WO2004102479A1 - 画像変換プログラム、画像変換方法、及びプログラムを担持した媒体 - Google Patents
画像変換プログラム、画像変換方法、及びプログラムを担持した媒体 Download PDFInfo
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- WO2004102479A1 WO2004102479A1 PCT/JP2004/006559 JP2004006559W WO2004102479A1 WO 2004102479 A1 WO2004102479 A1 WO 2004102479A1 JP 2004006559 W JP2004006559 W JP 2004006559W WO 2004102479 A1 WO2004102479 A1 WO 2004102479A1
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- 238000000034 method Methods 0.000 title claims description 32
- 238000006243 chemical reaction Methods 0.000 claims abstract description 34
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 238000013507 mapping Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000375392 Tana Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 210000001525 retina Anatomy 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
Definitions
- Image conversion program image conversion method, and medium carrying program
- the present invention relates to an image conversion program for converting an image of a toroidal coordinate system taken by an omnidirectional imaging means into an image of a two-dimensional orthogonal coordinate system constituting an image for display output on a screen or the like, and an image conversion program therefor. It relates to an image conversion method.
- an omnidirectional photographing apparatus such as a 360-degree camera capable of photographing the surrounding visual field
- An omnidirectional imaging device generally uses a hyperboloid mirror.
- the image captured by the omnidirectional imaging device having the hyperboloid mirror is an image in a ring coordinate system, and is not easy for the user to see. Therefore, it is necessary to convert an image of the annular coordinate system taken by this type of device into an image of the two-dimensional orthogonal coordinate system to make the image easy for the user to see.
- pixels of an image in an annular coordinate system captured by an omnidirectional imaging device are converted one-to-one into pixels of an image in a two-dimensional orthogonal coordinate system based on the slope of the hyperbola of the hyperboloid mirror.
- the omnidirectional photographing device to which this conversion method is applied is composed of a hyperboloid mirror arranged vertically downward as shown in Fig. 13 and a camera arranged vertically below it. You. In this omnidirectional imaging device, the focal point ⁇ of the hyperboloid mirror and the lens center ⁇ of the camera are respectively the two-lobe hyperboloid
- the focal point is located at (0,0, + c), (0,0, _c).
- the image plane xy of the 2D Cartesian coordinate system is parallel to the XY plane. f ⁇ 'away from the plane.
- the focal plane of the mirror surface, the focal point of the hyperboloid mirror ⁇ , and the lens center of the camera ⁇ are expressed by the following equations.
- the azimuth ⁇ and the dip e of the focal point of the hyperboloid mirror are determined by the camera
- mapping point p (x) By setting the lens center O to the other (outer surface) focal position of the hyperboloid mirror, the mapping point p (x
- the input image is obtained by rotating the camera placed at the focal point O of the hyperboloid mirror around the axis.
- Image (cylindrical omnidirectional image) or a camera positioned at the focal point of a hyperboloid mirror.
- Image image taken by a general camera.
- the image near the center of the two-dimensional rectangular coordinate is distorted in the right and left ends of the image as seen by human eyes.
- the above equations (2)-(4) show that the shape of the fisheye lens and hyperboloid mirror of the camera is the mathematical shape of the two-lobed hyperboloid (the surface obtained by rotating the hyperbola about the Z axis). It is a formula derived on the assumption that it is the same as, but it is difficult to match the physical shape of the fisheye lens of the camera and the hyperboloid mirror to the shape of the mathematical two-leaf hyperboloid.
- the pixels of the image of the annular coordinate system are located at the center of the ring. Since the number of pixels decreases as the distance approaches, the method of one-to-one conversion of the pixels of the image in the annular coordinate system to the pixels of the image in the two-dimensional orthogonal coordinate system as described above requires the two-dimensional orthogonal coordinate system. In the above image, a pixel corresponding to the central portion on the image of the annular coordinate system is missing.
