Template creation apparatus, object recognition processing apparatus, template creation method, and program
AssigneeOMRON Corporation
InventorYoshinori Konishi
Life of this patent
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Abstract
A viewpoint position-related parameter setting unit determines which approximate spherical shape to use in order to determine a viewpoint position. A viewpoint position creation unit creates a plurality of approximate spherical shapes set by the viewpoint-position-related parameter setting unit, and creates respective viewpoint positions. An optimal viewpoint position creation unit calculates a rotation angle at which the number of slave viewpoints associated with master viewpoints is substantially equal and a maximum distance between the master viewpoint and the slave viewpoint associated therewith is a minimum.
Claims9
A template creation apparatus for creating hierarchical templates for object recognition used for template matching, the template creation apparatus comprising a processor configured to perform operations comprising:
- operation as a viewpoint position creation unit configured to create a plurality of approximate spherical shapes, wherein intervals between vertices in the respective created ones of the plurality of approximate spherical shapes are substantially equal and each vertex is set as a viewpoint position, intervals between the viewpoint positions being different for each of the created ones of the plurality of approximate spherical shapes;
- and
- operation as a template creation unit configured to create, for each of the created ones of the plurality of approximate spherical shapes, a plurality of templates, each of the created plurality of templates having a different resolution and each template of each of the created plurality of templates created using a projection image corresponding to a target object viewed from each of the set viewpoint positions, wherein
- a number of ones of the set viewpoint positions of the plurality of templates having a first resolution are selected as slave viewpoints and are associated with one of the set viewpoint positions selected as a master viewpoint that corresponds to one of the created plurality of templates having a second resolution lower than the first resolution, and
- the number of the selected slave viewpoints associated with each selected master viewpoint in the created plurality of approximate spherical shapes is substantially equal.
A template creation method for creating hierarchical templates for object recognition used for template matching, the template creation method comprising:
- creating a plurality of approximate spherical shapes, wherein intervals between vertices in the respective created ones of the plurality of approximate spherical shapes are substantially equal and each vertex is set as a viewpoint position, intervals between the viewpoint positions being different for each of the created ones of the plurality of approximate spherical shapes;
- and
- creating, for each of the created ones of the plurality of approximate spherical shapes, a plurality of templates, each of the created plurality of templates having a different resolution and each template of each of the created plurality of templates created using a projection image corresponding to a target object viewed from each of the set viewpoint positions, wherein
- a number of ones of the set viewpoint positions of the plurality of templates having a first resolution are selected as slave viewpoints and are associated with one of the set viewpoint positions selected as a master viewpoint that corresponds to one of the created plurality of templates having a second resolution lower than the first resolution, and
- the number of the selected slave viewpoints associated with each selected master viewpoint in the created plurality of approximate spherical shapes is substantially equal.
A non-transitory computer-readable storage medium storing a program that causes a computer to create hierarchical templates for object recognition to be used for template matching, the program causing the computer to perform operations comprising:
- creating a plurality of approximate spherical shapes, wherein intervals between vertices in the respective created ones of the plurality of approximate spherical shapes are substantially equal and each vertex is set as a viewpoint position, intervals between the viewpoint positions being different for each of the created ones of the plurality of approximate spherical shapes;
- and
- creating, for each of the created ones of the plurality of approximate spherical shapes, a plurality of templates, each of the created plurality of templates having a different resolution and each template of each of the created plurality of templates created using a projection image corresponding to a target object viewed from each of the set viewpoint positions, wherein
- a number of ones of the set viewpoint positions of the plurality of templates having a first resolution are selected as slave viewpoints and are associated with one of the set viewpoint positions selected as a master viewpoint that corresponds to one of the created plurality of templates having a second resolution lower than the first resolution, and
- the number of the selected slave viewpoints associated with each selected master viewpoint in the created plurality of approximate spherical shapes is substantially equal.
Dependencies are inferred from the claim text.