WO2015136709A1 - 画像処理装置、画像センサ、画像処理方法 - Google Patents
画像処理装置、画像センサ、画像処理方法 Download PDFInfo
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- WO2015136709A1 WO2015136709A1 PCT/JP2014/056998 JP2014056998W WO2015136709A1 WO 2015136709 A1 WO2015136709 A1 WO 2015136709A1 JP 2014056998 W JP2014056998 W JP 2014056998W WO 2015136709 A1 WO2015136709 A1 WO 2015136709A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/751—Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
- G06V30/10—Character recognition
- G06V30/24—Character recognition characterised by the processing or recognition method
- G06V30/248—Character recognition characterised by the processing or recognition method involving plural approaches, e.g. verification by template match; Resolving confusion among similar patterns, e.g. "O" versus "Q"
- G06V30/2504—Coarse or fine approaches, e.g. resolution of ambiguities or multiscale approaches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Definitions
- a model template is generated by reducing the model image to reduce processing time, use memory capacity, accuracy, etc., and the input image is reduced to the same reduction ratio.
- search processing is performed (Patent Document 1). This method is particularly effective when the registration model is large. For example, the reduction rate may be determined so that the number of feature points included in the model becomes a predetermined number, or may be determined so that the area of the registration region becomes a predetermined size.
- the preprocessing such as the reduction process of the input image is made common and the implementation is performed. By reducing the number of times, the processing speed is increased.
- an image processing apparatus is an image processing apparatus that identifies or recognizes a plurality of models from an input image, and stores a model template obtained by reducing the model image for the plurality of models.
- a model template obtained by reducing a model image at the same reduction ratio is stored in the storage unit, and for the at least two models, processing by the reduction unit Are shared.
- the image reduction process is a process for the entire image, it is a process with a relatively large amount of calculation. In particular, the amount of calculation increases as the resolution of the input image increases. In the present invention, it is possible to reduce the total amount of calculation by making the model reduction rate the same and sharing the image reduction process for the models with the same reduction rate. In addition to the image reduction process, when a smoothing process, a feature amount calculation process, or the like is performed as a pre-process, these processes can be performed in common.
- An image processing apparatus includes a model image input unit that receives input of model images for a plurality of models, a temporary reduction rate determination unit that determines a provisional reduction rate for each of the plurality of model images, and the plurality of models Based on the provisional reduction rate of the image, a reduction rate determination unit that determines a reduction rate of each model image, and generates a model template by reducing each of the plurality of model images at a corresponding reduction rate, It is also preferable to further include a model template generation unit that associates and stores the model template in the storage unit.
- the provisional reduction ratio determination unit preferably determines a suitable reduction ratio as the provisional reduction ratio in light of a predetermined standard for each model image.
- the higher the reduction ratio the faster the processing can be achieved.
- the reduction ratio is too high, the accuracy of identification or recognition is reduced. Therefore, an appropriate reduction ratio considering the trade-off between processing speed and accuracy exists for each model image.
- the provisional reduction ratio is a preferable reduction ratio in this sense.
- the provisional reduction ratio can be determined according to a standard such that the number of feature points included in the model is a predetermined number or a standard that the area of the model image is a predetermined size. it can.
- the reduction rate determination unit can group the plurality of model images so that the variation in the temporary reduction rate within the group is equal to or less than a predetermined threshold, and can determine the reduction rate for each group.
- the variation in the provisional reduction ratio within the group can be represented by, for example, the standard deviation or variance of the provisional reduction ratio.
- This grouping process (clustering process) can be performed using an arbitrary clustering algorithm such as the k-means method.
- this grouping process may be a process of performing grouping by brute force and finding a classification that satisfies the above criteria.
- the reduction ratio applied to the model images in each group can be determined as, for example, the average value, median value, or mode value of the provisional reduction ratios of the model images in the group.
- the reduction ratio determination unit stores a plurality of predetermined reduction ratios, and among the plurality of predetermined reduction ratios, the reduction ratio corresponding to the provisional reduction ratio of the model image is determined as the model image. Can be determined as the reduction ratio.
- the reduction rate corresponding to the temporary reduction rate is preferably set to a reduction rate closest to the temporary reduction rate among a plurality of predetermined reduction rates.
