Dual-input image processor for recognizing, isolating, and displaying specific objects from the input images

An image processor that extracts only an image of a specific object from input images, comprising:

• an image pickup means that is equipped with plural image pickup devices for picking up said object;
• a parameter calculating means for extracting feature points on a reference solid from the images obtained by picking up said reference solid where a known pattern is picked up by said image pickup means, and calculating the relative position and posture parameters of each said image pickup device arranged on said image pickup means;
• a reference point extracting means for extracting a reference point as a feature point having features on an image, wherein the image is one image of plural images picked up by said image pickup means, and calculating coordinate values of said image of the reference point;
• a corresponding point detecting means for detecting corresponding points to be feature points having features on an image which correspond with said reference points, wherein said corresponding points are detected for all the images except the images that extract said reference points, among said plural images, by coordinate values of said reference points extracted by said reference point extracting means, and carrying out a block matching processing by using plural size blocks to the corresponding point candidate, and setting all said corresponding point candidates where obtained block error is below a threshold value as corresponding points, and calculating the unit of coordinate value in each image of all the corresponding points;
• a block size designating means for designating the block size to be used in said block matching;
• a three dimensional coordinates calculating means for calculating coordinate values in the three dimensional space of said reference point per coordinate value of said corresponding point, by using the relative position and posture parameters of each said image pickup device calculated by said parameter calculating means, coordinate values of said reference point extracted by said reference point extracting means, and unit of coordinate values of said corresponding points detected by said corresponding point detecting means;
• an object extracting means fore extracting a contour point to show a contour of said object from images picked up by said image pickup means per said three dimensional coordinate value, based on unit of coordinate value of said reference point extracted by said reference point extracting means and said three dimensional coordinates value calculated by said three dimensional coordinates value calculating means, and calculating its coordinate value, and based on each coordinate value of the contour point, extracting an image of said object from images photographed by said image pickup means and creating unit of object image;
• and
• an image synthesizing means for synthesizing unit of object image created by said object extracting means and displaying it on a display device.

A method of extracting an image, the method comprising:

• taking two images of a reference object at approximately the same time, a first image with a first camera and a second image with a second camera, wherein the first and second cameras are in different positions;
• determining position and orientation of each of the cameras by analyzing the two images of the reference object;
• taking two images of a second object at approximately the same time, a third image with the first camera and a fourth image with the second camera;
• selecting a feature point in the third image;
• locating a corresponding point in the fourth image, which corresponds to the feature point, by forming an Epipolar line;
• and
• determining the three-dimensional coordinates of the feature point.