JPH05101221A - Image distortion corrector - Google Patents

Image distortion corrector

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Publication number
JPH05101221A
JPH05101221A JP3258164A JP25816491A JPH05101221A JP H05101221 A JPH05101221 A JP H05101221A JP 3258164 A JP3258164 A JP 3258164A JP 25816491 A JP25816491 A JP 25816491A JP H05101221 A JPH05101221 A JP H05101221A
Authority
JP
Japan
Prior art keywords
dimensional
image data
coordinates
address
calculation means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP3258164A
Other languages
Japanese (ja)
Inventor
Kazumasa Miyamoto
一正 宮本
Yoshihiro Furuyui
義浩 古結
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
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Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP3258164A priority Critical patent/JPH05101221A/en
Publication of JPH05101221A publication Critical patent/JPH05101221A/en
Pending legal-status Critical Current

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  • Image Processing (AREA)

Abstract

PURPOSE:To correct the perspective distortions of images that are caused in the case where the images are obliquely photographed at the front of them. CONSTITUTION:An orthogonal grating is applied onto a plane where a photographing subject exists, and the three-dimensionalspace coordinates of each lattice point are obtained at a three-dimensional coordinate computing part 1 and then orthogonally converted into the image pickup system fixed coordinates at a three-dimensional coordinate converting part 2. Furthermore the fixed coordinates are projectively converted into a two-dimensional. plane at a two-dimensional discrete coordinate calculation part 3. Thus the coordinates of a picture element is turned into an integer. Then an offset calculation is applied to the coordinates of the picture element through an address calculation part 4 so that the coordinates correspond to the address of a storage 5 storing an original image. An access is applied to the original image data through an address shown by the result of the offset calculation. Then the original image data undergo the two-dimensional interpolation through a two-dimensional interpolation calculation part 6 based on the weight coefficient which is decided by the remainder obtained through the preceding conversion of the coordinetes into an integer. The address of a storage 8 where the interpolation value is stored is decided by applying the offset calculation to the orthogonal lattice coordinates through an address calculation part 7.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】本発明は、車両番号読取装置な
ど、撮像した画像から画像処理により文字を認識するも
のに用いて好適な画像歪補正装置に係り、特に斜め前方
より撮像されることにより生ずる画像遠近歪みを補正す
るための画像歪補正装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image distortion correction device suitable for use in a device for recognizing a character from a picked-up image by image processing, such as a vehicle number reading device, and more particularly, by taking an image from an oblique front side. The present invention relates to an image distortion correction device for correcting generated image perspective distortion.

【０００２】[0002]

【従来の技術】一般に、車両番号読取装置など、撮像し
た画像から画像処理により文字を認識するものにおいて
は、斜め前方より撮像されることにより生ずる画像遠近
歪みを補正することが、正しい画像認識（文字認識）の
ために要求されている。2. Description of the Related Art Generally, in a vehicle number reading device or the like for recognizing a character from an imaged image by image processing, it is necessary to correct an image perspective distortion caused by being imaged obliquely from the front. Character recognition).

【０００３】さて従来は、歪補正される画像の座標
（ｘ，ｙ）に対応するデータ値は、次式 Ｘ＝ａｘ2 ＋ｂｘｙ＋ｃｙ2 ＋ｄｘ＋ｅｙ＋ｇ Ｙ＝ａ′ｘ2 ＋ｂ′ｘｙ＋ｃ′ｙ2 ＋ｄ′ｘ＋ｅ′ｙ＋ｇ に従って計算される座標（Ｘ，Ｙ）に対応する原画像の
データを用いて補間していた。Conventionally, the data value corresponding to the coordinates (x, y) of the image whose distortion is corrected is expressed by the following equation: X = ax 2 + Bxy + cy 2 + Dx + ey + g Y = a'x 2 + B'xy + c'y 2 The interpolation is performed using the data of the original image corresponding to the coordinates (X, Y) calculated according to + d'x + e'y + g.

