JP6100380B2 - 特に装置に係る視覚ベースの位置決めに使用される画像処理方法 - Google Patents
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Description
GV 重力ベクトル
IM 画像
OB オブジェクト
Claims (20)
- 特に装置に係る視覚ベースの位置決めに使用される画像処理方法であって、前記方法は、
少なくとも1つのオブジェクト若しくは前記少なくとも1つのオブジェクトの一部に係る少なくとも1つの画像を供給し、且つ前記画像に対応する座標系を供給するステップと、
前記座標系における少なくとも1つの自由度を供給するステップであって、前記少なくとも1つの自由度の少なくとも1つは信頼値に関連づけられる、ステップと、
前記少なくとも1つの自由度の少なくとも1つに関連づけられた信頼値に基づいて、前記少なくとも1つの自由度により、制約若しくはアラインされた、前記少なくとも1つの画像若しくは前記少なくとも1つの画像の一部に係る画像データを計算するステップと、
を具備することを特徴とする画像処理方法。 - 計算された前記画像データが、形態学的画像操作若しくは画像フィルタリングを含んでいる画像処理の結果である請求項1に記載の画像処理方法。
- 前記画像データの計算は、とりわけ、好ましくは高い信頼度を伴った自由度により制約若しくはアラインされ、又は前記画像若しくは前記画像をキャプチャするための装置に関連した、前記画像処理方法に使用されるデータを供給する、好ましくは高い信頼のあるセンサにより、制約若しくはアラインされる請求項2に記載の画像処理方法。
- 前記画像処理方法は、前記画像における重力配列勾配のフィルタリングを具備する画像勾配計算を含む請求項1乃至3のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、カーネルを伴う画像フィルタリングを具備する画像勾配計算を含み、前記カーネルが、前記画像の軸又は重力ベクトルにアラインされた請求項1乃至4のいずれか1項に記載の画像処理方法。
- 前記画像の画像面が、前記重力ベクトルとフロントパラレルである場合、同じ重力配列カーネルが、全体画像に応用される請求項5に記載の画像処理方法。
- 特に前記オブジェクトのデジタル表現に係る少なくとも1つの特徴を伴った前記少なくとも1つの画像における、前記オブジェクトの少なくとも1つの特徴をマッチングする、マッチング処理を更に含む請求項1乃至6のいずれか1項に記載の画像処理方法。
- 前記画像処理方法が、前記画像処理方法の結果に基づいた距離変換画像を作り出すために使用される請求項1乃至7のいずれか1項に記載の画像処理方法。
- 国際的に登録されたアルゴリズムを用いて異なる自由度を反復的に改良するステップを更に含み、該反復の質が、とりわけ距離変換画像を取り込むような、予め定義された費用関数により測定される、請求項1乃至8のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、前記少なくとも1つの画像をキャプチャするためのキャプチャ装置に関連した装置に対応して運用され、前記画像処理方法は、前記キャプチャ装置で前記少なくとも1つの画像をキャプチャするステップ及び前記キャプチャ装置に係る固有のパラメータの概算を供給するステップを更に具備する請求項1乃至9のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、前記少なくとも1つの画像をキャプチャするためのキャプチャ装置に関連した装置に対応して運用され、前記画像処理方法は、各個の信頼値を有する前記座標系に対応する、前記キャプチャ装置の異なる自由度の測定を供給する位置及び方向を供給することを更に具備する請求項1乃至10のいずれか1項に記載の画像処理方法。
- 重力配列座標系に付随した平面若しくは区分的に平面なオブジェクトに係る、前記画像垂直若しくは水平勾配に作り出させる若しくはフィルタリングさせるステップを更に含む請求項1乃至11のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、前記少なくとも1つの画像をキャプチャするためのキャプチャ装置に関連した装置に対応して運用され、前記画像処理方法は、前記キャプチャ装置で前記少なくとも1つの画像をキャプチャするステップ及び前記キャプチャ画像の動きの方向において前記画像を鮮明化するステップを更に具備する請求項1乃至12のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、前記少なくとも1つの画像をキャプチャするためのキャプチャ装置に関連した装置に対応して運用され、前記画像処理方法は、前記キャプチャ装置で前記少なくとも1つの画像をキャプチャするステップ及び前記座標系に対応した前記キャプチャ装置の位置に依存している画像フィルタに係るカーネルのサイズの適応のステップを更に具備する請求項1乃至13のいずれか1項に記載の画像処理方法。
- 1つ若しくは多数の自由度についての情報を供給する少なくとも1つのセンサを更に含み、前記少なくとも1つのセンサは、GPSセンサ、慣性センサ、加速度計、ジャイロスコープ、磁気探知器、オドメータ、特に回転エンコーダのような機械センサ、又は多数のセンサ及び/若しくは例えば測定アーム若しくはレーザトラッカーのようなトラッキングシステムの組み合わせから成る群から選択される請求項1乃至14のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、情報に係る少なくとも1つの画像処理、フィルタリング及び抽出、とりわけ、少なくとも1つの明暗度、勾配、導関数、エッジ、線、セグメント、角、機能、スムージング、ぶれ、変換、ノイズ除去、鮮明化、浸食及び拡張を実行、解析、抽出又は創出することを包含する請求項1乃至15のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、拡張現実アプリケーション若しくはロボットシステムナビゲーションにおけるオブジェクトに対応した、前記少なくとも1つの画像をキャプチャするためのキャプチャ装置に関連する装置の位置及び方向を決定するための方法である請求項1乃至16のいずれか1項に記載の画像処理方法。
- 前記画像処理方法は、カーネルを伴った画像フィルタリングを具備し、前記カーネルは、重力ベクトル及び該重力ベクトルを具備する自由度に係る信頼度に依存して計算される請求項1に記載の画像処理方法。
- 前記画像処理方法は、エッジ検出のためのガウシアンカーネルを具備するエッジ検出方法を含み、該カーネルが重力ベクトルに対応して方向調整され、同時に標準偏差が、前記重力ベクトルを具備する自由度に係る信頼度を使用して計算される請求項18に記載の画像処理方法。
- コンピュータプログラムであって、デジタルコンピュータシステムに、請求項1乃至19のいずれか1項に記載された方法を実行させるコンピュータプログラム。
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PCT/EP2012/069075 WO2014048475A1 (en) | 2012-09-27 | 2012-09-27 | Method of determining a position and orientation of a device associated with a capturing device for capturing at least one image |
PCT/EP2013/061592 WO2014048590A1 (en) | 2012-09-27 | 2013-06-05 | Image processing method, particularly used in a vision-based localization of a device |
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