Title:
画像処理装置およびその制御方法、撮像装置、プログラム
Document Type and Number:
Japanese Patent JP6429466
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an image processing apparatus configured to improve the accuracy of estimating position attitude, while reducing the influence of motion in a moving body area, when an image includes the moving body area and a stationary area, in detecting position attitude of an object by use of image data and depth data.SOLUTION: A first processing section 200 acquires depth data to be paired with image data, divides it by depth, and estimates a change in position attitude for each depth divided. A second processing section 300 detects motion of an image from image data, and estimates the change in position attitude of an area for each motion. An image processing section 100 receives a first calculation result obtained by the first processing section 200 through an input section 103, and a second calculation result obtained by the second processing section 300 through an input section 104. A stationary area determination section 105 determines a stationary area in the image by use of the first and second calculation results. An estimation determination section 107 determines overall change in position attitude of the image from the first and second calculation results, on the basis of the determined stationary area, and stores it in a storage section 108.
Inventors:
Yuta Kawamura
Application Number:
JP2014040522A
Publication Date:
November 28, 2018
Filing Date:
March 03, 2014
Export Citation:
Assignee:
Canon Inc
International Classes:
G01B11/00; G01B11/26; G06T1/00; H04N5/232
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Foreign References:
| WO2012093147A1 |
Attorney, Agent or Firm:
Ryoichi Takaoka