- an image conversion program for converting an image in a circular coordinate system to an image in a two-dimensional rectangular coordinate system which can prevent pixels in a portion corresponding to the center of the image in the circular coordinate system from being lost;
- An object of the present invention is to provide an image conversion method. [0013]
- an image conversion program according to an aspect of the present invention provides an image conversion program for displaying and displaying an image of an annular coordinate system captured by an omnidirectional imaging device having a hyperboloid mirror on a screen or the like.
- a storage means for storing a determination result by the corresponding pixel determining means, and an image in an annular coordinate system based on the determination result stored in the storage means.
- the method according to an aspect of the present invention includes determining which pixel among the pixels constituting the image in the two-dimensional rectangular coordinate system corresponds to which pixel among the pixels constituting the image in the annular coordinate system. Making a determination, storing the result of the determination, and associating each pixel constituting the image of the annular coordinate system with each pixel constituting the image of the two-dimensional rectangular coordinate system based on the stored result of the determination. Converts an image in the annular coordinate system into an image in the two-dimensional orthogonal coordinate system.
- each pixel constituting an image in a two-dimensional orthogonal coordinate system is photographed by an omnidirectional photographing means having a hyperboloid mirror.
- a procedure for determining which pixel among the pixels constituting the image of the toric coordinate system corresponds to, a procedure for storing the result of the above determination, and a toroidal coordinate based on the stored determination result The procedure for converting the image in the annular coordinate system into the image in the two-dimensional rectangular coordinate system by associating each pixel constituting the image of the system with each pixel configuring the image in the two-dimensional rectangular coordinate system is executed by the processor. At least a program for causing the
- the image conversion from the circular coordinate system to the two-dimensional rectangular coordinate system is performed, so that one pixel constituting the image in the circular coordinate system can convert the image in the two-dimensional rectangular coordinate system.
- it may correspond to a plurality of constituent pixels, unlike the conventional case where pixels of an image in an annular coordinate system are converted one-to-one into pixels of an image in a two-dimensional orthogonal coordinate system, the It is possible to prevent the omission of pixels on the image of the two-dimensional orthogonal coordinate system due to the small number of pixels at the center of the system image.
- the arc tangent function is used to determine which pixel among the pixels constituting the image in the two-dimensional orthogonal coordinate system corresponds to each pixel constituting the image in the annular coordinate system.
- the subject is compressed in the vertical axis direction according to the heading force at the center of the circle, but as described above, the arc tangent
- the ring compressed in the vertical axis direction is obtained.
- An image in a coordinate system can be converted into an image in a two-dimensional orthogonal coordinate system (stretched in the vertical direction) similar to an image taken by a normal camera.
- FIG. 1 is a configuration diagram of an omnidirectional camera system including a personal computer equipped with a DSP board storing a pixel interpolation program and an omnidirectional camera according to an embodiment of the present invention.
- FIG. 2 is a configuration diagram of the DSP board.
- FIG. 3 A configuration diagram of a DSP main unit in FIG.
- FIG. 4 is a flowchart of image processing performed in the DSP board.
- FIG. 5 is a flowchart of image processing performed by a personal computer on image data transferred from the DSP board.
- FIG. 6 is a diagram showing a correspondence relationship between a line segment on a two-dimensional orthogonal coordinate system image and a line segment on a ring coordinate system image performed by the DSP board.
- FIG. 7 is an explanatory diagram of a process performed by the DSP board to obtain a pixel position on an image in an annular coordinate system corresponding to a pixel position on an image in a two-dimensional orthogonal coordinate system.
- FIG. 8 is a diagram showing a pixel position P on an image in a two-dimensional orthogonal coordinate system to be subjected to the above processing.
- FIG. 9 is a diagram showing a pixel position P ′ on an image in an annular coordinate system to be subjected to the above processing.
- FIG. 10 is a view showing an arc length s in an annular coordinate system obtained in the above processing.
- FIG. 11 is a diagram showing an image of a two-dimensional orthogonal coordinate system by a conventional image conversion method using a hyperboloid
- FIG. 12 is a diagram showing an image in a two-dimensional orthogonal coordinate system by the image conversion method according to the present embodiment.