【０００４】[0004]

【発明が解決しようとする課題】上述した従来の歪補正
では、撮像する対象が平面的である場合には、上記の変
換式は近似式であり、遠近歪の完全な補正はできなかっ
た。また、パラメータａ〜ｇ，ａ′〜ｇ′をチューニン
グする際に誤差評価が複雑であるという欠点があった。In the above-described conventional distortion correction, when the object to be imaged is planar, the above conversion formula is an approximate formula and complete correction of perspective distortion cannot be performed. Further, there is a drawback that the error evaluation is complicated when tuning the parameters a to g and a'to g '.

【０００５】本発明は上記の点に鑑みてなされたもので
その目的は、撮像対象が存在する平面に直交格子を導入
し、各格子点を撮像面に射影し、そこでの原画像の輝度
値を格子点の輝度値とすることにより、各格子点での画
像が得られ、格子が直交していることにより遠近歪が補
正できる画像歪補正装置を提供することにある。The present invention has been made in view of the above points, and an object thereof is to introduce an orthogonal grid into a plane where an object to be imaged is present, project each grid point onto an image pickup surface, and the luminance value of an original image there. It is an object of the present invention to provide an image distortion correction device that can obtain an image at each grid point by setting the brightness value of the grid point, and can correct perspective distortion due to orthogonal grids.

【０００６】[0006]

【課題を解決するための手段】本発明の画像歪補正装置
は、２次元平面の格子点を表わす２つの独立なパラメー
タ（ｍ，ｎ）により格子点の３次元座標（Ｘ，Ｙ，Ｚ）
を算出する３次元座標演算手段と、この３次元座標
（Ｘ，Ｙ，Ｚ）を直交変換して別の３次元座標系での座
標（ｘ，ｙ，ｚ）を算出する３次元座標変換手段と、こ
の３次元座標（ｘ，ｙ，ｚ）を２次元平面に射影し、２
次元平面上の座標を離散化して、画素の位置を表示する
整数部（ＩＸ，ＩＹ）と残りの小数部（ｆx ，ｆy ）を
算出する２次元離散座標計算手段と、原画像データを格
納するための第１の画像データ記憶手段と、上記算出さ
れた整数部（ＩＸ，ＩＹ）に各々オフセットを与えるこ
とにより、第１の画像データ記憶手段のアドレス（ＩＸ
Ａ，ＩＹＡ）を算出する第１のアドレス計算手段と、こ
の算出されたアドレス（ＩＸＡ，ＩＹＡ）で指定される
第１の画像データ記憶手段の画像データ値、アドレス
（ＩＸＡ，ＩＹＡ＋１），（ＩＸＡ＋１，ＩＹＡ），
（ＩＸＡ＋１，ＩＹＡ＋１）でそれぞれ指定される第１
の画像データ記憶手段の各画像データ値に対し、２次元
離散座標計算手段で算出された小数部（ｆx ，ｆy ）に
より決定される重み付け係数を用いて歪補正された画像
データ値（補間値）を求める２次元補間計算手段と、こ
こで求められた補間値を格納するための第２の画像デー
タ記憶手段と、上記パラメータ（ｍ，ｎ）に各々オフセ
ットを与えることにより、２次元補間計算手段により求
められた補間値を第２の画像データ記憶手段に格納する
ためのアドレス（ｍＡ，ｎＡ）を算出する第２のアドレ
ス計算手段とを設け、この第２の画像データ記憶手段の
アドレス（ｍＡ，ｎＡ）に上記補間値を格納するように
したたことを特徴とする。The apparatus for correcting image distortion of the present invention uses three independent parameters (m, n) representing a grid point on a two-dimensional plane to form three-dimensional coordinates (X, Y, Z) of the grid point.
And three-dimensional coordinate conversion means for orthogonally transforming the three-dimensional coordinates (X, Y, Z) to calculate coordinates (x, y, z) in another three-dimensional coordinate system. And project these three-dimensional coordinates (x, y, z) onto a two-dimensional plane,
And discretizing the coordinates on dimension plane, the integer unit for displaying the position of a pixel (IX, IY) and the rest of the fraction (f x, f y) and two-dimensional discrete coordinate calculating means for calculating, and the original image data The first image data storage means for storing and the calculated integer part (IX, IY) are respectively offset to give an address (IX of the first image data storage means.
A, IYA) for calculating the first address calculation means, and the image data value of the first image data storage means designated by the calculated address (IXA, IYA), addresses (IXA, IYA + 1), (IXA + 1) , IYA),
First designated by (IXA + 1, IYA + 1)
For each image data value in the image data storage means, the image data value (interpolation corrected by using the weighting coefficient determined by the decimal part (f x , f y ) calculated by the two-dimensional discrete coordinate calculation means (interpolation). 2D interpolation calculation means for obtaining a value), second image data storage means for storing the interpolation value obtained here, and two-dimensional interpolation by giving an offset to each of the parameters (m, n). A second address calculation means for calculating an address (mA, nA) for storing the interpolation value obtained by the calculation means in the second image data storage means is provided, and the address of the second image data storage means is provided. It is characterized in that the interpolation value is stored in (mA, nA).

