WO2021033251A1 - 画像処理装置、画像処理方法およびプログラム - Google Patents

画像処理装置、画像処理方法およびプログラム Download PDF

Info

Publication number
WO2021033251A1
WO2021033251A1 PCT/JP2019/032343 JP2019032343W WO2021033251A1 WO 2021033251 A1 WO2021033251 A1 WO 2021033251A1 JP 2019032343 W JP2019032343 W JP 2019032343W WO 2021033251 A1 WO2021033251 A1 WO 2021033251A1
Authority
WO
WIPO (PCT)
Prior art keywords
region
image
image processing
subject
movement
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.)
Ceased
Application number
PCT/JP2019/032343
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
林　正和
宏昌 長沼
洋輔 栗原
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.)
Sony Interactive Entertainment Inc
Original Assignee
Sony Interactive Entertainment Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sony Interactive Entertainment Inc filed Critical Sony Interactive Entertainment Inc
Priority to JP2021541372A priority Critical patent/JP7191236B2/ja
Priority to PCT/JP2019/032343 priority patent/WO2021033251A1/ja
Priority to KR1020227005026A priority patent/KR102693193B1/ko
Priority to EP19942456.5A priority patent/EP4020963B1/en
Priority to CN201980099177.2A priority patent/CN114208148B/zh
Priority to US17/636,186 priority patent/US12307686B2/en
Publication of WO2021033251A1 publication Critical patent/WO2021033251A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/10—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/71—Circuitry for evaluating the brightness variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/47—Image sensors with pixel address output; Event-driven image sensors; Selection of pixels to be read out based on image data
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/703—SSIS architectures incorporating pixels for producing signals other than image signals
    • H04N25/707—Pixels for event detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising
    • H04N5/06—Generation of synchronising signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20004—Adaptive image processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/14—Picture signal circuitry for video frequency region
    • H04N5/144—Movement detection

