US 11,776,251 B2Granted

Information processing apparatus and object detection method

AssigneeSony Interactive Entertainment Inc.

InventorsShinya Wada, Takayuki Ishida

Life of this patent

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Abstract

An image acquisition section of an information processing apparatus acquires, from an imaging apparatus, polarization images in a plurality of orientations. A normal acquisition section of an image analysis section detects a surface of a subject by acquiring a normal vector on the basis of orientation dependence of polarization luminance. A surface assumption section assumes the presence of an undetected surface continuing from the detected surface. A subject detection section confirms whether or not the assumed surface is present using a normal vector estimated for the assumed surface. An output data generation section generates and outputs output data using information regarding the detected surface.

Claims9

Dependent claims

An information processing apparatus comprising:

an image acquisition section configured to acquire, from an imaging apparatus, data of polarization images in a plurality of orientations;
a normal acquisition section configured to detect a surface of a subject by acquiring a normal vector using the polarization images;
a surface assumption section configured to assume presence of an undetected surface continuing from the detected surface;
a subject detection section configured to confirm, using a normal vector estimated for the assumed surface, whether or not the surface is present and derive a definitive surface of the subject;
and
an output data generation section configured to generate output data and output the output data on a basis of information regarding the derived surface of the subject, wherein at least one of:
(i) the image acquisition section further acquires a moving image of a color image or a polarization image captured by the imaging apparatus while an angle of the imaging apparatus to the assumed surface is changed, and when the subject detection section has confirmed, in the moving image, that there is a change in an image due to a state transition between reflection and transmission in a region of the assumed surface, the subject detection section determines that there is a transparent object on the surface,
(ii) the subject detection section determines whether or not a transparent object is present on the assumed surface by discriminating whether light is from the transparent object present on the surface or from an object present behind the surface on a basis of a characteristic of polarization luminance in a region on an image plane corresponding to the surface,
(iii) in a case where a region on an image plane corresponding to the assumed surface includes a region having a predetermined shape where a degree of polarization is higher than a predetermined value, the subject detection section determines presence of a transparent object having an edge portion corresponding to the region,
(iv) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a distortion of an image of an object present in a subject space,
(v) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a position and a shape of a specular highlight captured by the imaging apparatus and a position of a light source, and
(vi) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a range in which an opaque object detected on a basis of color information of the subject extends from the detected surface.

9 more elements

An object detection method performed by an information processing apparatus, the object detection method comprising:

acquiring, from an imaging apparatus, data of polarization images in a plurality of orientations;
detecting a surface of a subject by acquiring a normal vector using the polarization images;
assuming presence of an undetected surface continuing from the detected surface;
confirming, using a normal vector estimated for the assumed surface, whether or not the surface is present and deriving a definitive surface of the subject;
and
generating and outputting output data on a basis of information regarding the derived surface of the subject, wherein at least one of:
(i) the acquiring includes acquiring a moving image of a color image or a polarization image captured by the imaging apparatus while an angle of the imaging apparatus to the assumed surface is changed, and when the subject detection section has confirmed, in the moving image, that there is a change in an image due to a state transition between reflection and transmission in a region of the assumed surface, the subject detection section determines that there is a transparent object on the surface,
(ii) the confirming includes determining whether or not a transparent object is present on the assumed surface by discriminating whether light is from the transparent object present on the surface or from an object present behind the surface on a basis of a characteristic of polarization luminance in a region on an image plane corresponding to the surface,
(iii) in a case where a region on an image plane corresponding to the assumed surface includes a region having a predetermined shape where a degree of polarization is higher than a predetermined value, the detecting includes determining presence of a transparent object having an edge portion corresponding to the region,
(iv) the assuming includes determining a surface of a transparent object to be assumed on a basis of a distortion of an image of an object present in a subject space,
(v) the assuming includes determining a surface of a transparent object to be assumed on a basis of a position and a shape of a specular highlight captured by the imaging apparatus and a position of a light source, and
(vi) the assuming includes determining a surface of a transparent object to be assumed on a basis of a range in which an opaque object detected on a basis of color information of the subject extends from the detected surface.

9 more elements

A non-transitory, computer readable storage medium containing a computer program, which when executed by a computer, causes the computer to perform an object detection method by carrying out actions, comprising:

acquiring, from an imaging apparatus, data of polarization images in a plurality of orientations;
detecting a surface of a subject by acquiring a normal vector using the polarization images;
assuming presence of an undetected surface continuing from the detected surface;
confirming, using a normal vector estimated for the assumed surface, whether or not the surface is present and deriving a definitive surface of the subject;
and
generating and outputting output data on a basis of information regarding the derived surface of the subject, wherein at least one of:
(i) the acquiring includes acquiring a moving image of a color image or a polarization image captured by the imaging apparatus while an angle of the imaging apparatus to the assumed surface is changed, and when the subject detection section has confirmed, in the moving image, that there is a change in an image due to a state transition between reflection and transmission in a region of the assumed surface, the subject detection section determines that there is a transparent object on the surface,
(ii) the confirming includes determining whether or not a transparent object is present on the assumed surface by discriminating whether light is from the transparent object present on the surface or from an object present behind the surface on a basis of a characteristic of polarization luminance in a region on an image plane corresponding to the surface,
(iii) in a case where a region on an image plane corresponding to the assumed surface includes a region having a predetermined shape where a degree of polarization is higher than a predetermined value, the detecting includes determining presence of a transparent object having an edge portion corresponding to the region,
(iv) the assuming includes determining a surface of a transparent object to be assumed on a basis of a distortion of an image of an object present in a subject space,
(v) the assuming includes determining a surface of a transparent object to be assumed on a basis of a position and a shape of a specular highlight captured by the imaging apparatus and a position of a light source, and
(vi) the assuming includes determining a surface of a transparent object to be assumed on a basis of a range in which an opaque object detected on a basis of color information of the subject extends from the detected surface.

9 more elements

Dependencies are inferred from the claim text.

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Abstract

An information processing apparatus comprising:

an image acquisition section configured to acquire, from an imaging apparatus, data of polarization images in a plurality of orientations;
a normal acquisition section configured to detect a surface of a subject by acquiring a normal vector using the polarization images;
a surface assumption section configured to assume presence of an undetected surface continuing from the detected surface;
a subject detection section configured to confirm, using a normal vector estimated for the assumed surface, whether or not the surface is present and derive a definitive surface of the subject;
and
an output data generation section configured to generate output data and output the output data on a basis of information regarding the derived surface of the subject, wherein at least one of:
(i) the image acquisition section further acquires a moving image of a color image or a polarization image captured by the imaging apparatus while an angle of the imaging apparatus to the assumed surface is changed, and when the subject detection section has confirmed, in the moving image, that there is a change in an image due to a state transition between reflection and transmission in a region of the assumed surface, the subject detection section determines that there is a transparent object on the surface,
(ii) the subject detection section determines whether or not a transparent object is present on the assumed surface by discriminating whether light is from the transparent object present on the surface or from an object present behind the surface on a basis of a characteristic of polarization luminance in a region on an image plane corresponding to the surface,
(iii) in a case where a region on an image plane corresponding to the assumed surface includes a region having a predetermined shape where a degree of polarization is higher than a predetermined value, the subject detection section determines presence of a transparent object having an edge portion corresponding to the region,
(iv) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a distortion of an image of an object present in a subject space,
(v) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a position and a shape of a specular highlight captured by the imaging apparatus and a position of a light source, and
(vi) the surface assumption section determines a surface of a transparent object to be assumed on a basis of a range in which an opaque object detected on a basis of color information of the subject extends from the detected surface.

9 more elements