【０００７】[0007]

【作用】上記の構成では、３次元空間内の２次元平面が
直交格子で記述され、各格子点の３次元空間座標（Ｘ，
Ｙ，Ｚ）が求められる。この空間座標（Ｘ，Ｙ，Ｚ）
は、撮像系固定座標（ｘ，ｙ，ｚ）に直交変換される。
撮像は３次元空間を２次元平面に射影することに対応す
るので、射影変換を施し、画素の座標を整数化（ＩＸ，
ＩＹ）する。整数化の際の余り（ｆx ，ｆy ）は２次元
補間の重み係数として用いられる。In the above configuration, the two-dimensional plane in the three-dimensional space is described by the orthogonal grid, and the three-dimensional space coordinates (X,
Y, Z) is required. This spatial coordinate (X, Y, Z)
Are orthogonally transformed into fixed coordinates (x, y, z) of the imaging system.
Since imaging corresponds to projecting a three-dimensional space onto a two-dimensional plane, projective transformation is performed to convert the pixel coordinates into integers (IX,
IY) Remainder when the integer (f x, f y) is used as the weighting coefficient for two-dimensional interpolation.

【０００８】また上記の構成では、画素の座標を原画像
が格納されている画像データ記憶装置＃１（第１の画像
データ記憶手段）のアドレスに対応させるためにオフセ
ットが与えられる。これにより原画像データがアクセス
される。この原画像データは重み係数により２次元補間
され、その補間されたデータ（補間値）を格納する画像
データ記憶装置＃２（第２の画像データ記憶手段）のア
ドレスが、直交格子座標にオフセットを加えることによ
り算出される。Further, in the above arrangement, an offset is given so that the coordinates of the pixel correspond to the address of the image data storage device # 1 (first image data storage means) in which the original image is stored. As a result, the original image data is accessed. This original image data is two-dimensionally interpolated by a weighting coefficient, and the address of the image data storage device # 2 (second image data storage means) for storing the interpolated data (interpolation value) has an offset in the orthogonal grid coordinates. It is calculated by adding.

【０００９】[0009]

【実施例】以下、本発明の一実施例を、車両番号読取装
置などに適用され、特に斜め前方より撮像されることに
より生ずる画像遠近歪みを補正するための画像歪補正装
置に実施した場合について図面を参照して説明する。図
１は本発明の一実施例に係る画像歪補正装置の全体構成
を示すブロック図、図２は同実施例で適用される複数の
座標系相互の関係を示す図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, one embodiment of the present invention will be applied to a vehicle number reading device and the like, and in particular, will be applied to an image distortion correcting device for correcting image perspective distortion caused by being imaged obliquely from the front. A description will be given with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of an image distortion correction device according to an embodiment of the present invention, and FIG. 2 is a diagram showing the relationship between a plurality of coordinate systems applied in the same embodiment.