- the standard of proximity can be set as appropriate, and for example, a simple difference or a square difference can be adopted.
- the reduction ratio corresponding to the provisional reduction ratio is preferably set to a minimum reduction ratio equal to or higher than the provisional reduction ratio or a maximum reduction ratio equal to or lower than the provisional reduction ratio among a plurality of predetermined reduction ratios.
- the present invention can be understood as an image processing apparatus having at least a part of the above configuration.
- the present invention can also be understood as an image sensor having a camera for photographing an object and an image processing device.
- the present invention can also be understood as an image processing apparatus for generating a model template. That is, one aspect of the present invention is an image processing apparatus that generates a model template for a plurality of models, a model image input unit that receives model images for a plurality of models, and provisional reduction for each of the plurality of model images
- Each of the plurality of model images corresponds to a provisional reduction rate determination unit that determines a rate, a reduction rate determination unit that determines a reduction rate of each model image based on the provisional reduction rate of the plurality of model images, and It has a model template generation unit that generates a model template by reducing with a reduction rate, and an output unit that outputs the generated model template together with a corresponding reduction rate.
- an actual reduction ratio determination method can employ a method based on grouping based on a provisional reduction ratio or a method of selecting a corresponding reduction ratio from predetermined reduction ratios.
- the present invention can also be understood as an image processing method including at least a part of the above processing, or a program for causing a computer to execute such a method, or a computer-readable recording medium in which the program is temporarily stored. it can.
- an image processing method including at least a part of the above processing, or a program for causing a computer to execute such a method, or a computer-readable recording medium in which the program is temporarily stored. it can.
- a plurality of models can be identified or recognized from the input image at high speed.
- the figure which shows the whole structure of an image sensor The figure which shows the hardware constitutions of an image sensor.
- the flowchart which shows the detail of the search process in step S101 of FIG. The figure explaining the effect of the search process by this embodiment.
- the present invention relates to an image identification technique for extracting an image that best matches an input image from a plurality of registered images (model images) registered in advance by template matching when an input image is given. is there.
- This technology can be applied to object discrimination in an image sensor for FA, computer vision, machine vision, and the like, or a similar image search for detecting an image similar to a query image from a group of images in an image database.
- the present invention is implemented in an FA image sensor that detects and discriminates each workpiece in a mixed flow line in which a plurality of types of workpieces flow. An example will be described.
- the image sensor 1 is a system that is installed in a production line or the like and performs type discrimination of the workpiece 2 using an input image obtained by imaging a product (work 2).
- the image sensor 1 can be mounted with various image processing functions as necessary, such as edge detection, scratch / dirt detection, and area / length / centroid measurement.
- a PLC (Programmable Logic Controller) 4 is a device that controls a manufacturing apparatus (not shown) such as the image sensor 1, the conveyor 3, and a robot.
- the image sensor 1 generally includes a camera 11 and an image processing device 10.
- the camera 11 is a device for capturing the image of the workpiece 2 into the image processing apparatus 10, and for example, a CMOS (Complementary Metal-Oxide-Semiconductor) camera or a CCD (Charge-Coupled Device) camera can be suitably used.
- the format of the input image (resolution, color / monochrome, still image / moving image, gradation, data format, etc.) is arbitrary, and may be appropriately selected according to the type of workpiece 2 and the purpose of sensing.
- a special image such as an X-ray image or a thermo image
- a camera that matches the image may be used.
- the camera interface 116 is a part that mediates data transmission between the CPU 110 and the camera 11, and has an image buffer 116 a for temporarily storing image data from the camera 11.
- the input interface 118 mediates data transmission between the CPU 110 and an input unit (mouse 13, keyboard, touch panel, jog controller, etc.).
- the display controller 120 is connected to a display 12 such as a liquid crystal monitor, and controls display on the display 12.
- the PLC interface 122 mediates data transmission between the CPU 110 and the PLC 4.
- the communication interface 124 mediates data transmission between the CPU 110 and a console (or a personal computer or a server device).
- the data reader / writer 126 mediates data transmission between the CPU 110 and the memory card 14 as a storage medium.
- FIG. 3 shows a functional configuration related to type discrimination (object discrimination) provided by the image processing apparatus.
