the binarized inter-frame difference data A quadrangle detection unit 4 for detecting and a verification unit 9 for verifying the quality of the television screen for the quadrangle detected by the quadrangle detection unit 4 are provided.
[0093]
The verifying means 9 includes a channel specifying means 91 for specifying the broadcast channel received by the detection target television receiver, a broadcast receiving means 92 for receiving the broadcast channel specified by the channel specifying section, and the broadcast receiving means 92. And a collation means 93 for searching the television screen by collating the received image data, the image data of the imaging means 1 and the quadrangle detected by the quadrangle detection means 4.
[0094]
The imaging unit 1, the memory 2, the interframe difference calculation unit 3, and the quadrangle detection unit 4 are the same as those in the second embodiment shown in FIG. The channel specifying unit 91 and the broadcast receiving unit 92 of the verification unit 9 are the same as those in the third embodiment shown in FIG.
[0095]
Here, the verification unit 93 of the verification unit 9 will be described.
[0096]
The matching unit 93 converts the image data of the received video generated by the broadcast receiving unit into quadrilateral image data that is congruent with the quadrangle extracted by the quadrangle detection unit, and determines whether or not they are the same by performing image matching. Then, the quadrangle determined to be the same is determined as the television screen.
[0097]
As an image matching method, various methods such as extracting and comparing image features such as an absolute value of luminance value, color difference, sum of squares, and edge extraction can be used. Further, it may be realized by using an image matching method described in the document “Introduction to Computer Image Processing”, Chapter 5 (supervised by Tamura, Soken Publishing (1985)).
[0098]
FIG. 8 is a block diagram showing a fifth embodiment of the present invention.
[0099]
In the fifth embodiment, a remote operation means 10 such as a remote control capable of remotely controlling an operation such as switching of a reception channel of a television receiver is provided, and an image of the television screen is changed by forcibly changing the image of the television screen. Configure to handle cases where there is little change and sufficient difference cannot be obtained, when the broadcast channel being received cannot be specified, or when video images other than TV broadcasts are displayed on the screen .
[0100]
In FIG. 8, an imaging means 1 such as a video camera that outputs captured image data, a memory 2 that temporarily stores image data output from the imaging means 1, past image data stored in the memory 2, and current An inter-frame difference calculating means 3 for calculating an inter-frame difference from the image data and outputting the inter-frame difference data binarized by a predetermined threshold; and a remote operating means 10 for remotely operating the television receiver; And a change area detecting means 11 for calculating a change area of the image data in synchronization with the operation of the remote control means 10 and discriminating the television screen.
[0101]
Here, as the remote control means 10, for example, a remote control capable of operating a television receiver by transmitting an infrared signal, a device capable of operating the television receiver via a LAN, or a minute radio wave having the same frequency as the TV broadcast radio wave is used. It can be realized by a device that sends out and changes the television screen.
[0102]
Next, the operation of the fifth embodiment will be described with reference to the flowchart shown in FIG.
[0103]
First, the imaging unit 1 sends the captured image data to the inter-frame difference calculation unit 3 (step 401).
[0104]
The inter-frame difference calculating means 3 calculates the difference between the image data sent from the imaging means 1 and the past image data stored in the memory 2 to generate difference image data (step 402), and the imaging means The image data sent from 1 is stored in the memory 2 as past image data (step 403).
[0105]
The inter-frame difference calculation means 3 binarizes the difference image data with a predetermined threshold value to generate binary difference image data, and sends it to the change area detection means 11 (step 404).
[0106]
The remote control means 10 sends a remote control signal or the like for switching the reception channel of the television receiver to be inspected to another channel so as to cause a change in the image on the television screen (step 405).
[0107]
The change area detecting means 11 compares the binary difference image data before and after the change of the image on the television screen by the remote operation means 10, and determines that the difference area is the television screen, thereby determining the television receiver. Is detected (step 406).
[0108]
Thereafter, steps 401 to 406 are repeated until the detection operation of the television receiver is stopped (step 207).
[0109]
By doing this, when the image change on the TV screen is small and the difference cannot be obtained sufficiently, the broadcast channel being received cannot be specified, or the video image other than the TV broadcast is displayed on the screen. Even in such a case, it is possible to accurately determine the television receiver based on the captured image.
