U.S. patent application number 16/409320 was filed with the patent office on 2019-08-29 for image processing device, image processing method, and recording medium.
The applicant listed for this patent is NEC Corporation. Invention is credited to Hiroo IKEDA.
Application Number | 20190268509 16/409320 |
Document ID | / |
Family ID | 55532970 |
Filed Date | 2019-08-29 |
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United States Patent
Application |
20190268509 |
Kind Code |
A1 |
IKEDA; Hiroo |
August 29, 2019 |
IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND RECORDING
MEDIUM
Abstract
An image processing device (3000) comprises an input unit (3020)
and a presentation unit (3040). The input unit (3020) accepts an
input of an operation for movement, on a captured image captured by
a camera, of a first image which is superimposed on the captured
image on the basis of a predetermined camera parameter indicating
the position and attitude of the camera and which indicates a
target object having a predetermined shape and a predetermined size
set in a real space. The presentation unit (3040) presents the
first image indicating the target object in a manner of view
corresponding to a position on the captured image after the
movement on the basis of the camera parameter.
Inventors: |
IKEDA; Hiroo; (Tokyo,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
NEC Corporation |
Tokyo |
|
JP |
|
|
Family ID: |
55532970 |
Appl. No.: |
16/409320 |
Filed: |
May 10, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15512340 |
Mar 17, 2017 |
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PCT/JP2015/071750 |
Jul 31, 2015 |
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16409320 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06K 9/00771 20130101;
G06T 2207/20096 20130101; G06T 2207/30196 20130101; G06T 19/006
20130101; G06T 19/00 20130101; H04N 5/225 20130101; G06T 2207/20101
20130101; H04N 5/77 20130101; G06T 2207/30232 20130101; G08B
13/19678 20130101; G08B 25/08 20130101; H04N 5/23293 20130101; H04N
5/76 20130101; G06T 2207/10016 20130101; H04N 17/002 20130101; G06T
7/80 20170101; H04N 9/8715 20130101; G06T 1/00 20130101 |
International
Class: |
H04N 5/225 20060101
H04N005/225; H04N 5/77 20060101 H04N005/77; H04N 5/232 20060101
H04N005/232; G06T 19/00 20060101 G06T019/00; G08B 25/08 20060101
G08B025/08; G06T 1/00 20060101 G06T001/00; H04N 5/76 20060101
H04N005/76; G08B 13/196 20060101 G08B013/196 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 19, 2014 |
JP |
2014-191480 |
Dec 19, 2014 |
JP |
2014-257137 |
Claims
1-15. (canceled)
16. An image processing device comprising: at least one memory
storing instructions; at least one processor configured to process
the instructions to: acquire a line indicating a person in a
captured image as a calibration pattern; calculate an error between
two-dimensional coordinates upon projecting three-dimensional
coordinates of the calibration pattern in a real world in the
captured image and two-dimensional coordinates of the calibration
pattern appearing in the captured image; and present information
relating to the error calculated around the person in the captured
image.
17. The image processing device according to 16, wherein the line
connects between a feet and a head of the person in the captured
image.
18. The image processing device according to 16, wherein the
presenting further comprising acquiring pieces of information of
different heights for a plurality of areas in the captured image,
respectively, as height information of second position in the real
world corresponding to first position in the captured image.
19. An image processing method comprising: acquiring a line
indicating a person in a captured image as a calibration pattern;
calculating an error between two-dimensional coordinates upon
projecting three-dimensional coordinates of the calibration pattern
in a real world in the captured image and two-dimensional
coordinates of the calibration pattern appearing in the captured
image; and presenting information relating to the error calculated
around the person in the captured image.
20. The image processing method according to claim 19, wherein the
line connects between a feet and a head of the person in the
captured image.
21. The image processing method according to claim 19, wherein the
presenting further comprising acquiring pieces of information of
different heights for a plurality of areas in the captured image,
respectively, as height information of second position in the real
world corresponding to first position in the captured image.
22. A non-transitory computer readable storage medium that records
a program for causing a computer to execute processing of:
acquiring a line indicating a person in a captured image as a
calibration pattern; calculating an error between two-dimensional
coordinates upon projecting three-dimensional coordinates of the
calibration pattern in a real world in the captured image and
two-dimensional coordinates of the calibration pattern appearing in
the captured image; and presenting information relating to the
error calculated around the person in the captured image.
23. The storage medium according to claim 22, wherein the line
connects between a feet and a head of the person in the captured
image.
24. The storage medium according to claim 22, wherein the
presenting further comprising acquiring pieces of information of
different heights for a plurality of areas in the captured image,
respectively, as height information of second position in the real
world corresponding to first position in the captured image.
Description
CROSS-REFERENCE TO RELATED PATENT APPLICATIONS
[0001] This application is a continuation application of U.S.
patent application Ser. No. 15/512,340, filed Mar. 17, 2017, which
is a National Stage Entry of International Application No.
PCT/JP2015/071750, filed Jul. 31, 2015, which claims priority from
Japanese Patent Application No. 2014-191480, filed Sep. 19, 2014
and JP 2014-257137, filed Dec. 19, 2014. The entire contents of the
above-referenced applications are expressly incorporated herein by
reference.
TECHNICAL FIELD
[0002] The present invention relates to an image processing
technique.
BACKGROUND ART
[0003] As one method for monitoring facilities and the like, there
is a method that uses a video of a monitoring camera installed in
the facilities and the like. An actual size and position of a
person or object appearing in a video of the monitoring camera may
be calculated using information (hereinafter, referred to as camera
parameters) on a position and attitude (posture) of the camera and
a size and position on an image of the person or object appearing
in the video (image). Through such calculation, it is possible to
grasp, when, for example, an important person (a criminal of a case
or the like) is appearing in a video of a monitoring camera, a
height and the like of the person using the video of the monitoring
camera.
