Patent US1590551A successfully refreshed from Google Patents.
Patent US6968084B2 successfully refreshed from Google Patents.
US6968084B2
Expired / Lapsed
US
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Specific point detecting method and device
Assignee: Canon Inc
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Filing: 2001-03-27
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Granted: 2005-11-22
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Expires: 2021-03-27
Abstract
Abstract A template image creation module generates in predetermined timing a template image corresponding to a landmark existing in a real space from a fixed viewpoint image obtained from a fixed camera, and provides the template image to a landmark detection module, thereby updating a template image for use in template matching. The landmark detection module performs template matching for a photographed image from an observer viewpoint camera that is mounted on a HMD and moves along with an observer, using the template image updated by the template image creation module to detect the position of the landmark in the photographed image. In this way, specific points can be reliably detected from a photographed image, even if the environment during picture-taking is changed to cause changes in how specific points are viewed.
Inventors
- 👤 Kiyohide Satoh
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-09 10:25
CPC Classifications
G; G06; G06V; G06V10/00; G06V10/40; G06V10/44; G06V10/443
Claims Analysis
Total Claims: 48
Claim 1
Independent Claim
123 words
A specific point detecting device for detecting a position of a specific point on a target image, comprising: first input means for inputting a target image photographed by first photographing means that is movable; second input means for inputting an image photographed by second photographing means having a position and orientation that are known; updating means for updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; detecting means for detecting the position of said specific point on said target image, based on the detection parameters updated by said updating means; and estimation means for estimating viewpoint information of the first photographing means using the detected position of said specific point on said target image.
Claim 2
Dependent Claim
123 words
A specific point detecting device for detecting a position of a specific point on a target image, comprising: first input means for inputting a target image photographed by first photographing means that is movable; second input means for inputting an image photographed by second photographing means having a position and orientation that are known; updating means for updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; detecting means for detecting the position of said specific point on said target image, based on the detection parameters updated by said updating means; and estimation means for estimating viewpoint information of the first photographing means using the detected position of said specific point on said target image.
Claim 3
Dependent Claim
20 words
The device according to claim 1 , wherein said specific point is a static specific point in a real space.
Claim 4
Dependent Claim
43 words
The device according to claim 2 , wherein the viewpoint information includes a position and orientation of the first photographing means, and wherein said estimation means estimates the viewpoint information based on the detected position and known position information of said specific point.
Claim 5
Dependent Claim
20 words
The device according to claim 2 , wherein a plurality of photographing units are utilized as the first photographing means.
Claim 6
Dependent Claim
19 words
The device according to claim 2 , wherein the position and orientation of the second photographing means are fixed.
Claim 7
Dependent Claim
38 words
The device according to claim 5 , wherein there are a plurality of second photographing means, and said updating means updates said detection parameters based on a plurality of images photographed by the plurality of second photographing means.
Claim 8
Dependent Claim
69 words
The device according to claim 6 , wherein said plurality of second photographing means photographs one or more specific points in an overlapping manner, said updating means updates detection parameters for the same specific point respectively based on photographed images obtained by a plurality of second photographing means, and said detecting means detects the specific point based on a plurality of detection parameters with respect to the same point.
Claim 9
Dependent Claim
35 words
The device according to claim 7 , wherein said detecting means uses detection parameters updated, by said updating means, based on the image photographed by the second photographing means nearest to the first photographing means.
Claim 10
Dependent Claim
60 words
The device according to claim 1 , wherein if there are a plurality of detection parameters corresponding to the same specific point, said detecting means detects the specific point based on each detection parameter, and a detected position by the detection parameter having the best evaluation value of detection accuracy is adopted, thereby detecting the position of the specific point.
Claim 11
Dependent Claim
72 words
The device according to claim 1 , wherein said updating means comprises supplying means for supplying the position or area of said specific point on the image photographed by the second photographing means, and extracts a partial image including said specific point from the image photographed by the second photographing means based on the position or area supplied by said supplying means, and updates said detection parameters based on the partial image.
Claim 12
Dependent Claim
83 words
The device according to claim 10 , wherein said supplying means retains as known information the three-dimensional position of said specific point and camera parameters of said second photographing means, comprises specific point position calculating means for calculating the position of said specific point on the image photographed by the second photographing means, based on the three-dimensional position of said specific point and the camera parameters of said second photographing means, and supplies the position calculated by said specific point position calculating means.
Claim 13
Dependent Claim
47 words
The device according to claim 10 , wherein said supplying means comprises feature extracting means for extracting a featured partial area from the image photographed by the second photographing means, and supplies the position or area of said featured partial area extracted by said feature extracting means.
Claim 14
Dependent Claim
32 words
The device according to claim 1 , wherein said updating means updates detection parameters based on a plurality of photographed images photographed at a plurality of times by said second photographing means.
