Title:
IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, OBJECT RECOGNITION DEVICE, AND APPARATUS CONTROL SYSTEM
Document Type and Number:
WIPO Patent Application WO/2017/158982
Kind Code:
A1
Abstract:
In the present invention, a generation unit uses a disparity image, for example, to generate: disparity values which indicate actual distance in the width direction and distance in the depth direction; and 2D distribution information which is associated with frequency values indicating the appearance frequency of the disparity values, and which indicates the two-dimensional distribution of an object. A labelling unit carries out labelling processing by which the 2D distribution information is searched multiple times, pixels having a frequency value which is at least a prescribed threshold value are detected in each search, and a label corresponding to the number of searches is attached to such pixels. When the labelling processing is carried out, with respect to the pixels being searched, labelling is carried out by selecting those pixels, from among the plurality of pixels adjacent in the search direction, which have a frequency value of at least the aforementioned threshold value. By selectively carrying out labelling from among the plurality of pixels, labelling which follows the shape of the object can be carried out. Accordingly, pixels having the same label attached thereto are considered to be pixels of the same object, and by detecting an object from the 2D distribution information, objects can be accurately separated from each other and precisely detected.
Inventors:
YAMADA YUU (JP)
YOKOTA SOICHIRO (JP)
TAKAHASHI SADAO (JP)
SUMIYOSHI SHINICHI (JP)
YOKOTA SOICHIRO (JP)
TAKAHASHI SADAO (JP)
SUMIYOSHI SHINICHI (JP)
Application Number:
PCT/JP2016/087876
Publication Date:
September 21, 2017
Filing Date:
December 20, 2016
Export Citation:
Assignee:
RICOH CO LTD (JP)
YAMADA YUU (JP)
YOKOTA SOICHIRO (JP)
TAKAHASHI SADAO (JP)
SUMIYOSHI SHINICHI (JP)
YAMADA YUU (JP)
YOKOTA SOICHIRO (JP)
TAKAHASHI SADAO (JP)
SUMIYOSHI SHINICHI (JP)
International Classes:
G06T7/00; G06T1/00; G08G1/16
Foreign References:
| JP2014225220A | 2014-12-04 | |||
| JPS63316186A | 1988-12-23 | |||
| JPH01302475A | 1989-12-06 | |||
| JPH06266828A | 1994-09-22 |
Other References:
See also references of EP 3432261A4
Attorney, Agent or Firm:
SAKAI, Hiroaki (JP)
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