[0004] Camera parameters used in the above-described purpose and
the like are estimated, for example, by calibration. NPL 1
discloses a method in which a calibration pattern is image-captured
by a camera and camera parameters (a rotation and translation of
the camera) indicating a position and attitude of the camera are
estimated from an association relation between three-dimensional
coordinates of the calibration pattern in a real world and
two-dimensional coordinates of the calibration pattern of the
captured image.
[0005] Further, there is a case in which already-estimated camera
parameters are acquired and used. For example, camera parameters
previously calculated by executing calibration for a camera having
been a past target may be acquired, or camera parameters defined on
the basis of information such as a position and attitude upon
installation of the camera may be acquired.
CITATION LIST
Non Patent Literature
[0006] NPL 1: Gang Xu and Saburo Tsuji, "Three-dimensional Vision",
Kyoritsu Shuppan, pp. 79-82, 1998
SUMMARY OF INVENTION
Technical Problem
[0007] It is difficult for camera parameters to always
appropriately indicate a position and attitude or the like of a
camera that is a target. For example, in a method for calculating
camera parameters by calibration, due to a cause such as an input
error of a corresponding point, lens distortion, and the like,
camera parameters indicating a position and attitude different from
an actual position and attitude of a camera may be calculated.
Further, also when an already-estimated cameral parameter is
acquired, it is difficult to understand whether the camera
parameters are appropriate. It is possible that, for example, with
an elapsed time, a position and attitude of a camera may change,
and therefore camera parameters estimated in the past and a current
position and attitude of the camera may differ from each other.
[0008] When the camera parameters do not appropriately indicate a
position and attitude or the like of a camera that is a target, a
problem that an error in a calculation result occurs upon
calculating, for example, a height of an important person appearing
in a video of the above-described monitoring camera is
produced.
[0009] In view of the above-described problem, an object of the
present invention has been achieved. The object of the present
invention is to provide a technique enabling a use to easily
confirm whether camera parameters are appropriate.
Solution to Problem
[0010] A first image processing device provided by the present
invention includes: an input means configured to accept inputting
of an operation for movement, on a captured image captured by a
camera, to a first image that is superimposed on the captured image
on the basis of predetermined camera parameters indicating a
position and attitude of the camera and indicates a target object
having a predetermined shape and a predetermined size set on a real
space; and a presentation means configured to present the first
image indicating the target object in a manner of view relating to
a position on the captured image after the movement on the basis of
the camera parameters.
[0011] A second image processing device provided by the present
invention includes: a display means configured to display a
captured image captured by a camera; a parameter acquisition means
configured to acquire a cameral parameter indicates a position and
an attitude of the camera; an input means configured to accept
designation of a first position in the captured image; and a
presentation means configured to, based on the camera parameters, a
predetermined shape and a predetermined size on the real space of
the target object, and the second position on the real space
relating to the first position, present a first image indicating a
target object on the captured image appearing in a camera defined
by the camera parameters upon disposing the target object in a
second position in the captured image relating to the first
position.
[0012] A third image processing device provided by the present
invention includes: a first display means configured to display a
captured image captured by a camera; a parameter acquisition means
configured to acquire a cameral parameter indicates a position and
an attitude of the camera; an input means configured to accept
inputting of a dot or a line relating to the captured image; and a
second display means configured to display the first image
indicating the dot or a line mapped on a plane representing a
ground surface is viewed from a direction vertical to the plane,
based on the camera parameter, a position of the dot or the line on
the captured image.
[0013] A first image processing method provided by the present
invention includes: an input step of accepting inputting of an
operation for movement, on a captured image captured by a camera,
to a first image that is superimposed on the captured image on the
basis of predetermined camera parameters indicating a position and
attitude of the camera and indicates a target object having a
predetermined shape and a predetermined size set on a real space;
and a presentation step of presenting the first image indicating
the target object in a manner of view relating to a position on the
captured image after the movement on the basis of the camera
parameters.
[0014] A second image processing method provided by the present
invention includes: a display step of displaying a captured image
captured by a camera; a parameter acquisition step of acquiring a
cameral parameter indicating a position and an attitude of the
camera; an input step of accepting designation of a first position
in the captured image; and a presentation step of, based on the
camera parameters, a predetermined shape and a predetermined size
on the real space of the target object, and the second position on
the real space relating to the first position, presenting a first
image indicating a target object on the captured image appearing in
a camera defined by the camera parameters upon disposing the target
object in a second position in the captured image relating to the
first position.
[0015] A third image processing method provided by the present
invention includes: a first display step of displaying a captured
image captured by a camera; a parameter acquisition step of
acquiring a cameral parameter indicates a position and an attitude
of the camera; an input step of accepting inputting of a dot or a
line relating to the captured image; and a second display step of
displaying the first image indicating the dot or a line mapped on a
plane representing a ground surface is viewed from a direction
vertical to the plane, based on the camera parameter, a position of
the dot or the line on the captured image.
[0016] A program provided by the present invention cause a computer
to operate as the first image processing device, the second image
processing device, or the third image processing device.
Advantageous Effects of Invention
[0017] According to the present invention, a technique enabling the
user to easily confirm whether camera parameters are appropriate is
provided.
BRIEF DESCRIPTION OF DRAWINGS
[0018] The above-described object and other objects as well as
features and advantages will become further apparent from the
following description of preferred example embodiments and the
following accompanying drawings.
[0019] FIG. 1 is a block diagram illustrating an image processing
device according to a first example embodiment.
[0020] FIG. 2A is a diagram illustrating a situation where an image
processing device has presented a predetermined object on a
captured image.
[0021] FIG. 2B is a diagram illustrating a situation where an image
processing device has presented a predetermined object on a
captured image.
[0022] FIG. 3 is a flowchart illustrating a flow of processing
executed by the image processing device of the first example
embodiment.
[0023] FIG. 4A is a diagram illustrating a captured image in which
a first image has been presented by a presentation unit.
[0024] FIG. 4B is a diagram illustrating a captured image in which
a first image has been presented by a presentation unit.
[0025] FIG. 5 is a block diagram illustrating a hardware
configuration of an image processing device.