【００１０】図１において、１は３次元座標演算部であ
る。この３次元座標演算部１には、図２に示す３次元空
間内の２次元平面Ｚ＝ｐＸ＋ｑＹ＋ｒ上の各格子点の座
標（ｍ，ｎ）が順次入力される。３次元座標演算部１
は、この格子点座標（ｍ，ｎ）に対し次式In FIG. 1, reference numeral 1 is a three-dimensional coordinate calculation unit. The coordinates (m, n) of each lattice point on the two-dimensional plane Z = pX + qY + r in the three-dimensional space shown in FIG. 2 are sequentially input to the three-dimensional coordinate calculation unit 1. Three-dimensional coordinate calculation unit 1
Is the following formula for this grid point coordinate (m, n)

【００１１】[0011]

【数１】 [Equation 1]

【００１２】でもって、その点（ｍ，ｎ）の３次元座標
（Ｘ，Ｙ，Ｚ）を算出する。上記（１）式におけるベク
トル（ΔＸ′，ΔＹ′），（ΔＸ″，ΔＹ″）は、２次
元平面Ｚ＝ｐＸ＋ｑＹ＋ｒ上で直交格子になるように決
定し、例えばｐ＝ｑ＝０の場合は（ΔＸ，０），（０，
ΔＹ）と選べばよい。Therefore, the three-dimensional coordinates (X, Y, Z) of the point (m, n) are calculated. The vectors (ΔX ′, ΔY ′) and (ΔX ″, ΔY ″) in the above equation (1) are determined so as to form an orthogonal grid on the two-dimensional plane Z = pX + qY + r. For example, when p = q = 0, (ΔX, 0), (0,
You can choose ΔY).

【００１３】３次元座標演算部１によって上記（１）式
に従って算出された３次元座標（Ｘ，Ｙ，Ｚ）は３次元
座標変換部２に渡される。３次元座標変換部２は、３次
元座標（Ｘ，Ｙ，Ｚ）から撮像系に固定した座標（ｘ，
ｙ，ｚ）への変換を行うもので、具体的には次式The three-dimensional coordinates (X, Y, Z) calculated by the three-dimensional coordinate calculation unit 1 according to the above equation (1) are passed to the three-dimensional coordinate conversion unit 2. The three-dimensional coordinate conversion unit 2 converts the three-dimensional coordinates (X, Y, Z) to the coordinates (x,
y, z), specifically, the following equation

【００１４】[0014]

【数２】 を用いて、３次元座標（Ｘ，Ｙ，Ｚ）を撮像系固定座標
（ｘ，ｙ，ｚ）に直交変換する。ここで、上記（２）式
におけるｆijは直交変換の成分である。[Equation 2] Is used to orthogonally transform the three-dimensional coordinates (X, Y, Z) into the imaging system fixed coordinates (x, y, z). Here, f ij in the above equation (2) is a component of orthogonal transformation.

【００１５】３次元座標変換部２の座標変換結果（ｘ，
ｙ，ｚ）は２次元離散座標計算部３に渡される。２次元
離散座標計算部３は、撮像系固定座標（ｘ，ｙ，ｚ）を
撮像平面に射影して、画素座標を算出するものであり、
具体的には次式 ＩＸ＝ｇx ・（ｆ11Ｘ＋ｆ12Ｙ＋ｆ13Ｚ）／（ｆ31Ｘ＋ｆ32Ｙ＋ｆ33Ｚ） ＩＹ＝ｇY ・（ｆ21Ｘ＋ｆ22Ｙ＋ｆ23Ｚ）／（ｆ31Ｘ＋ｆ32Ｙ＋ｆ33Ｚ） …（３） を用いて、画素座標の整数部（ＩＸ，ＩＹ）を求める。
ここで、上記（３）式におけるｇx ，ｇy は視野角を画
素数に変換するスケール・ファクターである。また２次
元離散座標計算部３は、上記（３）式に従って画素座標
を求めて整数化する際に、その小数部（ｆx ，ｆy ）も
算出する。The coordinate conversion result of the three-dimensional coordinate conversion unit 2 (x,
y, z) is passed to the two-dimensional discrete coordinate calculation unit 3. The two-dimensional discrete coordinate calculation unit 3 is for calculating pixel coordinates by projecting the fixed coordinates (x, y, z) of the imaging system onto the imaging plane.
Specifically, the following equation IX = g x · (f 11 X + f 12 Y + f 13 Z) / (f 31 X + f 32 Y + f 33 Z) IY = g Y · (f 21 X + f 22 Y + f 23 Z) / (f 31 X + f 32 Y + f 33 Z) (3) is used to find the integer part (IX, IY) of the pixel coordinates.
Here, g x and g y in the above equation (3) are scale factors for converting the viewing angle into the number of pixels. The two-dimensional discrete coordinate calculation unit 3 also calculates the fractional part (f x , f y ) when obtaining the pixel coordinates according to the above equation (3) and converting them into integers.