- the image processing apparatus 10 includes an image input unit 130, a search unit 131, a storage unit 137, an identification unit 138, an output unit 139, a model image input unit 140, and a model template generation unit 141 as functions related to type discrimination. . These functional blocks are realized by the CPU 110 of the image processing apparatus 10 executing a computer program.
- the storage unit 137 stores the model template generated by the model template generation unit 141.
- the model template is generated by subjecting the model image input from the model image input unit 140 to image reduction processing at a predetermined reduction rate and extracting a feature amount from the reduced image.
- a coarse / fine search (pyramid search) is performed, a plurality of model templates having a reduction ratio increased stepwise for one model image are generated and stored.
- the lowest reduction ratio among the reduction ratios when generating the model template is referred to as the reduction ratio of the model template.
- the image processing apparatus 10 captures the image of the workpiece 2 flowing on the conveyor 3 and executes an “operation mode” in which processing such as search (collation) and type determination of the workpiece 2 is performed, and prior to the operation mode, the image processing apparatus 10 It has a “registration mode” for registering models. The user can arbitrarily switch the mode.
- the model template 137a in the storage unit 137 is generated by the model template generation unit 141 in the registration mode.
- the image input unit 130 captures an image from the camera 11 (step S100).
- the search part 131 detects each workpiece
- the search unit 131 acquires the reduction rate 137b of the model template 137a stored in the storage unit 137, and repeatedly executes the processes of steps S201 to S203 below for each reduction rate.
- the processing in steps S201 to S203 is preprocessing for search processing.
- step S201 the image reduction unit 132 performs an image reduction process with the same reduction rate as the reduction rate of the model template on the input image.
- step S202 the smoothing processing unit 133 applies a smoothing filter to the reduced image to remove noise.
- step S203 the luminance gradient image generation unit 134 generates a luminance gradient image from the smoothed image.
- the luminance gradient image generation unit 134 extracts feature points such as edges and corners from the luminance gradient image based on the luminance gradient.
- the processing from image reduction to luminance gradient image generation is executed a plurality of times with the reduction rate being increased stepwise.
- steps S204 to S206 is processing for actually searching for a model from the input image, and is repeatedly executed for each of a plurality of models.
- the coarse / fine search unit 135 searches for a model using the coarse / fine search method. That is, first, a low-resolution image is roughly searched, a rough position is specified, and then detailed positioning is performed using the high-resolution image. Any number of hierarchies may be used in the coarse / fine search. According to such a density search, positioning can be performed with high speed and high accuracy.
- the neighborhood exclusion unit 136 performs neighborhood exclusion processing. In the search process of step S204, a plurality of detection candidates may appear as a result of the search.
- step S206 the search unit 131 outputs the position of the model in the input image obtained in this way. With the above processing, the positions of all models registered in the storage unit 137 are searched from the input image.
- the type of each workpiece can be determined by repeating the processing in step S102 for all the workpieces detected in step S101.
- the determination result is output to the display 12 or the PLC 4 by the output unit 139 (step S103).
- step S301 an input of a model image to be registered is received from the model image input unit 140.
- the model image input unit 140 captures, as a model image, an image of a region portion designated by the user from images of a plurality of types of objects (models) photographed by the camera 11 under the same conditions as in operation.
- the temporary reduction rate determination unit 141a of the model template generation unit 141 obtains a suitable reduction rate (provisional reduction rate) for each model image. If the reduction ratio is increased, the processing speed can be increased, but the identification accuracy is lowered. On the other hand, if the reduction ratio is lowered, the identification accuracy is improved, but the effect of increasing the processing speed is limited. Therefore, the provisional reduction rate determination unit 141a obtains a reduction rate appropriate for the model image in accordance with a predetermined standard in consideration of a trade-off between speed and accuracy.
- the provisional reduction ratio determination unit 141a may determine the provisional reduction ratio so that the number of feature amounts included in the model becomes a predetermined number, or provisionally so that the area of the registration area of the model becomes a predetermined size.
- the reduction rate may be determined.
- the provisional reduction rate obtained in this manner is different for each model.
- the model template generation unit 141 sorts a plurality of models so that the provisional reduction ratios are in ascending order (S401). Then, the variable G representing the group number is initialized to 1 (S402). The following steps S403 to S408 are repeatedly executed for a plurality of models. At this time, processing is performed in order from a model with a small provisional reduction ratio.