[0110]
【The invention's effect】
As described above, according to the present invention, a dedicated marker or a light emitter is provided on the detection target by determining the television screen based on the captured image using the fact that the image on the television screen changes with time. Further, without providing a laser measuring device in the robot, it is possible to accurately determine the television receiver based on the captured image and detect its position.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a first embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the first embodiment shown in FIG. 1;
FIG. 3 is a block diagram showing a second embodiment of the present invention.
4 is a flowchart for explaining the operation of the second embodiment shown in FIG. 3; FIG.
FIG. 5 is a block diagram showing a third embodiment of the present invention.
6 is a flowchart for explaining the operation of the third exemplary embodiment shown in FIG. 5;
FIG. 7 is a block diagram showing a fourth embodiment of the present invention.
FIG. 8 is a block diagram showing a fifth embodiment of the present invention.
FIG. 9 is a flowchart for explaining the operation of the fifth embodiment shown in FIG. 8;
FIG. 10 is a diagram illustrating a state in which a rectangular television screen is subjected to affine transformation.
[Explanation of symbols]
1 Imaging means
2 memory
3 Inter-frame difference calculation means
4 Rectangle detection means
5,9 Verification means
6,91 Channel identification means
7,92 Broadcast receiving means
8,93 matching means
10 Remote control means
11 Change area detection means

Claims (30)

Imaging means for outputting captured image data;
A memory for temporarily storing image data output from the imaging means;
The difference between the current image data and the past plural pieces of image data stored in the memory is obtained, and the difference between the binarized frames which are respectively binarized by a predetermined threshold is accumulated and outputted. Difference calculation means;
A television receiver detection apparatus comprising: quadrangle detection means for detecting a quadrangle based on the binarized inter-frame difference data.   2. The television receiver detection apparatus according to claim 1, wherein the quadrangle detection unit detects a quadrangle by extracting a line segment group corresponding to an edge based on the binarized inter-frame difference data.   2. The television receiver detection apparatus according to claim 1, wherein the quadrangle detection means detects a quadrangular connected area by searching for a connected area of pixels having the same value based on the binarized inter-frame difference data. Before SL TV detecting apparatus according to claim 3, wherein the verification means determines that a television screen largest of comparing the area for a plurality of rectangles detected by square detection means, and further comprising. Estimate the actual size won distance for a plurality of rectangles that have been detected by the previous SL rectangle detecting unit, a verification unit to which the size is verified whether it is appropriate as a television screen size, further comprising The television detection device according to claim 3 . A television receiver detection apparatus for detecting a television receiver by processing image data output from an imaging means,
An apparatus for detecting a television receiver, comprising: acquiring image data of a broadcast channel received by a television receiver; and comparing the image data captured by the imaging unit with a television screen. Imaging means for outputting captured image data;
Channel identification means for identifying a broadcast channel received by the television receiver;
Broadcast receiving means for receiving the broadcast channel specified by the channel specifying means;
A television receiver detection device comprising: collation means for collating image data received by the broadcast reception means and image data of the imaging means to search and determine a television screen. 8. The television receiver detection apparatus according to claim 7 , wherein the channel specifying means obtains a broadcast channel received by the television receiver by inquiring of a user via an interface such as a voice / text / GUI.   8. The television receiver detection apparatus according to claim 7, wherein the channel specifying unit acquires a broadcast channel received by the television receiver from the television receiver via a communication line. The channel specifying means is a broadcast received by the television receiver by searching the nearest image by comparing the image data obtained by sequentially switching the channel by the broadcast receiving means and the image data of the imaging means. television receiver detecting device according to claim 7, wherein the identifying a channel. The channel specifying means has a microphone for converting sound propagated from the television receiver into an electric signal, and an audio signal acquired by the microphone and an audio signal acquired by sequentially switching channels by the broadcast receiving means. 8. The television receiver detection apparatus according to claim 7 , wherein a broadcast channel received by the television receiver is specified by collating and searching for the nearest audio signal. The collating means divides the image data of the imaging means into a plurality of small areas, and discriminates a television image by collating the image data received by the broadcast receiving means with the image data of the small areas. The television receiver detection device according to claim 7 . Imaging means for outputting captured image data;
A memory for temporarily storing image data output from the imaging means;
The difference between the current image data and the past plural pieces of image data stored in the memory is obtained, and the difference between the binarized frames which are respectively binarized by a predetermined threshold is accumulated and outputted. Difference calculation means;
A quadrangle detection means for detecting a quadrangle based on the binary inter-frame difference data;
Channel identification means for identifying a broadcast channel received by the television receiver;