【００１６】２次元離散座標計算部３によって算出され
た画素の撮像平面上の座標（ＩＸ，ＩＹ）は第１のアド
レス計算部（＃１）４に渡される。アドレス計算部４
は、歪補正の対象となる原画像が格納される第１の画像
データ記憶装置（＃１）５のアドレス（ＩＸＡ，ＩＹ
Ａ）を、２次元離散座標計算部３から渡された画素の座
標（ＩＸ，ＩＹ）をもとに算出するもので、具体的には
（ＩＸ，ＩＹ）にオフセット（ＩＳＸ，ＩＳＹ）を与
え、次式 ＩＸＡ＝ＩＸ＋ＩＳＸ ＩＹＡ＝ＩＹ＋ＩＳＹ …（４） に従うオフセット計算により求める。ここで、画像デー
タ記憶装置５には上記したように原画像（原画像デー
タ）が格納されており、そのアドレス（ＩＸＡ，ＩＹ
Ａ）には、Ｏ（ＩＸＡ，ＩＹＡ）の輝度データがある。The coordinates (IX, IY) on the image pickup plane of the pixel calculated by the two-dimensional discrete coordinate calculation unit 3 are passed to the first address calculation unit (# 1) 4. Address calculator 4
Is the address (IXA, IY) of the first image data storage device (# 1) 5 in which the original image to be the distortion correction target is stored.
A) is calculated based on the pixel coordinates (IX, IY) passed from the two-dimensional discrete coordinate calculation unit 3. Specifically, offset (ISX, ISY) is given to (IX, IY). , IXA = IX + ISX IYA = IY + ISY (4) Here, the original image (original image data) is stored in the image data storage device 5 as described above, and its address (IXA, IY
A) has luminance data of O (IXA, IYA).

【００１７】一方、２次元離散座標計算部３によって算
出された画素の撮像平面上の座標の小数部（ｆx ，
ｆy ）は２次元補間計算部６に渡される。この２次元補
間計算部６は、アドレス計算部４によって算出されたア
ドレス（ＩＸＡ，ＩＹＡ）で指定される画像データ記憶
装置５の画像データＯ（ＩＸＡ，ＩＹＡ）と２次元離散
座標計算部３から渡された（ｆx ，ｆy ）をもとに、次
のようにして原画像データの補間値（補正値）Ｎを算出
するものである。On the other hand, the fractional part (f x , of the coordinates of the pixel on the imaging plane calculated by the two-dimensional discrete coordinate calculation unit 3)
f y ) is passed to the two-dimensional interpolation calculation unit 6. The two-dimensional interpolation calculation unit 6 receives from the image data O (IXA, IYA) of the image data storage device 5 specified by the address (IXA, IYA) calculated by the address calculation unit 4 and the two-dimensional discrete coordinate calculation unit 3. passed (f x, f y) based on, and calculates the in the following interpolated values of the original image data (correction value) N.

