# US 12,010,435 B2 · Image pick-up apparatus, image pick-up method that picks up images for a visual simultaneous localization and mapping

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- Number: US 12,010,435 B2
- Document ID: US12010435B2
- Status: Granted
- Kind: B2
- Application number: 17/611,636
- Filed: 2020-02-26
- Published: 2022-08-04
- Granted: 2024-06-11
- Earliest claimed: 2019-05-23
- Assignees: NEC Corporation
- Applicants: NEC Corporation
- Inventors: Natsuki Kai
- Web page: https://patentgrep.com/patent/US12010435B2

## CPC

- G06T 7/80: Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T 7/0002: {Inspection of images, e.g. flaw detection}
- H04N 23/60: Control of cameras or camera modules
- H04N 23/63: by using electronic viewfinders
- H04N 23/81: for suppressing or minimising disturbance in the image signal generation
- G06T 2207/20182: Noise reduction or smoothing in the temporal domain; Spatio-temporal filtering
- G06T 2207/30168: Image quality inspection
- G06T 2207/30244: Camera pose
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

To provide an image pick-up apparatus, an image pick-up method, and a program each of which adapted to perform photometric calibration at a low cost in the application thereof for picking-up images for performing localization. An image pick-up apparatus (500) includes at least one memory (503) configured to store an instruction, and at least one processor (502) configured to execute the instruction, the processor being further configured to: pick-up an image; determine whether the picked-up image data is an image suitable for a computer vision application; and adjust camera parameters based on the determination.

## Claims

### Claim 1

An image pick-up apparatus comprising at least one memory configured to store an instruction, and at least one processor configured to execute the instruction, the processor being further configured to:
pick-up an image;
perform a determination that includes at least one of edge determination, blur determination, or noise determination on the image;
determine an adjustment direction of a camera parameter based on the determination;
determine a change amount of the camera parameter based on the determination; and
adjust the camera parameter based on the adjustment direction and the change amount.

### Claim 2 (depends on 1)

The image pick-up apparatus according to claim 1, wherein the at least one processor is further configured to:
perform at least two of the edge determination, the blur determination, or the noise determination on the image;
determine the adjustment direction of the camera parameter based on items of determination for which conditions are not met; and
determine the change amount of the camera parameter based on the items of determination for which the conditions are not met.

### Claim 3

An image pick-up method comprising:
picking-up an image;
performing a determination that includes at least one of edge determination, blur determination, or noise determination on the image;
determining an adjustment direction of a camera parameter based on the determination;
determining a change amount of the camera parameter based on the determination; and
adjusting the camera parameter based on the adjustment direction and the change amount.

### Claim 4

A non-transitory computer-readable storage medium storing a program for causing a computer to perform:
picking-up an image;
performing a determination that includes at least one of edge determination, blur determination, or noise determination on the image;
determining an adjustment direction of a camera parameter based on the determination;
determining a change amount of the camera parameter based on the determination; and
adjusting the camera parameter based on the adjustment direction and the change amount.