Definitions

  • the present invention relates to an image processing apparatus, an image processing method and a program.
  • An event-driven vision sensor is known in which pixels that detect changes in the intensity of incident light generate signals asynchronously in time.
  • the event-driven vision sensor is advantageous in that it can operate at low power and high speed compared to a frame-type vision sensor that scans all pixels at predetermined cycles, specifically, an image sensor such as a CCD or CMOS. Is. Techniques for such an event-driven vision sensor are described in, for example, Patent Document 1 and Patent Document 2.
  • an object of the present invention is to provide an image processing device, an image processing method, and a program capable of obtaining an advantageous effect by using an event-driven vision sensor in combination with a frame-type vision sensor.
  • a first movement of a subject in an image is based on an event signal generated in response to a change in light intensity at one or more pixels of the image captured by synchronous scanning.
  • a region specifying unit that identifies a first region in which the subject is generated and a second region in which the subject has a second movement different from the first movement or the subject is not substantially moving.
  • An image processing apparatus including an image processing unit that executes different image processing for a first region and a second region is provided.
  • a first movement of the subject in an image is based on an event signal generated in response to a change in light intensity at one or more pixels of the image captured by synchronous scanning.
  • a step of identifying a first region in which the subject is occurring and a second region in which the subject has a second movement different from the first movement or the subject is not substantially moving.
  • An image processing method is provided that includes a step of performing different image processing on the first region and the second region of the image.
  • a first subject in an image is based on an event signal generated in response to a change in light intensity at one or more pixels of an image captured by synchronous scanning.
  • a function to identify a first region in which movement is occurring and a second region in which the subject has a second movement different from the first movement or the subject is not substantially moving.
  • a program is provided for allowing a computer to realize a function of executing different image processing for a first region and a second region in an image.
  • FIG. 1 is a block diagram showing a schematic configuration of a system according to an embodiment of the present invention.
  • the system 10 includes an RGB camera 100, an EDS (Event Driven Sensor) 200, and an image processing device 300.
  • the RGB camera 100 is an example of a first vision sensor that captures an image by synchronous scanning, and includes an image sensor 110 and a processing circuit 120 connected to the image sensor 110.
  • the image sensor 110 captures an RGB image 101 by synchronously scanning all pixels, for example, at a predetermined cycle or at a predetermined timing according to a user operation.
  • the RGB image 101 includes a plurality of frame images that are continuously captured at a predetermined frame rate to form a moving image.
  • the processing circuit 120 converts, for example, the RGB image 101 into a format suitable for storage and transmission. Further, the processing circuit 120 gives a time stamp 102 to the RGB image 101.
  • the EDS 200 is an example of a second vision sensor that generates an event signal when the sensor detects a change in light intensity, and includes a sensor 210 constituting a sensor array and a processing circuit 220 connected to the sensor 210. ..
  • the sensor 210 includes a light receiving element and generates an event signal 201 when an intensity change of incident light, more specifically, a change in brightness is detected. Since the sensor 210 that has not detected the change in the intensity of the incident light does not generate the event signal 201, the event signal 201 is generated asynchronously in time in the EDS 200.
  • the event signal 201 output via the processing circuit 220 includes identification information of the sensor 210 (for example, the position of a pixel), the polarity of the luminance change (increasing or decreasing), and the time stamp 202.
  • the time stamp 102 given to the RGB image 101 and the time stamp 202 given to the event signal 201 are synchronized.
  • the time stamp 102 can be synchronized with the time stamp 202 by providing the RGB camera 100 with the time information used to generate the time stamp 202 in the EDS 200.
  • the time information for generating the time stamps 102 and 202 is independent for the RGB cameras 100 and the EDS 200
  • the time when a specific event (for example, a change in the subject over the entire image) occurs is used as a reference.
  • the time stamp 102 and the time stamp 202 can be synchronized after the fact.
  • the sensor 210 of the EDS 200 is associated with one or a plurality of pixels of the RGB image 101 by the calibration procedure of the RGB camera 100 and the EDS 200 executed in advance, and the event signal 201 is the RGB image 101. It is generated according to the change in light intensity in one or more pixels of. More specifically, for example, as shown in FIG. 2, the RGB camera 100 and the EDS 200 image a common calibration pattern 21 (in the case of the EDS 200, for example, the light source 22 is used to blink the entire region of the calibration pattern 21. By calculating the corresponding parameters between the cameras and sensors from the internal and external parameters of each of the RGB camera 100 and EDS200), the sensor 210 is assigned to one or more pixels of the RGB image 101. Can be associated with.
  • FIG. 3 is a diagram for explaining an example of matching between an image and an event signal in one embodiment of the present invention.
  • the RGB image 101 captured by the RGB camera 100 and the event signal 201 output from the EDS 200 at the time corresponding to the scanning of the RGB image 101 are arranged at the pixel positions. ..
  • the coordinate system of the event signal 201 is converted to the coordinate system of the RGB image 101 as shown in FIG.
  • the event signal 201 can be superimposed on the RGB image 101.
  • the image processor 300 is implemented by, for example, a computer having a communication interface, a processor, and a memory, and the processor operates according to a program stored in the memory or received via the communication interface.
  • the function of the area specifying unit 310 and the image processing unit 320 realized by the above is included. The functions of each part will be further described below.
  • the area specifying unit 310 Based on the event signal 201, the area specifying unit 310 generates a first region in which the subject has the first movement in the RGB image 101 and a second movement different from the first movement in the subject. Identify a second area that is or the subject is not substantially moving.
  • the subject of the RGB image 101 moves, for example, a change in the intensity of light generated at the edge portion of the subject, specifically, a change in brightness is detected by the event signal 201, and as a result, the subject itself is recognized in the RGB image 101. Even without it, the region where the movement of the subject has occurred can be specified based on the event signal 201.