【００１８】即ち２次元補間計算部６は、アドレス計算
部４により算出されたアドレス（ＩＸＡ，ＩＹＡ）で指
定される画像データ記憶装置５の画像データＯ（ＩＸ
Ａ，ＩＹＡ）、及びその近傍の画像データ（輝度デー
タ）、例えばアドレス（ＩＸＡ，ＩＹＡ＋１），（ＩＸ
Ａ＋１，ＩＹＡ），（ＩＸＡ＋１，ＩＹＡ＋１）でそれ
ぞれ指定される画像データ記憶装置５の画像データＯ
（ＩＸＡ，ＩＹＡ＋１），Ｏ（ＩＸＡ＋１，ＩＹＡ），
Ｏ（ＩＸＡ＋１，ＩＹＡ＋１）に対して、２次元離散座
標計算部３から渡された（ｆx ，ｆy ）により決定され
る重み付け係数（１−ｆx ）・（１−ｆy ），（１−ｆ
x ）・ｆy ，ｆx ・（１−ｆy ），ｆx ・ｆyを用い、
次式 Ｎ＝（１−ｆx ）・（１−ｆy ）・Ｏ（ＩＸＡ，ＩＹＡ） ＋（１−ｆx ）・ｆy ・Ｏ（ＩＸＡ，ＩＹＡ＋１） ＋ｆx ・（１−ｆy ）・Ｏ（ＩＸＡ＋１，ＩＹＡ） ＋ｆx ・ｆy ・Ｏ（ＩＸＡ＋１，ＩＹＡ＋１） …（５） に従い、補間値Ｎを算出する。That is, the two-dimensional interpolation calculation unit 6 is arranged so that the image data O (IX) of the image data storage device 5 designated by the address (IXA, IYA) calculated by the address calculation unit 4 is specified.
A, IYA) and image data (luminance data) in the vicinity thereof, for example, addresses (IXA, IYA + 1), (IX
A + 1, IYA), image data O of the image data storage device 5 designated by (IXA + 1, IYA + 1), respectively.
(IXA, IYA + 1), O (IXA + 1, IYA),
O (IXA + 1, IYA + 1) with respect to, passed from the two-dimensional discrete coordinate calculation section 3 (f x, f y) weighting factor (1-f x) determined by · (1-f y), (1 -F
x) · f y, f x · (1-f y), the f x · f y used,
Equation N = (1-f x) · (1-f y) · O (IXA, IYA) + (1-f x) · f y · O (IXA, IYA + 1) + f x · (1-f y) · according O (IXA + 1, IYA) + f x · f y · O (IXA + 1, IYA + 1) ... (5), calculates the interpolated values N.

【００１９】２次元補間計算部６によって算出された補
間値Ｎは、画像データ記憶装置（＃２）８のアドレス
（ｍＡ，ｎＡ）に格納されるようになっている。この補
間値Ｎの格納先アドレス（ｍＡ，ｎＡ）は、前記格子点
座標（ｍ，ｎ）をもとにアドレス計算部（＃２）７によ
って次のように算出される。The interpolation value N calculated by the two-dimensional interpolation calculator 6 is stored in the address (mA, nA) of the image data storage device (# 2) 8. The storage destination address (mA, nA) of the interpolation value N is calculated by the address calculation unit (# 2) 7 as follows based on the grid point coordinates (m, n).

【００２０】即ちアドレス計算部７には、前記格子点座
標（ｍ，ｎ）が入力されるようになっており、アドレス
計算部７は、この格子点座標（ｍ，ｎ）にオフセット
（ＩＳｍ，ＩＳｎ）を与え、次式 ｍＡ＝ｍ＋ＩＳｍ ｎＡ＝ｎ＋ＩＳｎ …（６） に従うオフセット計算により求める。このアドレス計算
部７によって求められたアドレス（ｍＡ，ｎＡ）で指定
される画像データ記憶装置８に、２次元補間計算部６に
よって求められた補間値（歪補正された画像データの輝
度値）Ｎが格納される。That is, the grid point coordinates (m, n) are input to the address calculation unit 7, and the address calculation unit 7 offsets (ISm, n) to the grid point coordinates (m, n). ISn) is given and the offset is calculated according to the following equation: mA = m + ISm nA = n + ISn (6). In the image data storage device 8 designated by the address (mA, nA) obtained by the address calculation unit 7, the interpolation value (luminance value of the distortion-corrected image data) N obtained by the two-dimensional interpolation calculation unit 6 Is stored.

【００２１】以上の操作が、図２に示す３次元空間内の
２次元平面Ｚ＝ｐＸ＋ｑＹ＋ｒ上の各格子点（ｍ，ｎ）
について行われることで、画像データ記憶装置８内に歪
みのない画像を得ることができる。The above operation is performed at each lattice point (m, n) on the two-dimensional plane Z = pX + qY + r in the three-dimensional space shown in FIG.
With respect to the above, it is possible to obtain an image without distortion in the image data storage device 8.