- the model having the smallest provisional reduction rate is added to the group G (S403), and the standard deviation of the provisional reduction rate is calculated for the added group (S404). If the calculated standard deviation is within the threshold (S405—YES), the addition of the model to the group G is permitted. That is, if the variation in the temporary reduction ratio is within an allowable range, the addition of the model to the group G is permitted. On the other hand, if the standard deviation calculated in step S404 is larger than the threshold value (S405-NO), the model is deleted from the group G without allowing the model to be added to the group G (S406). This model will be included in the new group. That is, the variable G representing the group number is incremented by 1 (S407), and this model is added to the group G (after update) (S408).
- the grouping process of FIG. 8 will be described as an example.
- the respective provisional reduction ratios are A: 0.3, B: 0.33, C: 0.42, D: 0.65, E: 0, 67, F. : 0.71, G: 0.75.
- the standard deviation threshold is set to 0.05.
- model A with the smallest provisional reduction ratio is added to group 1.
- the standard deviation of the provisional reduction ratio in group 1 when model B is added to group 1 is calculated. As shown in FIG. 9A, since this standard deviation is 0.021 and is within the threshold value, it can be determined that the model B may be included in the group 1.
- the standard deviation of the provisional reduction ratio in group 1 when model C is added to group 1 is calculated. As shown in FIG. 9B, this standard deviation is 0.062, which exceeds the threshold value. Therefore, it is determined that the model C is not included in the group 1.
- Group 1 is determined to include only model A and model B, and model C is included in the new group 2.
- the standard deviation of the provisional reduction ratio in group 2 when model D is added to group 2 is calculated.
- this standard deviation is 0.16, which exceeds the threshold value, so that it is determined that the model D is not included in the group 2. That is, the group 2 is determined to include only the model C, and the model D is included in the new group 3. Thereafter, in the same manner as described above, a model with a small provisional reduction ratio is added to the group in order, and it is determined whether or not the standard deviation of the provisional reduction ratio within the group is within a threshold.
- group 3 is determined as including models D, E, F, and G.
- the seven models A to G are grouped into three groups (A, B), (C), (D, E, F, G).
- processing is performed in order from a model with a small provisional reduction ratio, but processing may be performed in order from a model with a large provisional reduction ratio. Alternatively, the processing may be started from the largest and smallest provisional reduction ratios.
- the method is not particularly limited as long as it is grouped so that the standard deviation of the provisional reduction rate within the group is within the threshold value. Further, although the standard deviation is adopted as a measure of variation, variance may be adopted, or a difference between the maximum value and the minimum value may be adopted.
- step S305 the model template generation unit 141 generates a model template for each model by reducing the model image at the representative reduction rate of the group to which the model belongs.
- a brightness gradient image is generated from the reduced model image as the model template, and the feature value is calculated and used as the model template.
- a model template is generated based on a model image obtained by reducing the model image at a reduction rate higher than the representative reduction rate.
- step S306 the model template generation unit 141 outputs the generated model template to the storage unit 137 together with the reduction ratio. Thereby, the model template 137a and the reduction ratio 137b are stored in the storage unit 137 in association with each other.
- the reduction ratios of a plurality of models can be made the same within a range in which deviation from the optimum reduction ratio (provisional reduction ratio) for each model is allowable.
- the above registration process may be executed again.
- an image before reduction is required for all model images. Therefore, in order to be able to add a model image later, it is preferable to save the model image before reduction after the registration process.
- Model registration processing can also be realized by methods other than those described above.
- a modification of the model registration process a plurality of predetermined reduction ratios are stored, and any one of the predetermined reduction ratios is determined based on the temporary reduction ratio of the model. , Can be determined as the reduction rate of the model.
- the model registration process according to this example will be described with reference to FIG.
- the reduction ratio determining unit 141b determines a reduction ratio closest to the provisional reduction ratio among a plurality of predetermined reduction ratios as the reduction ratio of the model image. For example, it is assumed that a plurality of predetermined reduction ratios are (1.0, 0.707, 0.5, 0.354, 0.25). In such a case, if the temporary reduction ratio is 0.3, 0.25 is selected as the actual reduction ratio. Similarly, the reduction ratio 0.354 is selected for the temporary reduction ratios 0.33 and 0.42, and the reduction ratio 0 is set for the temporary reduction ratios 0.65, 0.67, 0.71, and 0.75. .707 is selected.
