Image processor, image processing method and program, and imaging system

An image processing method for a computer having circuitry, the method comprising:

• receiving, by the circuitry, input images having a first coordinate system;
• converting the input images into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system;
• for each respective pixel of an overlapping area of a first image and a second image of the converted images:
• setting a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image;
• and
• performing pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image;
• detecting, according to the pattern matching, connecting points of the overlapping area between the first image and the second image;
• correcting the arrays of the first conversion data according to the connecting points to produce corrected first conversion data;
• and
• generating second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data,
• wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ direction with being from 1 to 360 degrees, and a φ direction with φ being from 0 to 180 degrees, and
• wherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image.

A non-transitory computer-readable storage medium storing a program for causing a computer to execute an image processing method, the image processing method comprising:

• receiving input images having a first coordinate system;
• converting the input images into converted images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system;
• for each respective pixel of an overlapping area of a first image and a second image of the converted images:
• setting a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image;
• and
• performing pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image;
• detecting, according to the pattern matching, connecting points of the overlapping area between the first image and the second image;
• correcting the arrays of the first conversion data according to the connecting points to produce corrected first conversion data;
• and
• generating second conversion data for image synthesis, the image synthesis to be perforated on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data,
• wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ direction with θ being from 1 to 360 degrees, and a φ direction with φ being from 0 to 180 degrees, and
• wherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image.

An imaging system comprising:

• an imaging device;
• and
• circuitry configured to:
• convert input images, captured in different directions by the imaging device and having a first coordinate system, into images in a second coordinate system different from the first coordinate system according to first conversion data based on a projection model, the first conversion data including arrays for a conversion of coordinate values from the first coordinate system to the second coordinate system;
• for each respective pixel of an overlapping area of a first image and a second image of the converted images:
• set a pixel block of predetermined dimensions around the respective pixel in the overlapping area of the first image as a pattern image;
• and
• perform pattern matching, according to a correlation coefficient, on the second image at the respective pixel while moving the pattern image vertically and horizontally to find a pixel connecting position in the second image that correspond to the respective pixel in the first image;
• detect, according to the pattern matching, connecting points of the overlapping area between the first image and the second image;
• correct the arrays of the first conversion data according to the connecting points to produce corrected first conversion data;
• and
• generate second conversion data for image synthesis, the image synthesis to be performed on the input images, the second conversion data being generated by performing a rotational coordinate conversion on the corrected first conversion data,
• wherein the first conversion data and the second conversion data include respective conversion tables including information such that an angle of one pixel is at least 1/10 of a degree in both a θ direction with θ being from 1 to 360 degrees, and a φ direction with φ being from 0 to 180 degrees, and
• wherein the conversion tables include information indicating at least 3,600*1,800 relations for the first image, and at least 3,600*1,800 relations for the second image.