[0026] FIG. 6 is a diagram illustrating a situation where a first
image indicating a target object of a planar shape is presented on
a captured image.
[0027] FIG. 7 is a block diagram illustrating an image processing
device according to a second example embodiment.
[0028] FIG. 8 is a diagram illustrating a captured image in which a
line is input via a second input unit.
[0029] FIG. 9A is a diagram illustrating an image indicating a
situation where a dotted line mapped on a plane representing a
ground surface is viewed from a direction vertical to the
plane.
[0030] FIG. 9B is a diagram illustrating an image indicating a
situation where a dotted line mapped on a plane representing a
ground surface is viewed from a direction vertical to the
plane.
[0031] FIG. 10 is a diagram illustrating an image in which a
position and a field of view of a camera have been presented
together with a projective line illustrated in FIG. 9A.
[0032] FIG. 11 is a flowchart illustrating a flow of processing
executed by the image processing device of the second example
embodiment.
[0033] FIG. 12 is a diagram illustrating a situation where error
information is presented on a captured image.
[0034] FIG. 13 is a diagram illustrating a situation where the user
moves a target object on a captured image.
[0035] FIG. 14 is a diagram illustrating a situation where a target
object is moved across a plurality of areas having different
heights.
[0036] FIG. 15 is a block diagram illustrating an image processing
device according to a third example embodiment.
[0037] FIG. 16 is a flowchart illustrating a flow of processing
executed by the image processing device of the third example
embodiment.
[0038] FIG. 17A is a diagram illustrating a projective line of a
target object presented on a captured image on the plane
representing the ground surface illustrated in FIG. 9A.
[0039] FIG. 17B is a diagram illustrating a projective line of a
target object presented on a captured image on the plane
representing the ground surface illustrated in FIG. 9A.
DESCRIPTION OF EMBODIMENTS
[0040] Hereinafter, example embodiments of the present invention
will be described using the accompanying drawings. In all the
drawings, the same components are assigned with the same reference
signs, and description thereof will be omitted, as appropriate.
First Example Embodiment
[0041] FIG. 1 is a block diagram illustrating an image processing
device 2000 according to a first example embodiment. In FIG. 1, an
arrow indicates a flow of information. Further, in FIG. 1, each
block does not represent a configuration of a hardware unit but
represents a configuration of a function unit.
[0042] The image processing device 2000 includes a display unit
2020, a parameter acquisition unit 2040, an input unit 2060, and a
presentation unit 2080.
[0043] The display unit 2020 displays a captured image captured by
a camera. The parameter acquisition unit 2040 acquires camera
parameters indicating a position and attitude or the like of the
camera. The camera parameters may include a parameter other than
the position and attitude of the camera. The parameter other than
the position and attitude of the camera will be described
later.
[0044] The input unit 2060 accepts a designation of a first
position on a captured image. The presentation unit 2080 generates
a first image indicating a target object on the captured image
appearing in a camera defined by the camera parameters upon
disposing the target object in a second position on a real space
relating to the first position. In other words, the first image is
an image indicating how the target object looks when viewed from a
point of view of the camera defined by the camera parameters.
Further, it is possible to determine the second position on the
real space from the camera parameters and height information of the
first position and the second position. "Disposing a target object
in a second position" means that it is assumed that the target
object exists in a position (the second position) on a real space
relating to the first position on the captured image. The
presentation unit 2080 generates the first image using the camera
parameters, a predetermined shape and a predetermined size on the
real space of the target object, and the second position. Further,
the presentation unit 2080 presents the generated first image in
the first position on the captured image. The target object is a
virtual object having a planar shape or a solid shape. The
predetermined size and the predetermined shape set for the target
object are a size and a shape in which a real world is assumed. The
predetermined size and the predetermined shape may be input by the
user or may be previously stored in the inside or the outside of
the image processing device 2000.
[0045] Using FIGS. 2A and 2B, specific description will be made.
FIGS. 2A and 2B show a diagram illustrating a situation where the
image processing device 2000 has presented a predetermined object
on a captured image. In FIGS. 2A and 2B, the predetermined object
is a rectangular parallelepiped 20. FIG. 2A illustrates a situation
where the rectangular parallelepiped 20 is viewed at an appropriate
angle. As illustrated in FIG. 2A, a size of the rectangular
parallelepiped 20 is 30 cm in width and depth and 170 cm in height.
The rectangular parallelepiped 20 in this example is an object in
which a shape and size of an average person are simplified.
[0046] FIG. 2B is a diagram in which the image processing device
2000 has presented the rectangular parallelepiped 20 on a captured
image 10. A first position 30 indicates a first position input to
the input unit 2060. The presentation unit 2080 presents a first
image 40 in the first position 30. The first image 40 is an image
indicating in a pseudo manner, when the rectangular parallelepiped
20 disposed in a position equivalent to the first position 30 in a
real world is image-captured by a camera specified by camera
parameters, the rectangular parallelepiped 20 appearing in the
camera.
<Flow of Processing>
[0047] FIG. 3 is a flowchart illustrating a flow of processing
executed by the image processing device 2000 of the first example
embodiment. In step S102, the display unit 2020 displays a captured
image captured by a camera. In step S104, the input unit 2060
accepts a designation of a first position on the captured image. In
step S106, the parameter acquisition unit 2040 acquires camera
parameters indicating a position and attitude or the like of the
camera. In step S108, the presentation unit 2080 generates a first
image. As described above, the first image indicates a target
object on a captured image upon appearing in a camera specified by
the camera parameters when being disposed in a second position. In
step S110, the presentation unit 2080 presents the generated first
image in the first position on the captured image.
[0048] The flow of processing illustrated in FIG. 3 is one example,
and a flow of processing executed by the image processing device
2000 is not limited to the flow illustrated in FIG. 3. For example,
processing (step S106) of acquiring camera parameters may be
executed before processing (step S104) of accepting inputting of a
first position.
