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US 10,257,428 B2Granted
Image processing apparatus and image processing method that adjust, based on a target object distance, at least one of brightness of emitted pattern light and an exposure amount
AssigneeCanon Kabushiki Kaisha
InventorsHiroshi Yoshikawa, Shinji Uchiyama
Life of this patent
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Abstract
An image processing apparatus includes an acquisition unit to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected. An adjustment unit adjusts, based on the pattern in the acquired captured image, at least one of a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and a second parameter for controlling an exposure amount of the image capturing unit.
Claims15
An image processing apparatus comprising:
- at least one processor operatively coupled to a memory, serving as:
- (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) an obtaining unit configured to obtain an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected;
- and
- (c) an adjustment unit configured to adjust, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
2 more elements
An image processing apparatus comprising:
- at least one processor operatively coupled to a memory, serving as:
- (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) a unit configured to specify, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and to acquire a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image;
- and
- (c) an adjustment unit configured to adjust, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
2 more elements
An image processing method to be performed by an image processing apparatus, the method comprising:
- (a) an acquisition step of acquiring a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) an obtaining step of obtaining an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected;
- and
- (c) an adjustment step of adjusting, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
1 more element
An image processing method to be performed by an image processing apparatus, the method comprising:
- (a) an acquisition step of acquiring a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) a step of specifying, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and acquiring a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image;
- and
- (c) an adjustment step of adjusting, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
1 more element
A non-transitory computer-readable storage medium that stores a computer program for causing a computer of an image processing apparatus to function as:
- (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) an obtaining unit configured to obtain an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected;
- and
- (c) an adjustment unit configured to adjust, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
1 more element
A non-transitory computer-readable storage medium that stores a computer program for causing a computer of an image processing apparatus to function as:
- (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;
- (b) a unit configured to specify, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and to acquire a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image;
- and
- (c) an adjustment unit configured to adjust, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.
1 more element
Dependencies are inferred from the claim text.