- FIG. 13 is a diagram showing a positional relationship between a hyperboloid mirror and a camera lens center in an omnidirectional imaging apparatus to which a conventional image conversion method is applied.
- FIG. 14 is a diagram showing a method of obtaining a point P on an image plane of a two-dimensional orthogonal coordinate system corresponding to a point P in a three-dimensional space in the conventional omnidirectional imaging apparatus.
- the image conversion program according to the present embodiment is a program that can be used on a DSP (Digital Signal Processor) board mounted on a personal computer.
- Figure 1 shows an omnidirectional camera system consisting of a personal computer equipped with a DSP board storing these programs and an omnidirectional camera.
- the omnidirectional camera 3 (omnidirectional photographing means) constituting the camera system 1 is a camera capable of photographing a 360-degree surrounding field of view.
- the personal computer 2 includes a DSP board 4 for performing various image processing and the like on an image captured by the omnidirectional camera 3 and image data in the form of a compressed luminance signal output from the DSP board 4 as an RGB luminance signal.
- PC main unit 5 that converts image data into a format and outputs it to the monitor 5
- monitor 6 that displays image data in the format of RGB luminance signals output from the PC main unit 5.
- Input and output of data between the DSP board 4 and the personal computer main unit 5 are performed via a PCI (Peripheral Component Interconnect) bus 7.
- PCI Peripheral Component Interconnect
- the FPGA 12 converts the image data in the format of the luminance signal Y and the color signals Cb and Cr input from the omnidirectional camera 3 into a 32-bit compressed luminance signal YC (4 : It can be converted to image data of 4: 4) format, and DSP unit 11 and PC unit 5 This is a circuit for performing processing such as mediation of a command between the two.
- a local bus 18 is used for input and output of data between circuits in the DSP board 4, and a PCI bus is used for input and output of data such as images between the DSP board 4 and the PC main unit 5. 7 is used.
- the DSP main unit 11 is a CPU 21 that performs various arithmetic processing such as control of the entire device and FIR filter processing, a program RAM 22 that stores various programs, and data that stores various data including a table for image conversion.
- RAM 23 storage means
- a referral 24 having various input / output devices for inputting / outputting data to / from an external device such as the personal computer main unit 5.
- the CPU 21 also functions as a corresponding pixel determination unit and a conversion unit in the claims.
- the program RAM 22 stores an image conversion program for converting an image of the annular coordinate system taken by the omnidirectional camera 3 into an image of the two-dimensional rectangular coordinate system, and an image taken by the omnidirectional camera 3.
- a pixel interpolation program for interpolating the pixel to be processed is stored.
- the program RAM 22 corresponds to a “medium readable by the processor 1 carrying a program for controlling the processor 1” in the claims.
- Image data captured by the omnidirectional camera 3 is separated into a luminance signal Y and a chrominance signal C (Cr and Cb) and sent to the FPGA 12 on the DSP board 4 side.
- the FPGA 12 converts the received luminance signal Y and the color signal Cr, Cb format image data to the ratio of the luminance signal Y, the color signal Cr, and the color signal Cb in order to improve the efficiency of image processing by the DSP 11. It is converted to the 32-bit compressed luminance signal YC (4: 4: 4) format of 4: 4: 4 and set in the FIFO 14 (Sl).
- the DSP unit 11 Upon detecting that the image data has been stored in the FIF # 14, the DSP unit 11 transfers the image data in the compressed luminance signal format from the FIF014 to the SDRAM M16 for the input image (S2), and transmits the compressed luminance signal.
- the image data of the format is converted from the image of the annular coordinate system to the image of the two-dimensional orthogonal coordinate system by the image conversion program (S3). Then, when performing the so-called panning process on the image after the conversion, a pixel interpolation program is used to interpolate the pixels in the image (S4).
- Pixel correction in this interpolation process is In consideration of the human visual sensitivity, this is performed only for the luminance signal Y in the compressed luminance signal YC (4: 4: 4), but not for the color signals Cr and Cb.