- the reduction ratio determination process can be obtained by the following condition judgment.
- r represents the provisional reduction ratio
- step S404 the model template generation unit 141 generates a model template by reducing the model image at the determined reduction rate.
- the model template generation unit 141 outputs the generated model template to the storage unit 137 together with the reduction ratio.
- the reduction ratios of a plurality of models can be made the same within a range in which deviation from the optimum reduction ratio (provisional reduction ratio) for each model is allowable.
- provisional reduction ratio provisional reduction ratio
- a model closest to the provisional reduction ratio among a plurality of predetermined reduction ratios is determined as the model reduction ratio.
- a simple difference is used as the distance measure. For example, even if a reduction ratio closest to the provisional reduction ratio is selected based on an arbitrary distance measure such as a square difference, a logarithmic difference, or a square root difference. Good. Moreover, you may make it select other than the nearest reduction rate. For example, the smallest reduction ratio greater than or equal to the provisional reduction ratio may be determined as the model reduction ratio, or the largest reduction ratio less than or equal to the provisional reduction ratio may be determined as the model reduction ratio. .
- the reduction ratio is determined to be a geometric sequence (common ratio 0.707), but it is not necessarily required to be a geometric sequence.
- the configuration of the above-described embodiment is merely a specific example of the present invention, and is not intended to limit the scope of the present invention.
- the present invention can take various specific configurations without departing from the technical idea thereof.
- an example in which the present invention is applied to an object discrimination apparatus that discriminates a plurality of similar object types has been described, but the scope of application of the present invention is not limited to this.
- the present invention is applicable to any image processing apparatus that identifies or recognizes a plurality of models from an input image, and the plurality of models do not need to be similar.
- the present invention does not limit a specific method of template matching.
- identification may be performed based on feature amounts such as edges, corners, luminance gradient directions, luminance gradient direction histograms, or identification may be performed using pixel values themselves such as luminance and color.
- any algorithm for speeding up such as coarse / fine search can be used.
- the present invention can be applied to any of existing methods of template matching. Although it is necessary to change the model template creation process according to the template matching to be employed, those methods can be easily understood by those skilled in the art.
- the model template is created in the image processing apparatus that performs the identification process.
- the apparatus that creates the model template and the apparatus that uses the created model template may be different. Absent.
- the present invention can be regarded as an image identification device (image processing device) for identifying an image using a model template obtained by reducing a model image at the same reduction ratio for at least two models, It can also be regarded as a model template creation device (image processing device) that creates a model template by reducing the model image at the same reduction ratio for at least two models.
- the present invention performs template matching on an image recognition apparatus that registers an abnormal state as a model image and inspects an object, or on a specific area of an input image without performing a search. Or an image recognition apparatus that performs template matching on the entire input image having the same size as the model image.