<Operations and Advantageous Effects>
[0049] According to the present example embodiment, the user of the
image processing device 2000 views an object presented by the
presentation unit 2080, and thereby the user can easily confirm
whether camera parameters appropriately indicate a position and
attitude or the like of a camera (hereinafter, a real camera)
having captured a captured image displayed by the display unit
2020. Hereinafter, using FIG. 4, detailed description will be
made.
[0050] FIGS. 4A and 4B show a diagram illustrating a captured image
in which a first image has been presented by the presentation unit
2080. FIG. 4A is a diagram in which camera parameters acquired by
the parameter acquisition unit 2040 indicate a position and
attitude approximate to a position and attitude of a real camera.
On the other hand, FIG. 4B is a diagram in which camera parameters
acquired by the parameter acquisition unit 2040 indicate a position
and attitude different from a position and attitude of a real
camera. A target object in FIGS. 4A and 4B show a rectangular
parallelepiped having a height of 170 cm and depth and width of 30
cm in the same manner as in the case of FIGS. 2A and 2B.
[0051] The first image presented by the presentation unit 2080 is
presented on a captured image as if a target object disposed in a
place appearing on a captured image has been image-captured by a
camera installed in a position and attitude indicated by camera
parameters. Therefore, when the camera parameters indicate a
position and attitude approximate to a position and attitude of a
real camera, there is no feeling of strangeness in a manner of view
or the like depending on a size and angle when a person, an object,
or the like appearing on the captured image and the first image are
compared. A height of the target object is, for example, 170 cm,
and therefore when the target object and a person are compared, it
is conceivable that heights to substantially the same extent are
obtained.
[0052] In FIGS. 4A and 4B, a transverse side of a person appearing
on the captured image 10 is designated as a first position, and
therefore the first image 40 is presented in a transverse side of
the person. In FIG. 4A, in any position, sizes of a person and a
rectangular parallelepiped indicated by the first image 40 are
substantially the same, resulting in no feeling of strangeness.
Further, in FIG. 4A, in the same manner as in a case where a
person, a wall, and the like appear by being looked down from a
front-diagonally upward side, a rectangular parallelepiped
indicated by each first image 40 is also looked down from a
front-diagonally upward side, and therefore there is no feeling of
strangeness also in a manner of view depending on an angle of each
rectangular parallelepiped.
[0053] In contrast, in FIG. 4B, there is a feeling of strangeness
in a manner of view caused by a size and angle of a rectangular
parallelepiped indicated by the first image 40. For example, a
height of a rectangular parallelepiped indicated by a first image
40-10 is approximately twice a height of a person, and therefore it
is difficult to say that the first image 40-10 indicates an object
(the rectangular parallelepiped 20) having a height of 170 cm
disposed in a place appearing on a captured image 10-2. Further,
differently from a rectangular parallelepiped indicated by each
first image 40 presented by a captured image 10-1, in the captured
image 10-2, a top surface of every rectangular parallelepiped is
visible and appears in a manner of view so as to be looked down
from a close proximity. In this manner, from a size and angle of
each rectangular parallelepiped indicated by the first image 40, it
is predictable that a depression angle of a sight line direction of
a camera indicated by camera parameters in FIG. 4B has come to be
larger than a depression angle of a sight line direction of a real
camera.
[0054] As illustrated in FIGS. 4A and 4B, the user may designate a
plurality of first positions and dispose a plurality of target
objects within one captured image.
[0055] As described above, according to the image processing device
2000 of the present example embodiment, the user using the image
processing device 2000 compares a first image presented by the
presentation unit 2080 and a captured image and thereby can easily
grasp whether camera parameters acquired by the parameter
acquisition unit 2040 indicate a position and attitude approximate
to a position and attitude of a camera having captured the captured
image. When it is possible to confirm that a position and attitude
approximate to a position and attitude of a camera having captured
a captured image are indicated, the user can determine that a
combination between the camera parameters and a video of a
monitoring camera is usable. Conversely, when it is possible to
confirm that a position and attitude approximate to a position and
attitude of a camera having captured a captured image are not
indicated, countermeasures such that camera parameters are
estimated again and a position and attitude of a real camera are
corrected may be taken.
[0056] Hereinafter, the image processing device 2000 of the present
example embodiment will be described in more detail.
<Hardware Configuration Example>
[0057] Each function configuration unit of the image processing
device 2000 may be realized by a hardware component (e.g. a
hard-wired electronic circuit) that realizes each function
configuration unit or may be realized by a combination between a
hardware component and a software component (e.g. a combination
between an electronic circuit and a program that controls the
circuit).
[0058] FIG. 5 is a block diagram illustrating a hardware
configuration of the image processing device 2000. The image
processing device 2000 includes a bus 1020, a processor 1040, a
memory 1060, a storage 1080, and an input/output interface 1100.
The bus 1020 is a data transmission channel in order for the
processor 1040, the memory 1060, the storage 1080, and the
input/output interface 1100 to mutually execute data
transmission/reception. However, a method for mutually connecting
the processor 1040 and the like is not limited to bus connection.
The processor 1040 is an arithmetic processing unit such as a CPU
(Central Processing Unit), a GPU (Graphics Processing Unit), or the
like, for example. The memory 1060 is a memory such as a RAM
(Random Access Memory), a ROM (Read Only Memory), or the like, for
example. The storage 1080 is a storage device such as a hard disk,
an SSD (Solid State Drive), a memory card, or the like, for
example. Further, the storage 1080 may be a memory such as a RAM, a
ROM, or the like. The input/output interface 1100 is an
input/output interface in order for the image processing device
2000 to transmit/receive data between itself and an input device,
an external device, or the like. The image processing device 2000
acquires, for example, the captured image and the first position
via the input/output interface 1100. Further, the image processing
device 2000 outputs, for example, a captured image presenting a
first image via the input/output interface.