Broadcast receiving means for receiving the broadcast channel specified by the channel specifying means;
Collating means for searching and determining a television screen by converting the image data received by the broadcast receiving means into a congruent shape with the quadrangle detected by the quadrilateral detecting means and collating with the image data of the imaging means. A feature of a television receiver detection device. The comparison means, the television receiver detecting apparatus according to claim 7, 12 or 13, wherein the performing matching by extracting features of an image of the histogram such as the luminance value or color distribution. The comparison means, television of claim 7, 12 or 13, wherein the performing verification based on the difference time at which the time change occurs by extracting features of the image histogram or the like of the luminance value or color distribution Machine detection device. The television receiver detection device according to claim 7 , 12 or 13 , wherein the verification means performs verification using correlation between images. Imaging means for outputting captured image data;
A memory for temporarily storing image data output from the imaging means;
Remote control means for forcibly changing the image on the TV screen;
The difference between the current image data and the past plural pieces of image data stored in the memory is obtained, and the difference between the binarized frames which are respectively binarized by a predetermined threshold is accumulated and outputted. Difference calculation means;
A change area detecting means for determining the TV screen by comparing the binarized difference image data before and after the change of the image on the TV screen by the remote operation means and detecting the change area of the image data. A feature of a television receiver detection device. A television receiver detection method for detecting a television receiver by processing image data output from an imaging means,
Obtaining the difference between the current image data output from the imaging means and a plurality of past image data and binarizing and accumulating them according to a predetermined threshold value to obtain binary inter-frame difference data;
Features and to ruthenate Levi receiver detection method further comprising the steps of determining the television screen by detecting a rectangle on the basis of differential data between the binarized frame. 19. The television receiver detection method according to claim 18 , wherein the step of detecting the quadrangle detects a quadrangle by extracting a line segment group corresponding to an edge based on the binarized inter-frame difference data. 19. The method of detecting a television receiver according to claim 18 , wherein the step of detecting the quadrangle detects a quadrangle by searching for a connected region of pixels having the same value based on the binarized inter-frame difference data. TV detection method of claim 20, wherein the verification step, and further comprising to determine that a television screen largest of comparing the area for a plurality of rectangles that have been pre-Symbol detection. Claim estimate the actual size won distance for a plurality of rectangles that have been pre-Symbol detected, a verification step in which the size is verified whether it is appropriate as a television screen size, and further comprising 20 The television detection method as described. A television receiver detection method for detecting a television receiver by processing image data output from an imaging means,
Identifying the broadcast channel that the television set is receiving;
A television receiver detection method comprising: a collation step of collating image data of a specified broadcast channel with image data of the imaging unit to search and discriminate a television screen. 24. The television receiver detection broadcast according to claim 23, wherein the step of specifying the broadcast channel is obtained by inquiring of a user through an interface such as a voice / text / GUI. The method of detecting a television receiver according to claim 23, wherein the step of specifying the broadcast channel is acquired from the television receiver via a communication line. Identifying the broadcast channel according to claim 23, wherein identifying a broadcast channel by searching for the nearest image by matching the image data of the image pickup means and the image data of the broadcast channel identified The television receiver detection method as described. The step of specifying the broadcast channel is characterized in that the broadcast channel is specified by searching for the closest audio by comparing the audio signal propagating from the television receiver with the audio acquired by the microphone. The television receiver detection method according to claim 23 . The collating step divides the image data of the imaging means into a plurality of small areas, and discriminates a television image by collating the image data of the specified broadcast channel with the image data of the small area. The television receiver detection method according to claim 23 . A television receiver detection method for detecting a television receiver by processing image data output from an imaging means,
Obtaining the difference between the current image data output from the imaging means and a plurality of past image data and binarizing and accumulating them according to a predetermined threshold value to obtain binary inter-frame difference data;
Detecting a quadrangle based on the binarized inter-frame difference data;
Identifying the broadcast channel that the television set is receiving;
A collating step of searching and determining a television screen by converting image data of the specified broadcast channel into a congruent shape with the quadrangle detected by the quadrangle detecting unit and collating with the image data of the imaging unit. A method for detecting a television receiver. The matching step is claim 23 based on the feature of the image histogram or the like of the luminance value or color distribution on the basis of the difference between times of the time change occurs, also characterized in that for matching using correlation between images , 28 or 29 .

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