Apparatus and method for image processing of hand-written characters using coded structured light and time series frame capture

An image processing method, comprising:

• projecting a pattern by a projecting part along an optical axis direction;
• picking up an intensity image and a projection pattern image by a first image pickup part deflected from the optical axis direction of the projecting part by a half mirror, and picking up the projection pattern image by a second image pickup part from a direction different from the optical axis direction of the projecting part;
• creating first range information based on the pattern picked up by the second image pickup part;
• performing geometric transformation for the intensity image produced by the first image pickup part based on the range information;
• storing an initial geometric-transformed intensity image in a time-series transformed in the geometric transformation step;
• making comparison between successive geometric-transformed intensity images in the time-series transformed in geometric transformation step;
• and
• retrieving only differential data between successive geometric-transformed intensity images in the time series as storage data based on a result of the comparison of the comparison step of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series.

An image processing apparatus, comprising:

• a projecting part that projects light from a baseline to an image holding medium to form an image thereon, the projecting part associated with a re-coding part that creates a code imposed in the image;
• an image pickup part that picks up the image on the image holding medium projected by the projecting part, the image pickup part including a decoding part that detects the code created in the re-coding part;
• an intensity image acquisition part that acquires an intensity image based on the image picked up by the image pickup part;
• a range information acquisition part that acquires range information from the picked-up image by determining a distance between the image holding medium and the baseline based on the code;
• a geometric transformation part that performs geometric transformation for the intensity image based on the range information acquired in the range information acquisition part;
• an image extracting part that extracts difference between a geometric-transformed intensity image and an intensity image acquired in advance;
• a storage part that stores, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed by the geometric transformation part;
• the image extracting part making comparison between successive geometric-transformed intensity images in the time-series transformed by the geometric transformation part;
• and
• an image processing part that retrieves only differential data between successive geometric-transformed intensity images in the time-series as storage data based on a result of the comparison of the image extracting part of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.

An image processing method, comprising:

• projecting light from a baseline to an image holding medium to form an image thereon;
• creating a code to be imposed in the image;
• picking up the image projected on the image holding medium and detecting the code imposed on the image;
• acquiring an intensity image based on the image picked up in the image pickup step;
• acquiring range information from the picked-up image by determining a distance between the image holding medium and the baseline based on the code;
• performing geometric transformation for the intensity image based on the range information acquired in the range information acquisition step;
• and
• extracting difference between the geometric-transformed intensity image and an intensity image acquired in advance;
• storing, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed in the geometric transformation step;
• making comparison between successive geometric-transformed intensity images in the time-series transformed in the geometric transformation step;
• and
• retrieving only differential data between successive geometric-transformed intensity images in the time-series as storage data based on a result of the comparison step of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform method steps for performing image processing, the method comprising the steps of:

• projecting light from a baseline to an image holding medium to form an image thereon;
• creating a code to be imposed on the image;
• picking up the image formed on the image holding medium;
• detecting the code created in the re-coding part;
• acquiring an intensity image based on the image picked up in the image pickup step;
• acquiring range information from the picked-up image by determining a distance between the image holding medium and the baseline based on the code;
• performing geometric transformation for the intensity image based on the range information acquired in the range information acquisition step;
• and
• extracting difference between the geometric-transformed intensity image and an intensity image acquired in advance;
• storing, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed in the geometric transformation step;
• making comparison between successive geometric-transformed intensity images in the time-series transformed in the geometric transformation step;
• and
• retrieving only differential data between successive geometric-transformed intensity images in the time-series as storage data based on a result of the comparison step of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.

An image processing apparatus, comprising:

• a projecting part that projects light from a baseline, the projecting part associated with a re-coding part that a creates code imposed in the image;
• an image pickup part that picks up the projected light, the image pickup part including a decoding part that detects the code created in the re-coding part;
• an intensity image acquisition part that acquires an intensity image from the picked-up light;
• a range information acquisition part that acquires range information from the picked-up light by determining a distance from the baseline based on the code;
• a geometric transformation part that performs geometric transformation for the intensity image based on the range information;
• and
• an image extracting part that extracts difference between the geometric-transformed intensity image and an intensity image acquired in advance;
• a storage part that stores, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed by the geometric transformation part;
• the image extracting part making comparison between successive geometric-transformed intensity images in the time-series transformed by the geometric transformation part;
• and
• an image processing part that retrieves only differential data between successive geometric-transformed intensity images in the time series as storage data based on a result of the comparison of the image extracting part of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.

An image processing method, comprising:

• projecting coded light from a baseline;
• picking up and decoding the projected coded light to produce picked-up light;
• acquiring an intensity image from the picked-up light;
• acquiring range information from the picked-up light by determining a distance from the baseline;
• performing geometric transformation for the intensity image based on the range information;
• and
• extracting difference between the geometric-transformed intensity image and an intensity image acquired in advance;
• storing, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed in the geometric transformation step;
• making comparison between successive geometric-transformed intensity images in the time-series transformed in the geometric transformation step;
• and
• retrieving only differential data between successive geometric-transformed intensity images in the time-series as storage data based on a result of the comparison step of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform method steps for performing image processing, the method comprising the steps of:

• projecting coded light from a baseline;
• picking up and decoding the projected coded light to produce picked-up light;
• acquiring an intensity image from the picked-up light;
• acquiring range information from the picked-up light by determining a distance from the baseline;
• performing geometric transformation for the intensity image based on the range information;
• and
• extracting difference between the geometric-transformed intensity image and an intensity image acquired in advance;
• storing, as the geometric-transformed intensity image, an initial geometric-transformed intensity image in a time-series transformed in the geometric transformation step;
• making comparison between successive geometric-transformed intensity images in the time-series transformed in the geometric transformation step;
• and
• retrieving only differential data between successive geometric-transformed intensity images in the time-series as storage data based on a result of the comparison step of the initial geometric-transformed intensity image and geometric-transformed intensity images subsequently transformed in the time-series, wherein the stored geometric-transformed intensity image is the initial geometric-transformed intensity image and the differential data between successive geometric-transformed intensity images in the time-series.