Claim 15
Dependent Claim
34 words
The device according to claim 1 , wherein said updating means determines timing in which update of detection parameters is performed, based on the contents of the image photographed by the second photographing means.
Claim 16
Dependent Claim
27 words
The device according to claim 14 , wherein said updating means controls update of detection parameters, based on changes in detection parameters updated by said updating means.
Claim 17
Dependent Claim
53 words
The device according to claim 1 , wherein said updating means performs update of detection parameters, if a degree of difference between a new image photographed by the second photographing means and an image photographed by the second photographing means at the time of latest update of detection parameters exceeds a predetermined value.
Claim 18
Dependent Claim
19 words
The device according to claim 1 , wherein said updating means updates detection parameters at a predetermined time interval.
Claim 19
Dependent Claim
86 words
The device according to claim 1 , wherein said updating means comprises storing means for storing two or more kinds of detection parameters prepared in advance for each of said specific points, and selecting means for selecting a detection parameter for detecting each specific point from two or more kinds of detection parameters stored in said storing means, in such a way as to follow changes in how the specific point is viewed, and updates current detection parameters to detection parameters selected by said selecting means.
Claim 20
Dependent Claim
24 words
The device according to claim 18 , wherein said selecting means selects detection parameters based on the average intensity value of said target image.
Claim 21
Dependent Claim
41 words
The device according to claim 1 , wherein said detection parameter is a template image including said specific points, and said detecting means performs template matching for said target image to detect the positions of said specific points on said image.
Claim 22
Dependent Claim
53 words
The device according to claim 1 , wherein said detection parameters are information expressing color and/or intensity unique to said specific points, and said detecting means extracts areas having the color and/or intensity unique to said specific points from said target image, thereby detecting the positions of said specific points on the image.
Claim 23
Dependent Claim
128 words
A specific point detecting method of detecting a position of a specific point on a target image, comprising: the first inputting step of inputting a target image photographed by first photographing means that is movable; the second inputting step of inputting an image photographed by second photographing means having a position and orientation that are known; the updating step of updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; the detecting step of detecting the position of said specific point on said target image, based on the detection parameters updated in said updating step; and the estimation step of estimating viewpoint information for the first photographing means using the detected position of said specific point on said target image.
Claim 24
Dependent Claim
128 words
A specific point detecting method of detecting a position of a specific point on a target image, comprising: the first inputting step of inputting a target image photographed by first photographing means that is movable; the second inputting step of inputting an image photographed by second photographing means having a position and orientation that are known; the updating step of updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; the detecting step of detecting the position of said specific point on said target image, based on the detection parameters updated in said updating step; and the estimation step of estimating viewpoint information for the first photographing means using the detected position of said specific point on said target image.
Claim 25
Dependent Claim
20 words
The method according to claim 22 , wherein said specific point is a static specific point in a real space.
Claim 26
Dependent Claim
44 words
The method according to claim 23 , wherein the viewpoint information includes a position and orientation of the first photographing means, and wherein said estimation step includes estimating the viewpoint information based on the detected position and known position information of said specific point.
Claim 27
Dependent Claim
20 words
The method according to claim 23 , wherein a plurality of photographing units are utilized as the first photographing means.
Claim 28
Dependent Claim
19 words
The method according to claim 23 , wherein the position and orientation of the second photographing means are fixed.
Claim 29
Dependent Claim
40 words
The method according to claim 26 , wherein there are a plurality of second photographing means, and in said updating step, said detection parameters are generated, based on a plurality of images photographed by the plurality of second photographing means.
Claim 30
Dependent Claim
74 words
The method according to claim 27 , wherein said plurality of second photographing means photographs one or more specific points in an overlapping manner, and in said updating step, detection parameters for the same specific point are generated respectively based on photographed images obtained by a plurality of second photographing means, and in said detecting step, the specific point is detected, based on a plurality of detection parameters with respect to the same point.
Claim 31
Dependent Claim
34 words
The method according to claim 28 , said detecting step uses detection parameters updated, in said updating step, based on the image photographed by the second photographing means nearest to the first photographing means.
Claim 32
Dependent Claim
62 words
The method according to claim 22 , wherein in said detecting step, if there is a plurality of detection parameters corresponding to the same specific point, the specific point is detected based on each detection parameter, and a detected position from the detection parameter having the best evaluation value of detection accuracy is adopted, thereby detecting the position of the specific point.
Claim 33
Dependent Claim
76 words
The method according to claim 22 , said updating step comprising a supplying step of supplying the position or area of said specific point on the image photographed by the second photographing means, and wherein a partial image including said specific point is extracted from the image photographed by the second photographing means based on the position or area supplied from said supplying step, and updates said detection parameters are generated based on the partial image.