  • the area specifying unit 310 can also specify the moving direction of the subject in each area from the position change in the time series of the brightness change indicated by the event signal 201, for example.
  • the region specifying unit 310 specifies a first region and a second region in each of the plurality of frame images. You may.
  • the image processing unit 320 executes different image processing for the first region and the second region in the RGB image 101 to obtain the output image 321. At this time, the image processing unit 320 sets the first region and the second region specified by the region specifying unit 310 and the RGB image 101 based on the time stamp 102 of the RGB image 101 and the time stamp 202 of the event signal 201. Can be associated.
  • the content of the image processing executed by the image processing unit 320 is not particularly limited, but for example, the image processing unit 320 marks only the first region in the RGB image 101, or different movements occur in the subject. The first region and the second region may be marked in different manners.
  • the image processing unit 320 may mask a second region (for example, a background region) in which the subject is not substantially moving in the RGB image 101.
  • the image processing unit 320 sets the first region as a frame image before and after the first region in each of the plurality of frame images composed of the RGB image 101.
  • the moving subject in the first area may be hidden by overwriting with the second area specified in.
  • the image processing unit 320 executes different image processing for the first and second regions, for example, the image processing is executed for either the first region or the second region, and the other region is used. Including outputting as it is.
  • the area specifying unit 310 identifies the area R1 in which the subject is moving and the area R2 in which the subject is not substantially moving from the time-series event signal 201. For example, the area specifying unit 310 extracts the area R1 in which the magnitude of the optical flow F specified from the time-series event signal 201 is equal to or larger than a predetermined threshold value, and sets the remaining area as the area R2.
  • the region identification unit 310 divides the extracted region R1 according to the direction and magnitude of the movement indicated by the optical flow F, so that a plurality of regions in which different subject movements occur. May be specified.
  • the optical flow F is an example of information indicating the moving direction of the subject. By specifying the moving direction of the subject, it is possible to continuously track the subject corresponding to, for example, the region R1 in a plurality of frame images composed of the RGB image 101.
  • the image processing unit 320 matches the areas R1 and R2 specified by the area specifying unit 310 with the image and the event signal as described with reference to FIG. It can be superimposed on the RGB image 101 according to the procedure.
  • the image processing unit 320 masks the region R2 (background region) that is not substantially moving in the RGB image 101, thereby cutting out the region R1 in which the subject is moving. To get.
  • the image processing unit 320 may mark the area R1 instead of the mask of the area R2 or together with the mask of the area R2.
  • the image processing unit 320 may mark the plurality of regions in different modes. For example, when the movement direction of the subject in each region is specified by the optical flow F in the above example, and the subject corresponding to each region is continuously tracked in a plurality of frame images composed of RGB images 101, the image processing unit. The 320 can continuously execute the processing of masking the area and marking the area as described above in the plurality of frame images.
  • the area specifying unit 310 of the image processing device 300 identifies the area where the subject is moving in the RGB image 101 based on the event signal 201. Since the event signal 201 is generated only when a change in light intensity is detected in one or a plurality of pixels of the RGB image 101, for example, the pixels of a plurality of RGB images 101 that are continuous in time are compared with each other to form a subject. The processing speed can be increased as compared with the case of specifying the area where the movement is occurring. Further, in general, the period during which the EDS 200 can generate the event signal 201 is significantly shorter than the frame rate when the RGB camera 100 captures a moving image. Therefore, by using the event signal 201 as in the present embodiment, for example, It is possible to make the image processing follow the movement of the subject with higher accuracy than in the case of specifying the movement of the subject using only the RGB image 101 in the moving image.
  • FIG. 6 is a flowchart showing an example of an image processing method according to an embodiment of the present invention.
  • the RGB camera 100 captures the RGB image 101 (step S101), and at the same time, the EDS 200 generates the event signal 201 (step S102).
  • the step S102 for generating the event signal 201 is executed only when the sensor 210 associated with one or a plurality of pixels of the RGB image 101 detects a change in light intensity.
  • a time stamp 102 is given to the RGB image 101 (step S103), and a time stamp 202 is given to the event signal (step S104).
  • the processing in the image processing device 300 is executed.
  • the region specifying unit 310 identifies the first and second regions in the RGB image 101 as described above based on the event signal 201 (step S105).
  • the image processing unit 320 executes different image processing for the first and second regions specified in the RGB image 101 (step S106).
  • the RGB image 101 on which the image processing is executed and the first and second regions specified based on the event signal 201 are associated with each other by using the time stamps 102 and 202.
  • 10 ... system, 100 ... RGB camera, 101 ... RGB image, 102 ... time stamp, 110 ... image sensor, 120 ... processing circuit, 201 ... event signal, 202 ... time stamp, 210 ... sensor, 220 ... processing circuit, 300 ... Image processing device, 310 ... Area identification unit, 320 ... Image processing unit, 321 ... Output image.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
  • Studio Devices (AREA)
PCT/JP2019/032343 2019-08-20 2019-08-20 画像処理装置、画像処理方法およびプログラム Ceased WO2021033251A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2021541372A JP7191236B2 (ja) 2019-08-20 2019-08-20 画像処理装置、画像処理方法およびプログラム
PCT/JP2019/032343 WO2021033251A1 (ja) 2019-08-20 2019-08-20 画像処理装置、画像処理方法およびプログラム
KR1020227005026A KR102693193B1 (ko) 2019-08-20 2019-08-20 화상 처리 장치, 화상 처리 방법 및 프로그램
EP19942456.5A EP4020963B1 (en) 2019-08-20 2019-08-20 Image processing device, image processing method, and program
CN201980099177.2A CN114208148B (zh) 2019-08-20 2019-08-20 图像处理设备和图像处理方法
US17/636,186 US12307686B2 (en) 2019-08-20 2019-08-20 Vision sensor image processing device, image processing method, and program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/032343 WO2021033251A1 (ja) 2019-08-20 2019-08-20 画像処理装置、画像処理方法およびプログラム