- the DSP main body 11 transfers the interpolated image data to the personal computer main body 5 via the FIF015 and the PCI bus 7 (S5). Then, the DSP body 11 and the FPGA 12 repeat the processing of S1 to S5 until the input of the image signal from the omnidirectional camera 3 is completed (N ⁇ in S6).
- the personal computer body unit 5 Upon receiving the compressed brightness signal YC (4: 4: 4) format image data transferred from the DSP body 11 in the DSP board 4, the personal computer body unit 5 converts the received image data into RGB format image data. (SI 1), and display the converted image data on the screen of the monitor 6 (S12). Then, the processing of S11 and S12 is repeated until the reception of the image data transmitted from the DSP main body 11 is completed (NO in S13).
- the degree of compression is represented by a function, and the correspondence between each line segment on the image of the above annular coordinate system and each line segment on the image of the two-dimensional orthogonal coordinate system is used. As a result, the amount of calculation can be reduced.
- each line segment on the image of the above annular coordinate system and each line segment on the image of the two-dimensional orthogonal coordinate system will be specifically described.
- the position (x, y.) Of each pixel on the image of the ring coordinate system corresponding to each pixel position (X, y) on the image of the three-dimensional orthogonal coordinate system is obtained.
- a three-dimensional map that enters the human visual field is developed on a two-dimensional orthogonal coordinate axis on the retina. Therefore, first, a subject on an image in a two-dimensional orthogonal coordinate system is considered, and which pixel on the image in the annular coordinate system corresponds to each pixel of the subject is determined. At this time, assuming that the viewpoint motion of the human eye moves parallel to the earth in the horizontal axis direction, each pixel on the image in the two-dimensional orthogonal coordinate system is Consider whether it corresponds to.
- the pixel position P on the image 32 of the two-dimensional orthogonal coordinate system 31 corresponds to the pixel position P ′ on the image 34 of the ring coordinate system 33.
- the opening angle ⁇ of the pixel position P (x, y) with respect to the middle point n (corresponding to points A and C in FIG. 8) of the subject 36 in the X-axis direction is obtained.
- the pixel at the pixel position P (x, y) on the two-dimensional rectangular coordinate system 31 is the ring shown in FIG.
- the position to be mapped on the coordinate system 33 is calculated as follows.
- each pixel constituting the image of the annular coordinate system 33 is converted to correspond to each pixel constituting the image of the two-dimensional orthogonal coordinate system 31.
- one pixel constituting the image of the annular coordinate system 33 is divided into a plurality of pixels constituting the image of the two-dimensional rectangular coordinate system 31.
- the annular coordinate system It is possible to prevent missing pixels in the image of the two-dimensional orthogonal coordinate system 31 due to a small number of pixels at the center of the image 33. Also, as in the past, based on the slope of the hyperboloid of the hyperboloid mirror (assuming that the shape of the camera's fisheye lens and the hyperboloid mirror is the same as the mathematical shape of the bilobal hyperboloid), the circular coordinate system is used.
- the time required for the image conversion processing is greatly reduced by avoiding the operations of Arctan, sin, and cos in the image conversion processing using a table of trigonometric function values.
- This table is stored in the data RAM 23 in the DSP 11.
- This table is composed of integer-type data, and is compatible with high-speed arithmetic processing and ASIC conversion algorithms.
- comparing the processing speed when the multiplication and addition that occur in the process of image conversion and pixel interpolation is a real-type operation and the processing speed when the multiplication and addition are an integer-type operation, it is overwhelmingly an integer-type operation. If the processing speed is faster. Therefore, as described above, the processing time can be reduced by calculating the entire mathematical expression including Arctan, sin, and cos using the table constituted by the integer data.
- the above table is generally created when the omnidirectional camera system 1 is initialized, but it is not always necessary to create the table on an actual device. In other words, the table may be created on another device and registered as a file in this system. Further, even if the parameters of R and 1 are changed by changing the lens of the omnidirectional camera 3, it is possible to cope only by changing the table.