【００２２】[0022]

【発明の効果】以上詳述したように本発明によれば、一
般に平面的なものを斜め方向より撮像すると遠近歪が生
じ、手前のものが大きく、遠くのものが小さく写るのに
対し、撮像系と目標との相対位置関係がわかっている場
合に、目標平面上に直交格子系を導入し、目標平面上の
各格子点に対して、射影幾何的に対応する撮像画像の画
素の輝度値をその格子点の輝度とする構成としたので、
直交格子点上に画像が再生されたことになり、格子系が
直交していることから、歪のない画像を得ることができ
る。As described above in detail, according to the present invention, when a flat object is imaged in an oblique direction, perspective distortion occurs, and a large object in the front and a small object in the distant object are imaged. When the relative positional relationship between the system and the target is known, an orthogonal grid system is introduced on the target plane, and the brightness values of the pixels of the captured image that projectively correspond to each grid point on the target plane. Is the brightness of the grid point,
Since the image is reproduced on the orthogonal grid points and the grid system is orthogonal, an image without distortion can be obtained.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明の一実施例に係る画像歪補正装置の全体
構成を示すブロック図。FIG. 1 is a block diagram showing the overall configuration of an image distortion correction device according to an embodiment of the present invention.

【図２】同実施例で適用される複数の座標系相互の関係
を示す図である。FIG. 2 is a diagram showing a mutual relationship between a plurality of coordinate systems applied in the embodiment.

【符号の説明】[Explanation of symbols]

１…３次元座標演算部、２…３次元座標変換部、３…２
次元離散座標計算部、４…アドレス計算部（第１のアド
レス計算手段）、５…画像データ記憶装置（第１の画像
データ記憶手段）、６…２次元補間計算部、７…アドレ
ス計算部（第２のアドレス計算手段）、８…画像データ
記憶装置（第２の画像データ記憶手段）。1 ... 3D coordinate calculation unit, 2 ... 3D coordinate conversion unit, 3 ... 2
Dimensional discrete coordinate calculation unit, 4 ... Address calculation unit (first address calculation unit), 5 ... Image data storage device (first image data storage unit), 6 ... Two-dimensional interpolation calculation unit, 7 ... Address calculation unit ( Second address calculation means), 8 ... Image data storage device (second image data storage means).

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 ３次元空間に埋め込まれた２次元空間上
の直交格子点の３次元座標を２つの独立なパラメータで
算出する３次元座標演算手段と、 この３次元座標演算手段の算出結果を別の３次元空間の
座標に変換する３次元座標変換手段と、 この３次元座標変換手段の変換結果を２次元平面に射影
し、２次元平面上の座標を離散化し、２つの整数と残り
の小数を算出する２次元離散座標計算手段と、 原画像データを格納するための第１の画像データ記憶手
段と、 上記２次元離散座標計算手段によって算出された２つの
整数に各々オフセットを与えて、上記第１の画像データ
記憶手段内のアドレスを算出する第１のアドレス計算手
段と、 この第１のアドレス計算手段によって算出されたアドレ
スで指定される上記第１の画像データ記憶手段の画像デ
ータ値と上記２次元離散座標計算手段によって算出され
た小数をもとに歪補正された画像データ値を求める２次
元補間計算手段と、 この２次元補間計算手段で求められた画像データ値を格
納するための第２の画像データ記憶手段と、 上記３次元座標演算手段で用いられた上記２つの独立な
パラメータに各々オフセットを与えることにより、上記
２次元補間計算手段で求められた歪補正された画像デー
タ値が格納される第２の画像データ記憶手段のアドレス
を算出する第２のアドレス計算手段とを具備することを
特徴とする画像歪補正装置。1. A three-dimensional coordinate calculation means for calculating three-dimensional coordinates of an orthogonal grid point in a two-dimensional space embedded in a three-dimensional space with two independent parameters, and a calculation result of the three-dimensional coordinate calculation means. Three-dimensional coordinate conversion means for converting the coordinates into another three-dimensional space, and the conversion result of the three-dimensional coordinate conversion means is projected onto a two-dimensional plane to discretize the coordinates on the two-dimensional plane, and two integers and the remaining Two-dimensional discrete coordinate calculation means for calculating a decimal point, first image data storage means for storing original image data, and offsets are given to the two integers calculated by the two-dimensional discrete coordinate calculation means. A first address calculation means for calculating an address in the first image data storage means, and a first image data storage means specified by the address calculated by the first address calculation means. A two-dimensional interpolation calculation means for obtaining a distortion-corrected image data value based on an image data value and a decimal number calculated by the two-dimensional discrete coordinate calculation means, and an image data value obtained by the two-dimensional interpolation calculation means Distortion correction calculated by the two-dimensional interpolation calculation means is performed by giving an offset to each of the two independent parameters used by the second image data storage means for storing and the three-dimensional coordinate calculation means. An image distortion correction device, comprising: second address calculation means for calculating an address of the second image data storage means for storing the image data value.
JP3258164A 1991-10-04 1991-10-04 Image distortion corrector Pending JPH05101221A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3258164A JPH05101221A (en) 1991-10-04 1991-10-04 Image distortion corrector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3258164A JPH05101221A (en) 1991-10-04 1991-10-04 Image distortion corrector