Publications (1)

Publication Number Publication Date
WO2021033251A1 true WO2021033251A1 (ja) 2021-02-25

Family

ID=74659862

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/032343 Ceased WO2021033251A1 (ja) 2019-08-20 2019-08-20 画像処理装置、画像処理方法およびプログラム

Country Status (6)

Country Link
US (1) US12307686B2 (https=)
EP (1) EP4020963B1 (https=)
JP (1) JP7191236B2 (https=)
KR (1) KR102693193B1 (https=)
CN (1) CN114208148B (https=)
WO (1) WO2021033251A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023157347A (ja) * 2022-04-14 2023-10-26 キヤノン株式会社 画像処理装置、画像処理装置の制御方法、プログラム、及び画像処理システム
WO2024194945A1 (ja) * 2023-03-17 2024-09-26 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、システム、情報処理方法、情報処理プログラム、およびコンピュータシステム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000115749A (ja) * 1998-09-30 2000-04-21 Matsushita Electric Ind Co Ltd 画像監視装置
WO2011013281A1 (ja) * 2009-07-29 2011-02-03 パナソニック株式会社 移動体検出方法及び移動体検出装置
US20180098082A1 (en) * 2016-09-30 2018-04-05 Intel Corporation Motion estimation using hybrid video imaging system

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4596203B2 (ja) 2001-02-19 2010-12-08 ソニー株式会社 画像処理装置および方法、記録媒体、並びにプログラム
KR20080041056A (ko) 2006-11-06 2008-05-09 삼성전자주식회사 화상형성장치 및 화상형성방법
JP5774889B2 (ja) * 2011-03-31 2015-09-09 株式会社ソニー・コンピュータエンタテインメント 情報処理装置、情報処理システム、および情報処理方法
KR101792866B1 (ko) * 2011-04-06 2017-11-20 삼성전자주식회사 이벤트 센서와 칼라 센서를 이용한 동작 인식 장치 및 그 방법
KR101880998B1 (ko) 2011-10-14 2018-07-24 삼성전자주식회사 이벤트 기반 비전 센서를 이용한 동작 인식 장치 및 방법
KR102081087B1 (ko) * 2013-06-17 2020-02-25 삼성전자주식회사 동기적 영상과 비동기적 영상을 위한 영상 정합 장치 및 이미지 센서
US10434624B2 (en) 2016-07-07 2019-10-08 The Boeing Company Roto peening orbital drilling tool
US20180146149A1 (en) 2016-11-21 2018-05-24 Samsung Electronics Co., Ltd. Event-based sensor, user device including the same, and operation method of the same
US10600189B1 (en) * 2016-12-06 2020-03-24 Apple Inc. Optical flow techniques for event cameras
EP3340103A1 (en) 2016-12-21 2018-06-27 Axis AB Method for identifying events in a motion video
CN108574793B (zh) 2017-03-08 2022-05-10 三星电子株式会社 被配置为重新生成时间戳的图像处理设备及包括其在内的电子设备
KR102282140B1 (ko) 2017-03-08 2021-07-28 삼성전자주식회사 픽셀, 픽셀 구동 회로 및 이를 포함하는 비전 센서
US10740653B2 (en) 2017-04-07 2020-08-11 Nec Corporation Learning data generation device, learning data generation method, and recording medium
CN108734739A (zh) * 2017-04-25 2018-11-02 北京三星通信技术研究有限公司 用于时间对齐标定、事件标注、数据库生成的方法及装置
CN109426782B (zh) * 2017-08-29 2023-09-19 北京三星通信技术研究有限公司 对象检测方法和用于对象检测的神经网络系统
KR102385360B1 (ko) * 2017-09-19 2022-04-12 삼성전자주식회사 이미지 보정을 수행하는 전자 장치 및 그 동작 방법
US10812711B2 (en) * 2018-05-18 2020-10-20 Samsung Electronics Co., Ltd. Semantic mapping for low-power augmented reality using dynamic vision sensor
CN109544590B (zh) * 2018-11-27 2020-05-15 上海芯仑光电科技有限公司 一种目标跟踪方法及计算设备