Abstract
Description
図1を参照して、本発明の実施形態に係る画像センサの全体構成および適用場面について説明する。
画像センサ1は、生産ラインなどに設置され、製造物(ワーク2)を撮像することで得られる入力画像を用いてワーク2の種類判別などを行うシステムである。なお、画像センサ1には、種類判別のほかにも、エッジ検出、キズ・汚れ検出、面積・長さ・重心の計測など、必要に応じて様々な画像処理機能を実装可能である。
図2を参照して、画像センサ1のハードウェア構成を説明する。画像センサ1は、概略、カメラ11と画像処理装置10から構成される。
図3に、画像処理装置が提供する種類判別(物体判別)にかかわる機能構成を示す。画像処理装置10は、種類判別にかかわる機能として、画像入力部130、探索部131、記憶部137、識別部138、出力部139、モデル画像入力部140、モデルテンプレート生成部141を有している。これらの機能ブロックは、画像処理装置10のCPU110がコンピュータプログラムを実行することにより実現される。
画像処理装置10は、コンベヤ3上を流れるワーク2の画像を取り込み、ワーク2の探索(照合)や種類判別などの処理を実行する「稼働モード」と、稼働モードに先立ち、画像処理装置10に対してモデルの登録を行う「登録モード」とを有している。モードの切り替えはユーザが任意に行うことができる。記憶部137内のモデルテンプレート137aは、登録モードにおいてモデルテンプレート生成部141によって生成される。
図4のフローチャートに沿って、稼働モードにおける各機能ブロックの動作、および、種類判別処理の全体の流れについて説明する。
すると、従来手法では、モデルごとに探索処理を全て実行する必要があるので、処理時間は1秒×5種類=5秒となる。一方、本手法では、前処理は1回だけ行えばよいので、0.5秒+0.5秒×5種類=3秒となる。すなわち、本手法によれば、従来手法と比較して処理時間が40%短縮できる。なお、図6の例は、全てのモデルの縮小率を同一にでき、最大の効果が得られる例を示したものであるが、少なくとも2つのモデルの縮小率が同一であれば前処理の共通化により、従来例よりも処理時間を短縮可能である。
次に、図7のフローチャートに沿って、登録モードにおけるモデル登録処理、特にモデルの縮小率の決定方法について説明する。なお、図7に示す処理は、例えば、画像センサ1を新たに設置したとき、ラインに流すワークの種類が変更になったとき、などに実行される。
上記の説明では、モデル登録時における各モデルの縮小率決定は、暫定縮小率に基づいてモデルをグループ分けすることによって行われる。モデル登録処理、特に縮小率の決定処理は上記以外の方法によっても実現可能である。例えば、モデル登録処理の変形例として、予め定められた複数の縮小率を記憶しておき、モデルの暫定縮小率に基づいて、予め定められた複数の縮小率の中のいずれかの縮小率を、モデルの縮小率として決定することができる。以下、本例に係るモデル登録処理について図10を参照して説明する。
0.854≦r ならば R=1
0.604≦r<0.854 ならば R=0.707
0.427≦r<0.604 ならば R=0.5
0.302≦r<0.427 ならば R=0.354
r<0.302 ならば R=0.250
上述した実施形態の構成は本発明の一具体例を示したものにすぎず、本発明の範囲を限定する趣旨のものではない。本発明はその技術思想を逸脱しない範囲において、種々の具体的構成を採り得るものである。例えば上記実施形態では、本発明を類似する複数の物体の種類を判別する物体判別装置に適用した例を説明したが、本発明の適用範囲はこれに限られない。本発明は、入力画像から複数のモデルを識別または認識する任意の画像処理装置に対して適用可能であり、これら複数のモデルは類似している必要はない。
10:画像処理装置、11:カメラ、12:ディスプレイ
130:画像入力部、131:探索部、137:記憶部
140:モデル画像入力部、141:モデルテンプレート生成部
Claims (18)
- 入力画像から複数のモデルを識別または認識する画像処理装置であって、
複数のモデルについて、モデル画像を縮小して得られるモデルテンプレートを格納する記憶部と、
入力画像を、各モデルの縮小率で縮小する縮小部と、
縮小された入力画像とモデルテンプレートに基づいて、入力画像におけるモデルの位置を探索する探索部と、
を有し、
前記複数のモデルのうち少なくとも2つのモデルについては、同一の縮小率でモデル画像を縮小して得られたモデルテンプレートが前記記憶部に格納されており、
前記少なくとも2つのモデルについては、前記縮小部による処理が共通化される、
ことを特徴とする画像処理装置。 - 複数のモデルについてモデル画像の入力を受け付けるモデル画像入力部と、