[0059] The storage 1080 stores a program for realizing a function
of the image processing device 2000. Specifically, the storage
stores program modules for realizing functions of the display unit
2020, the parameter acquisition unit 2040, the input unit 2060, and
the presentation unit 2080, respectively. The processor 1040
executes these program modules and thereby realizes the functions
of the display unit 2020, the parameter acquisition unit 2040, the
input unit 2060, and the presentation unit 2080, respectively. When
executing the modules, the processor 1040 may read the modules onto
the memory 1060 and execute the modules or may execute the modules
without being read onto the memory 1060.
[0060] The hardware configuration of the image processing device
2000 is not limited to the configuration illustrated in FIG. 5. For
example, each program module may be stored on the memory 1060. In
this case, the image processing device 2000 may not include the
storage 1080.
<Details of Camera Parameters>
[0061] As described above, camera parameters may include a
parameter other than a position and attitude of a camera. The
camera parameters include, for example, an internal parameter
indicating an internal characteristic of a camera such as a focal
length, lens distortion, coordinates of a center of an image, and
the like. The position and attitude of a camera is an external
parameter indicating an external characteristic of the camera. The
camera parameters may be calculated by associating two-dimensional
coordinates on a captured image with three-dimensional coordinates
on a real space.
[0062] When camera parameters are used, mutual transformation
between the two-dimensional coordinates on the captured image and
the three-dimensional coordinates on a real space may be made.
However, it is difficult that the two-dimensional coordinates on
the captured image uniquely determines, by itself, the
three-dimensional coordinates on the real space relating to the
two-dimensional coordinates. To uniquely determine the
three-dimensional coordinates on the real space relating to the
two-dimensional coordinates on the captured image, it is necessary
to specify, for example, any one of an x-coordinate, a
y-coordinate, and a z-coordinate of the three-dimensional
coordinates. The image processing device 2000 of the present
example embodiment specifies height information (the z-coordinate)
of the second position on the real space and thereby uniquely
determines the second position on the real space relating to the
first position on the captured image. In the present example
embodiment, an origin on the real space is set on a ground surface
immediately below a camera, the x-coordinate and the y-coordinate
are set in a width direction and a depth direction parallel to the
ground surface, respectively, and the z-coordinate is set in a
direction vertical to the ground surface to make description. A
technique for executing mutual transformation between coordinates
on an image and coordinates on a real space using camera parameters
is a known technique and is described in, for example, NPL 1.
Therefore, further detailed description on this technique will be
omitted.
[0063] There are various methods in which the parameter acquisition
unit 2040 acquires camera parameters. The parameter acquisition
unit 2040 receives, for example, camera parameters transmitted from
an external device. Further, the parameter acquisition unit 2040
accepts, for example, manual inputting of camera parameters.
Further, the parameter acquisition unit 2040 reads, for example,
camera parameters from a storage device storing camera
parameters.
<Details of Display Unit 2020>
[0064] The display unit 2020 displays a captured image on a display
screen such as a display and the like. The display screen may be a
stationary display or may be a portable display included in a
mobile terminal and the like.
<Details of Input Method of First Position>
[0065] The input unit 2060 may accept a designation of a first
position using various methods capable of specifying a position on
a captured image. The input unit 2060 accepts, for example, an
operation (a click operation or the like) for designating any
position on a captured image by an input device such as a mouse and
the like. Further, when a captured image is displayed on a touch
panel, the input unit 2060 accepts touch inputting or the like for
any position on the captured image. Further, the input unit 2060
may accept inputting of coordinates indicating a position on a
captured image.
<Details of Target Object>
[0066] A target object is an object having, for example, a
predetermined size and shape on a real space. Information defining
a predetermined target object that is, for example, "a rectangular
parallelepiped having a height of 170 cm and depth and width of 30
cm" as described above is previously stored in the inside or
outside of the image processing device 2000. In this case, the
presentation unit 2080 uses this predetermined handling object.
[0067] Further, the image processing device 2000 may include a
function for accepting inputting of information defining a target
object. In this case, the device may accept information indicating
both a shape and a size on a real space of the target object or may
accept information indicating only any one of the shape and the
size. In the latter case, the shape of the target object is
previously determined as a shape of a rectangular parallelepiped,
for example, and a designation of the size (depth and width and a
height) is accepted from the user.
[0068] The shape of the target object is not limited to a
rectangular parallelepiped. The target object may be, for example,
conical or spherical. Further, the target object may be an object
indicating a shape of a person, an animal, or the like such as an
avatar and the like.
[0069] Further, the target object may have a planar shape. FIG. 6
is a diagram illustrating a situation where a first image 40
indicating a target object of a planar shape is presented on a
captured image 10. In this case, the user designates, for example,
depth and width of a plane. When camera parameters appropriately
indicate a position and attitude or the like of a real camera, a
first image presented by the presentation unit 2080 becomes
parallel to a ground surface. The user compares the first image 40
presented by the presentation unit 2080 with the ground surface
appearing on the captured image 10 and checks whether a plane
represented by the first image 40 is parallel to the ground
surface, and thereby may easily confirm whether the camera
parameters appropriately indicate the position and attitude or the
like of the real camera. Further, the size of the plane is
designated, and therefore, when an object or the like of a known
size appearing within a captured image is compared with an
appearance and a size on an image and a feeling of strangeness is
confirmed, it is possible to easily confirm whether the camera
parameters appropriately indicate a position and attitude or the
like of the real camera.
<Details of Presentation Unit 2080>
[0070] As described above, the presentation unit 2080 generates,
when a target object disposed in a second position appears in a
camera determined by the camera parameters, an image indicating the
target object on a captured image. The presentation unit 2080
executes, for example, the following processing.
[0071] First, the presentation unit 2080 calculates a second
position on a real space relating to a first position on a target
image. As described above, it is difficult that a first position
(two-dimensional coordinates) on a target image uniquely
determines, by itself, a second position (three-dimensional
coordinates) on a real space relating to the first position.