Claim 34
Dependent Claim
88 words
The method according to claim 31 , wherein in said supplying step, the three-dimensional position of said specific point and camera parameters of said second photographing means are retained as known information, the specific point position calculating step of calculating the position of said specific point on the image photographed by the second photographing means, based on the three-dimensional position of said specific point and the camera parameters of said second photographing means is comprised, and the position calculated in said specific point position calculating step is supplied.
Claim 35
Dependent Claim
49 words
The method according to claim 31 , wherein said supplying step comprises the feature extracting step of extracting a featured partial area from the image photographed by the second photographing means and the position or area of said featured partial area extracted in said feature extracting step is supplied.
Claim 36
Dependent Claim
34 words
The method according to claim 22 , wherein in said updating step, detection parameters are updated based on a plurality of photographed images photographed at a plurality of times in said second photographing step.
Claim 37
Dependent Claim
36 words
The method according to claim 22 , wherein in said updating step, timing in which update of detection parameters is performed is determined based on the contents of the image photographed by the second photographing means.
Claim 38
Dependent Claim
29 words
The method according to claim 35 , wherein in said updating step, update of detection parameters is controlled, based on changes in detection parameters updated in said updating step.
Claim 39
Dependent Claim
55 words
The method according to claim 22 , wherein in said updating step, update of detection parameters is performed, if a degree of difference between a new image photographed by the second photographing means and an image photographed by the second photographing means at the time of latest update of detection parameters exceeds a predetermined value.
Claim 40
Dependent Claim
21 words
The method according to claim 22 , wherein in said updating step, detection parameters are updated at a predetermined time interval.
Claim 41
Dependent Claim
88 words
The method according to claim 22 , said updating step comprising: the storing step of storing two or more kinds of detection parameters prepared in advance for each of said specific points, and the selecting step of selecting a detection parameter for detecting each specific point from two or more kinds of detection parameters stored in said storing step, in such a way as to follow changes in how the specific point is viewed, wherein current detection parameters are updated to detection parameters selected in said selecting step.
Claim 42
Dependent Claim
26 words
The method according to claim 39 , wherein in said selecting step, detection parameters are selected based on the average intensity value of said target image.
Claim 43
Dependent Claim
39 words
The method according to claim 22 wherein said detection parameter is a template image including said specific points, and in said detecting step, template matching is performed for said target image to detect the positions of said specific points.
Claim 44
Dependent Claim
55 words
The method according to claim 22 , wherein said detection parameters are information expressing color and/or intensity unique to said specific points, and in said detecting step, areas having the color and/or intensity unique to said specific points are extracted from said target image, thereby detecting the positions of said specific points on the image.
Claim 45
Dependent Claim
144 words
A computer readable memory which stores a program for making a computer execute a specific point detecting method of detecting a position of a specific point on a target image, wherein said method comprises: a first input step of inputting a target image photographed by first photographing means that is movable; a second input step of inputting an image photographed by second photographing means having a position and orientation that are known; an updating step of updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; a detecting step of detecting the position of said specific point on said target image, based on the detection parameters updated in said updating step; and an estimation step of estimating viewpoint information of said first photographing means using the detected position of said specific point on said target image.
Claim 46
Dependent Claim
144 words
A computer readable memory which stores a program for making a computer execute a specific point detecting method of detecting a position of a specific point on a target image, wherein said method comprises: a first input step of inputting a target image photographed by first photographing means that is movable; a second input step of inputting an image photographed by second photographing means having a position and orientation that are known; an updating step of updating detection parameters for detecting said specific point based on an image photographed by the second photographing means; a detecting step of detecting the position of said specific point on said target image, based on the detection parameters updated in said updating step; and an estimation step of estimating viewpoint information of said first photographing means using the detected position of said specific point on said target image.
Claim 47
Dependent Claim
135 words
A specific point detecting device for detecting a position of a specific point on a target image, comprising: a first input unit configured to input a target image photographed by a first photographing unit that is movable; a second input unit configured to input an image photographed by a second photographing unit having a position and orientation that are known; an updating unit configured to update detection parameters for detecting said specific point based on an image photographed by the second photographing unit; a detecting unit configured to detect the position of said specific point on said target image, based on the detection parameters updated by said updating unit; and an estimation unit configured to estimate viewpoint information of said first photographing unit using the detected position of said specific point on said target image.
Claim 48
Dependent Claim
135 words
A specific point detecting device for detecting a position of a specific point on a target image, comprising: a first input unit configured to input a target image photographed by a first photographing unit that is movable; a second input unit configured to input an image photographed by a second photographing unit having a position and orientation that are known; an updating unit configured to update detection parameters for detecting said specific point based on an image photographed by the second photographing unit; a detecting unit configured to detect the position of said specific point on said target image, based on the detection parameters updated by said updating unit; and an estimation unit configured to estimate viewpoint information of said first photographing unit using the detected position of said specific point on said target image.
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