Publications (1)

Publication Number Publication Date
JPH05101221A true JPH05101221A (en) 1993-04-23

Family

ID=17316423

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3258164A Pending JPH05101221A (en) 1991-10-04 1991-10-04 Image distortion corrector

Country Status (1)

Country Link
JP (1) JPH05101221A (en)

Cited By (9)

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Publication number Priority date Publication date Assignee Title
JP2000092480A (en) * 1998-09-16 2000-03-31 Atlus Co Ltd Image print supply device
US6449004B1 (en) 1996-04-23 2002-09-10 Minolta Co., Ltd. Electronic camera with oblique view correction
JP2005122323A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, image processor, and image processing method and program for photographing device
JP2005122327A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, and its image processing method and program
JP2005122320A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, and its image processing method and program
JP2005202865A (en) * 2004-01-19 2005-07-28 Ryoei Engineering Kk Developing method of tooth face oblique image
US7268803B1 (en) 1999-08-26 2007-09-11 Ricoh Company, Ltd. Image processing method and apparatus, digital camera, image processing system and computer readable medium
US7619663B2 (en) 2004-03-19 2009-11-17 Casio Computer Co., Ltd. Image processing apparatus for correcting distortion of image and image shooting apparatus for correcting distortion of shot image
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6449004B1 (en) 1996-04-23 2002-09-10 Minolta Co., Ltd. Electronic camera with oblique view correction
JP2000092480A (en) * 1998-09-16 2000-03-31 Atlus Co Ltd Image print supply device
US7268803B1 (en) 1999-08-26 2007-09-11 Ricoh Company, Ltd. Image processing method and apparatus, digital camera, image processing system and computer readable medium
JP2005122327A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, and its image processing method and program
JP2005122320A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, and its image processing method and program
JP2005122323A (en) * 2003-10-14 2005-05-12 Casio Comput Co Ltd Photographing apparatus, image processor, and image processing method and program for photographing device
US7486310B2 (en) 2003-10-14 2009-02-03 Casio Computer Co., Ltd. Imaging apparatus and image processing method therefor
US7607783B2 (en) 2003-10-14 2009-10-27 Casio Computer Co., Ltd. Imaging apparatus, image processing apparatus, image processing method of imaging apparatus and computer program
JP2005202865A (en) * 2004-01-19 2005-07-28 Ryoei Engineering Kk Developing method of tooth face oblique image
JP4484200B2 (en) * 2004-01-19 2010-06-16 菱栄エンジニアリング株式会社 Development method of tooth surface perspective image
US7619663B2 (en) 2004-03-19 2009-11-17 Casio Computer Co., Ltd. Image processing apparatus for correcting distortion of image and image shooting apparatus for correcting distortion of shot image
JP2012105246A (en) * 2010-11-09 2012-05-31 Avisonic Technology Corp Image correction method and related image correction system
US9153014B2 (en) 2010-11-09 2015-10-06 Avisonic Technology Corporation Image correction method and related image correction system thereof

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