Therefore, the presentation unit 2080 acquires information (a
z-coordinate of the second position) indicating a height of the
second position. The height information of the second position
indicates, for example, a height (z=0) of a ground surface on the
real space. When the height information of the second position is
specified in this manner, a position on the real space relating to
the first position on the target image is uniquely determined. The
presentation unit 2080 calculates three-dimensional coordinates of
the second position using two-dimensional coordinates of the first
position, the height information of the second position, and camera
parameters. As described above, when these pieces of information
are used, two-dimensional coordinates on a captured image can be
transformed to three-dimensional coordinates on a real space. The
height information of the second position can be previously
provided for the presentation unit 2080 or can be supplied from the
outside. Alternatively, the height information of the second
position may be set as a different height for each of a plurality
of areas within a target image.
[0072] The presentation unit 2080 generates a first image
indicating a target object to be presented on the captured image.
When the target object has, for example, a shape of a rectangular
parallelepiped or a cone, the presentation unit 2080 calculates
coordinates of each apex of the target object to be presented on
the captured image to generate the first image. Specifically, the
presentation unit 2080 transforms three-dimensional coordinates of
each apex in which the target object is disposed in the second
position on the real space to two-dimensional coordinates of each
apex on the captured image, using the camera parameters. The
presentation unit 2080 generates the first image by connecting each
apex with a straight line or the like.
[0073] An angle of the target object disposed in the real space is
optional. The presentation unit 2080 assumes that the target object
has been disposed in the second position such that, for example, in
an xyz space representing the real space, a width-direction side of
the target object is parallel to the x-axis, a depth-direction side
thereof is parallel to the y-axis, and a height-direction side
thereof is parallel to the z-axis. Directions of these sides may be
previously determined, or designations therefor by the user may be
accepted. When, for example, in the captured image 10 of FIG. 6, a
target object of a planar shape is used, a depth-direction side is
matched with a line on a ground surface, and thereby it becomes
possible to easily determine whether the target object and the
ground surface are parallel to each other. In addition thereto,
when, for example, a lattice of a predetermined width on a real
space is drawn in a target object, a depth-direction side of the
target object is matched with a line or the like of a tile having a
known size of a floor face, and thereby a size of the tile may be
measured. The size is confirmed, and thereby determination is more
easily performed. Therefore, the image processing device 2000, for
example, enables the user to rotate a target object being presented
on the captured image 10 using a mouse or the like. When, for
example, the target object being presented on the captured image 10
or a periphery thereof has been dragged by a mouse or the like, the
image processing device 2000 determines a direction of rotating the
target object in accordance with a direction of the drag. For
example, a rotation direction upon being dragged in a left
direction is regarded as clockwise rotation, and a rotation
direction upon being dragged in a right direction is regarded as
counter-clockwise rotation. Further, the image processing device
2000 determines an angle of rotation of the target object in
accordance with a distance of the drag. In this case, a relation
between a distance of a drag and an angle of rotation is previously
defined. The image processing device 2000 rotates the target object
on the basis of the determined direction and angle around a
straight line (e.g. a straight line parallel to the z-axis), as a
rotation axis, passing through the second position. The user
disposes the depth-direction side of the target object along a line
of the ground surface and compares the target object on the
captured image 10 with the ground surface. The second position is
not limited to an internal point of the target object and may be
located externally.
[0074] Further, the presentation unit 2080 may accept an operation
for moving a target object on the captured image 10. The user moves
the target object on the captured image 10, for example, by an
operation such as "dragging on the captured image 10 by the right
button of a mouse." In this case, the input unit 2060 repeatedly
acquires a position of a moving mouse pointer as the
above-described first position. This acquisition is executed, for
example, at a predetermined time interval. The presentation unit
2080 presents, in a first position on the captured image 10 newly
acquired by the input unit 2060, the first image 40 newly generated
on the basis of the first position, a fixedly obtained camera
parameters, and height information of a second position. Further,
the presentation unit 2080 deletes, from the captured image 10, the
first image 40 having been presented in a first position acquired
before the first position. By doing so, from a point of view of the
user, the target object appears to be moving on a space appearing
on the captured image 10.
[0075] FIG. 13 is a diagram illustrating a situation where the user
moves a target object on the captured image 10. In FIG. 13, a
trajectory 170 indicates a trajectory in which the user has moved a
target object. A first position 30-1 to a first position 30-5
indicate positions on the trajectory 170, respectively. A first
image 40-1 to a first image 40-5 indicate first images 40 presented
in the first position 30-1 to the first position 30-5,
respectively. The first image 40 drawn with dotted lines indicates
the first image 40 having already disappeared from the captured
image 10, and the first image 40 drawn with solid lines indicates
the first image 40 being currently presented. In FIG. 13, since a
currently designated first position 30 is the first position 30-5,
the first image 40-5 is being presented and the first image 40-1 to
the first image 40-4 have disappeared.
[0076] As illustrated in FIG. 13, for example, the user moves a
target object so as to pass through a transverse side of a person
or the like appearing on the captured image 10 and thereby confirms
whether there is no feeling of strangeness in a manner of view of
the target object. In the case of FIG. 13, when there is no feeling
of strangeness in a size and direction of the target object even
upon moving the target object to a transverse side of any person,
it is conceivable that camera parameters acquired by the parameter
acquisition unit 2040 indicate a position and attitude approximate
to a position and attitude of a camera having captured the captured
image 10. When such a moving operation is provided, the user can
easily verify, for various positions on the captured image 10,
whether there is no feeling of strangeness in a manner of view of
the target object. Specifically, when a manner of view of the
target object is provided via continuous movement, rightfulness and
a feeling of strangeness based on human visual sense is further
emphasized, resulting in an effective function for
verification.
[0077] Further, as illustrated in FIG. 14, for example, in a
captured image in which areas having a step as in stairs appear,
height information may be set for each area having a step. In this
case, as a trajectory is illustrated in FIG. 14, by moving a target
object on an image, the user may easily verify whether there is no
feeling of strangeness in a manner of view of the target object
seamlessly including the steps.