前記複数のモデル画像のそれぞれについて、暫定縮小率を決定する暫定縮小率決定部と、
前記複数のモデル画像の暫定縮小率に基づいて、各モデル画像の縮小率を決定する縮小率決定部と、
前記複数のモデル画像のそれぞれを対応する縮小率で縮小してモデルテンプレートを生成し、前記縮小率と関連付けてモデルテンプレートを前記記憶部に格納するモデルテンプレート生成部と、
を更に有する、請求項1に記載の画像処理装置。 - 前記縮小率決定部は、
グループ内の暫定縮小率のばらつきが所定の閾値以下となるように、前記複数のモデル画像をグループ分けし、
グループごとに縮小率を決定する、
請求項2に記載の画像処理装置。 - 前記縮小率決定部は、グループ内のモデル画像の暫定縮小率の平均値を、当該グループの縮小率として決定する、
請求項3に記載の画像処理装置。 - 前記縮小率決定部は、
予め定められた複数の縮小率を記憶しており、
前記予め定められた複数の縮小率のうち、モデル画像の暫定縮小率に対応する縮小率を、当該モデル画像の縮小率として決定する、
請求項2に記載の画像処理装置。 - 前記縮小率決定部は、前記予め定められた複数の縮小率のうち、モデル画像の暫定縮小率に近い縮小率を、当該モデル画像の縮小率として決定する、
請求項5に記載の画像処理装置。 - 物体を撮影するカメラと、
前記カメラから入力された画像から前記モデルを識別または認識し、その結果を出力する、請求項1~6のいずれか1項に記載の画像処理装置と、を有する
ことを特徴とする画像センサ。 - 複数のモデルについてモデルテンプレートを生成する画像処理装置であって、
複数のモデルについてモデル画像を受け付けるモデル画像入力部と、
前記複数のモデル画像のそれぞれについて、暫定縮小率を決定する暫定縮小率決定部と、
前記複数のモデル画像の暫定縮小率に基づいて、各モデル画像の縮小率を決定する縮小率決定部と、
前記複数のモデル画像のそれぞれを、対応する縮小率で縮小してモデルテンプレートを生成するモデルテンプレート生成部と、
生成されたモデルテンプレートを、対応する縮小率とともに出力する出力部と、
を有する、画像処理装置。 - 前記縮小率決定部は、
グループ内の暫定縮小率のばらつきが所定の閾値以下となるように、前記複数のモデル画像をグループ分けし、
グループごとに縮小率を決定する、
請求項8に記載の画像処理装置。 - 前記縮小率決定部は、グループ内のモデル画像の暫定縮小率の平均値を、当該グループの縮小率として決定する、
請求項9に記載の画像処理装置。 - 前記縮小率決定部は、
予め定められた複数の縮小率を記憶しており、
前記予め定められた複数の縮小率のうち、モデル画像の暫定縮小率に対応する縮小率を、当該モデル画像の縮小率として決定する、
請求項8に記載の画像処理装置。 - 前記縮小率決定部は、前記予め定められた複数の縮小率のうち、モデル画像の暫定縮小率に近い縮小率を、当該モデル画像の縮小率として決定する、
請求項11に記載の画像処理装置。 - 入力画像から複数のモデルを識別または認識する画像処理方法であって、
複数のモデルについてモデル画像を縮小して得られるモデルテンプレートを格納する記憶部を有するコンピュータが、
入力画像を、各モデルの縮小率で縮小する縮小ステップと、
縮小された入力画像とモデルテンプレートに基づいて、入力画像におけるモデルの位置を探索する探索ステップと、
を実行し、
前記複数種類のモデルのうち少なくとも一部については、同一の縮小率で縮小されたモデルテンプレートが前記記憶部に格納されており、
同一の縮小率のモデルについては、前記縮小ステップの処理が共通化される、
ことを特徴とする画像処理方法。 - 複数のモデルについてモデルテンプレートを生成する画像処理方法であって、
コンピュータが、
複数のモデルについてモデル画像を受け付けるモデル画像入力ステップと、
前記複数のモデル画像のそれぞれについて、暫定縮小率を決定する暫定縮小率決定ステップと、
前記複数のモデル画像の暫定縮小率に基づいて、各モデル画像の縮小率を決定する縮小率決定ステップと、
前記複数のモデル画像のそれぞれを、対応する縮小率で縮小してモデルテンプレートを生成するモデルテンプレート生成ステップと、
生成されたモデルテンプレートを、対応する縮小率とともに出力する出力ステップと、
を実行する、画像処理方法。 - 請求項13に記載の画像処理方法の各ステップをコンピュータに実行させるためのプログラム。
- 請求項14に記載の画像処理方法の各ステップをコンピュータに実行させるためのプログラム。
- 請求項15に記載のプログラムを非一時的に記憶する、コンピュータ読取可能な記録媒体。
- 請求項16に記載のプログラムを非一時的に記憶する、コンピュータ読取可能な記録媒体。
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