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000115749A (ja) * 1998-09-30 2000-04-21 Matsushita Electric Ind Co Ltd 画像監視装置
WO2011013281A1 (ja) * 2009-07-29 2011-02-03 パナソニック株式会社 移動体検出方法及び移動体検出装置
US20180098082A1 (en) * 2016-09-30 2018-04-05 Intel Corporation Motion estimation using hybrid video imaging system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4020963A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2023157347A (ja) * 2022-04-14 2023-10-26 キヤノン株式会社 画像処理装置、画像処理装置の制御方法、プログラム、及び画像処理システム
WO2024194945A1 (ja) * 2023-03-17 2024-09-26 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、システム、情報処理方法、情報処理プログラム、およびコンピュータシステム

Also Published As

Publication number Publication date
EP4020963A4 (en) 2022-08-10
US20220292693A1 (en) 2022-09-15
KR20220051336A (ko) 2022-04-26
EP4020963B1 (en) 2026-04-29
JPWO2021033251A1 (https=) 2021-02-25
CN114208148A (zh) 2022-03-18
US12307686B2 (en) 2025-05-20
EP4020963A1 (en) 2022-06-29
KR102693193B9 (ko) 2024-09-25
CN114208148B (zh) 2025-02-07
JP7191236B2 (ja) 2022-12-16
KR102693193B1 (ko) 2024-08-09

Similar Documents

Publication Publication Date Title
US12313561B2 (en) Stroboscopic stepped illumination defect detection system
US20170347076A1 (en) Image projection system and image projection method
CN105068384B (zh) 一种手持激光三维扫描仪的激光投影器曝光时间控制方法
DE60131759D1 (de) Bilderzeugungsvorrichtung und -verfahren
JP2010504664A (ja) モノクロカメラでカラーイメージを撮影する結像方法と装置
US12348889B2 (en) Image processing apparatus, method of controlling image processing apparatus, and program storage
WO2022107647A1 (ja) 情報処理装置、システム、情報処理方法および情報処理プログラム
US10709967B2 (en) Apparatus, methods, and systems for tracking an optical object
WO2021033251A1 (ja) 画像処理装置、画像処理方法およびプログラム
CN114245983B (zh) 图像处理装置、成像装置、系统、图像处理方法
CN116324887A (zh) Dvs与相机之间的统一校准
JP2023118468A (ja) 撮像装置およびその制御方法
US20250224516A1 (en) Information processing apparatus, system, information processing method, information processing program, and computer system
US10748019B2 (en) Image processing method and electronic apparatus for foreground image extraction
JP7252352B2 (ja) 転送制御装置、システム、転送制御方法およびプログラム
JP6350331B2 (ja) 追尾装置、追尾方法及び追尾プログラム
JP7537470B2 (ja) 情報処理装置、情報処理方法及びプログラム
JP7594723B2 (ja) 画像処理システム、画像処理プログラムおよび画像処理方法
JP2025180226A (ja) 画像処理方法、情報処理装置及びウェアラブル端末
WO2024146450A1 (zh) 一种信号处理方法、装置及系统
CN121908152A (zh) 一种结构光相机的成像方法、装置、设备及介质
CN121221303A (zh) 用于生成牙科对象三维表示的系统和方法
JP2011009804A (ja) 撮影装置、携帯端末、送信装置、撮影方法、およびプログラム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19942456

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021541372

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019942456

Country of ref document: EP

Effective date: 20220321

WWG Wipo information: grant in national office

Ref document number: 201980099177.2

Country of ref document: CN

WWG Wipo information: grant in national office

Ref document number: 17636186

Country of ref document: US