- the image conversion program and the image conversion method of the present embodiment For example, it is determined which pixel force S constitutes the image of the two-dimensional rectangular coordinate system 31 and which pixel corresponds to each pixel constituting the image of the annular coordinate system 33, and the circle is determined based on the determination result.
- Each pixel constituting the image of the ring coordinate system 33 is converted so as to correspond to each pixel constituting the image of the two-dimensional orthogonal coordinate system 31.
- the image is converted to the two-dimensional rectangular coordinate system 31 based on the ring coordinate system 33, so that one pixel constituting the image of the annular coordinate system 33 can be converted to the two-dimensional rectangular coordinate system 31.
- the pixel of the image in the toric coordinate system 33 is converted to the pixel of the image in the two-dimensional orthogonal coordinate system 31 on a one-to-one basis as in the past, even though it may correspond to multiple pixels constituting the image of Unlike this, it is possible to prevent missing pixels on the image of the two-dimensional orthogonal coordinate system 31 due to a small number of pixels at the center on the image of the annular coordinate system 33.
- the present invention is not limited to the above embodiment, and various modifications are possible.
- the power of executing the image conversion program by the DSP main unit 11 The processor for executing these programs is not limited to this, and may be, for example, a personal computer main unit.
- the data stored in the trigonometric function value table in the data RAM 23 is not limited to the integer type, but may be a real type.
- each image constituting an image in a two-dimensional rectangular coordinate system is The element determines which pixel among the pixels constituting the image of the annular coordinate system corresponds to each pixel, and based on the result of determination, assigns each pixel constituting the image of the annular coordinate system to the two-dimensional rectangular coordinate system. Is converted in correspondence with each of the pixels constituting the image. As a result, it is possible to eliminate the distortion of the left and right images at the right and left ends when the image in the ring coordinate system is converted into the image in the two-dimensional orthogonal coordinate system based on the hyperbolic inclination of the hyperboloid mirror as in the related art.
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JP2021067995A (ja) * | 2019-10-18 | 2021-04-30 | 日本電信電話株式会社 | 位置検出システム、位置検出装置、位置検出方法、及びプログラム |
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JP2001333303A (ja) * | 2000-05-23 | 2001-11-30 | Sharp Corp | 全方位視覚システム |
JP2001331789A (ja) * | 2000-05-23 | 2001-11-30 | Sharp Corp | 移動体の周囲監視システム |
JP2002036954A (ja) * | 2000-05-18 | 2002-02-06 | Suekage Sangyo Kk | 車両周辺監視装置および車両周辺監視システム |
JP2002203237A (ja) * | 2000-08-30 | 2002-07-19 | Usc Corp | 曲面像変換方法及びこの曲面像変換方法を記録した記録媒体 |
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JPH10308650A (ja) * | 1997-05-08 | 1998-11-17 | Sony Corp | フィルタ設計方法およびディジタルフィルタ |
JP2001352230A (ja) * | 2000-06-07 | 2001-12-21 | Sony Corp | Firフィルタおよびその係数の設定方法 |
JP2002101296A (ja) * | 2000-09-21 | 2002-04-05 | Sony Corp | 画像処理方法及び画像処理装置 |
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JP2002036954A (ja) * | 2000-05-18 | 2002-02-06 | Suekage Sangyo Kk | 車両周辺監視装置および車両周辺監視システム |
JP2001333303A (ja) * | 2000-05-23 | 2001-11-30 | Sharp Corp | 全方位視覚システム |
JP2001331789A (ja) * | 2000-05-23 | 2001-11-30 | Sharp Corp | 移動体の周囲監視システム |
JP2002203237A (ja) * | 2000-08-30 | 2002-07-19 | Usc Corp | 曲面像変換方法及びこの曲面像変換方法を記録した記録媒体 |
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JP2021067995A (ja) * | 2019-10-18 | 2021-04-30 | 日本電信電話株式会社 | 位置検出システム、位置検出装置、位置検出方法、及びプログラム |
JP7333559B2 (ja) | 2019-10-18 | 2023-08-25 | 日本電信電話株式会社 | 位置検出システム、位置検出装置、位置検出方法、及びプログラム |
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