Second Example Embodiment
[0078] FIG. 7 is a block diagram illustrating an image processing
device 2000 according to a second example embodiment. In FIG. 7, an
arrow indicates a flow of information. Further, in FIG. 7, each
block does not represent a configuration of a hardware unit but
represents a configuration of a function unit.
[0079] The image processing device 2000 of the second example
embodiment includes a display unit 2020, a parameter acquisition
unit 2040, a second input unit 2100, and a second display unit
2120. Functions included in the display unit 2020 and the parameter
acquisition unit 2040 of the present example embodiment are the
same as the functions included in the display unit 2020 and the
parameter acquisition unit 2040 described in the first example
embodiment, respectively.
[0080] The second input unit 2100 accepts inputting of a point or
line to a captured image displayed by the display unit 2020. The
second display unit 2120 displays, on the basis of camera
parameters, a position on the captured image of the input point or
line, and height information on a real space of the input point or
line, an image indicating the point or line upon mapping on a plane
parallel to a ground surface. In other words, the second display
unit 2120 displays, when it is assumed that the input point or line
within the captured image exists within a field of view of a camera
having captured the captured image, an image in which the point or
line assumed to exist within the field of view of the camera is
mapped on the plane parallel to the ground surface. The second
display unit 2120 may perform display for the same display as a
display or the like on which a captured image is being displayed by
the display unit 2020 or may perform display for a different
display or the like.
[0081] The height information of the input point or line on the
real space may be previously provided for the second display unit
2120 or may be input to the second input unit 2100 together with
the point or line. When the height information on the real space of
the input point or line is previously provided for the second
display unit 2120, the height information is set as, for example, a
height (e.g. height information (z-coordinate)=0) of a ground
surface on the real space.
[0082] As described above, the second display unit 2120 maps a
point or line existing on a captured image on a plane parallel to a
ground surface in a real space. First, a mapping method of a point
is described below. The second display unit 2120 transforms
two-dimensional coordinates of a point on a captured image to
three-dimensional coordinates on a real space. As described above,
three-dimensional coordinates on the real space relating to
two-dimensional coordinates on the captured image are not uniquely
determined. Therefore, the second display unit 2120 uses height
information of the input point. Specifically, it is assumed that
the height information on the real space of the input point is
given height information. Thereby, the second display unit 2120 may
uniquely transform two-dimensional coordinates on the captured
image to three-dimensional coordinates on the real space. A
position of the input point on the plane parallel to the ground
surface on the real space is represented by a width-direction
coordinate and a depth-direction coordinate (the x-coordinate and
the y-coordinate except the z-coordinate indicating height) of
calculated three-dimensional coordinates.
[0083] As described in the first example embodiment, a technique
for calculating, on the basis of camera parameters, two-dimensional
coordinates of a point on a captured image, and height information
on a real space of the point, three-dimensional coordinates on the
real space relating to the two-dimensional coordinates is a known
technique. Therefore, detailed description on this technique will
be omitted.
[0084] A principle of processing of mapping a line input onto a
captured image on a plane parallel to a ground surface in a real
space is the same as the above-described principle of processing of
mapping a point. The second display unit 2120 maps, for example,
each of two or more points (e.g. points of both ends) existing on
an input line on a plane parallel to a ground surface in a real
space. The second display unit 2120 connects these mapped points
with a line such as a straight line and the like. By doing so, the
line input onto the captured image is mapped on the plane parallel
to the ground surface in the real space.
[0085] Hereinafter, a utilization method of the image processing
device 2000 of the second example embodiment will be described.
[0086] The user of the image processing device 2000 inputs, for
example, a pattern in a real world and a line tracing a border
between a wall and a ground surface to the second input unit 2100.
FIG. 8 is a diagram illustrating a captured image 10 in which a
line has been input via the second input unit 2100. A dotted line
90 represents a line input to the second input unit 2100. A pattern
100 is a line drawn on a ground surface on a real world appearing
on a captured image. A pattern 100-1 and a pattern 100-2 are lines
parallel to each other on the real world. A border 110 is a border
between a wall and the ground surface on the real world appearing
on the captured image. A border 110-1 and a border 110-2 vertically
intersect with each other on the real world.
[0087] The second display unit 2120 maps the dotted line 90 on a
plane parallel to the ground surface. The second display unit 2120
displays a situation where the dotted line 90 mapped on the plane
parallel to the ground surface is viewed from a direction vertical
to the plane. FIGS. 9A and B show a diagram illustrating an image
representing a situation where the dotted line 90 mapped on a plane
representing a ground surface is viewed from a direction vertical
to the plane. FIG. 9A is a diagram in which camera parameters
indicate a position and attitude approximate to a position and
attitude of a real camera. As described above, in a real world (in
a place appearing on a captured image), the pattern 100-1 and the
pattern 100-2 are lines drawn parallel to each other. Therefore, in
FIG. 9A in which camera parameters indicate a position and attitude
approximate to a position and attitude of a real camera, a
projective line 120-1 in which a dotted line 90-1 is mapped on a
plane representing a ground surface and a projective line 120-2 in
which a dotted line 90-2 is mapped on the plane representing the
ground surface are parallel or substantially parallel to each
other. Further, as described above, in a real world (in a place
appearing on a captured image), a border 110-3 and a border 110-4
vertically intersect with each other. Therefore, in FIG. 9A, a
projective line 120-3 in which a dotted line 90-3 is mapped on the
plane representing the ground surface and a projective line 120-4
in which a dotted line 90-4 is mapped on the plane representing the
ground surface intersect with each other vertically or at a
substantially vertical angle.
[0088] On the other hand, FIG. 9B is a diagram in which camera
parameters indicate a position and attitude different from a
position and attitude of a real camera. In this case, the
projective line 120-1 and the projective line 120-2 may not have a
parallel or substantially parallel relation, or the projective line
120-3 and the projective line 120-4 may not have a vertical or
substantially vertical relation.
[0089] In this manner, when the user using the captured image
illustrated in FIG. 8 uses the pattern 100 and the border 110 in
which a relation in a real world is known or easily predicted and
views a result in which these are displayed by the second display
unit 2120, the user may easily confirm whether camera parameters
appropriately indicate a position and attitude of a real
camera.
[0090] The method for using a pattern and the like on a ground
surface is not limited to the above-described method. A method for
inputting a plurality of points onto the pattern 100-1 and
confirming whether the plurality of points are disposed on a
straight line is conceivable, for example.
[0091] Further, the image processing device 2000 of the present
example embodiment may map and present, on the plane, a target
object being presented on a captured image in the first example
embodiment. FIGS. 17A and 17B show a diagram illustrating a
projective line 180 of a target object presented on a captured
image on the plane representing the ground surface illustrated in
FIG. 9A. FIG. 17A is a case in which the projective line 180 of the
target object is presented when a first image indicating a still
target object is presented on a captured image (e.g. FIG. 2B). On
the other hand, FIG. 17B is a case in which the projective line 180
of the target object is moved in accordance with movement of the
target object on a captured image when an operation for moving the
target object is being executed (e.g. FIG. 13). A trajectory 190
represents a trajectory of movement of the projective line 180.
[0092] Further, when an object (a manhole or the like) in which an
original shape is understandable appears on a ground surface of a
captured image, a line tracing the shape may be input to the second
input unit 2100. When camera parameters indicate a position and
attitude approximate to a position and attitude of a real camera, a
shape of a line displayed by the second display unit 2120
represents a shape close to an original shape of a traced object.
When, for example, a line is input so as to trace a manhole
appearing on a captured image, a shape of the line displayed by the
second display unit 2120 becomes a perfect circle or a shape close
to a perfect circle. On the other hand, when camera parameters
indicate a position and attitude different from a position and
attitude of a real camera, a shape of a line presented by the
second display unit 2120 becomes a shape (e.g. an elliptical shape)
different from a perfect circle.
[0093] Further, the second display unit 2120 may present a position
and a field of view of a camera on an image, together with a point
and a line mapped on a plane parallel to a ground surface. FIG. 10
is a diagram illustrating an image in which a position and a field
of view of a camera are presented, together with the projective
lines illustrated in FIG. 9(a). In FIG. 10, a camera position 150
represents a position of the camera, and a field of view 160
represents a field of view of the camera.
[0094] A system setter or the like handling the image processing
device 2000 of the second example embodiment views a position
relation of a point and a line mapped on a plane parallel to a
ground surface and thereby confirms whether camera parameters
appropriately indicate a position and attitude or the like of a
real camera. As illustrated in FIG. 10, when a position and a field
of view of a camera are presented together with a point and a line
mapped on a plane parallel to a ground surface, the system setter
or the like may further grasp a position relation between the
mapped point and line and the position and the field of view of the
camera. Therefore, the system setter or the like may more easily
and accurately confirm whether the camera parameters appropriately
indicate the position and attitude or the like of the real
camera.
<Flow of Processing>
[0095] FIG. 11 is a flowchart illustrating a flow of processing
executed by the image processing device 2000 of the second example
embodiment.
[0096] Processing executed in steps S102 and S106 is the same as
the processing executed in steps S102 and S106 of FIG. 3. In step
S202, the second input unit 2100 accepts inputting of a point or
line to a captured image displayed by the display unit 2020. In
step S204, the second display unit 2120 displays an image
indicating the point or line upon mapping on a plane parallel to a
ground surface.
<Operations and Advantageous Effects>
[0097] According to the image processing device 2000 of the present
example embodiment, the user inputs a line or the like that easily
specifies an original shape or a position relation to a captured
image and checks whether a line or the like displayed by the second
display unit 2120 satisfies the original shape or the position
relation, and thereby may easily confirm whether camera parameters
appropriately indicate a position and attitude or the like of a
real camera.
Third Example Embodiment
[0098] FIG. 15 is a block diagram illustrating an image processing
device 3000 according to a third example embodiment. In FIG. 15, an
arrow indicates a flow of information. Further, in FIG. 15, each
block does not represent a configuration of a hardware unit but
represents a configuration of a function unit.
[0099] The image processing device 3000 of the third example
embodiment includes an input unit 3020 and a presentation unit
3040. The input unit 3020 accepts inputting of an operation for
moving a first image being presented on a captured image captured
by a camera. The first image is an image in which a target object
having a predetermined shape and a predetermined size on a real
space is superimposed on the captured image on the basis of
predetermined camera parameters indicating a position and attitude
of the camera. When, for example, a position on the captured image
in which the first image is being presented is designated as a
position A, the first image is equivalent to a first image
presented by the presentation unit 2080 upon designating the
position A as a first position in the image processing device 2000
of the first example embodiment. A target object in the third
example embodiment is the same as the target object described in
the first example embodiment. Further, predetermined camera
parameters in the third example embodiment is the same as the
camera parameters described in the first example embodiment.
[0100] The presentation unit 3040 presents, on the basis of the
camera parameters, a first image indicating a target object in a
manner of view relating to a position on the captured image after
the movement. A method in which the presentation unit 3040 presents
a first image relating to a target object to be moved is the same
as "the method in which the presentation unit 2080 presents the
first image 40 relating to a target object to be moved on the
captured image 10" described in the first example embodiment.
[0101] A hardware configuration of the image processing device 3000
is the same as the hardware configuration of the image processing
device 2000.
<Flow of Processing>
[0102] FIG. 16 is a flowchart illustrating a flow of processing
executed by the image processing device 3000 of the third example
embodiment. In step S302, the input unit 3020 accepts inputting of
an operation for movement to a first image superimposed on a
captured image. In step S304, the presentation unit 3040 presents,
on the basis of camera parameters, the first image indicating the
target object in a manner of view relating to a position on the
captured image after the movement.
[0103] The flow of processing illustrated in FIG. 16 is one
example, and a flow of processing executed by the image processing
device 3000 is not limited to the flow illustrated in FIG. 16.
<Operations and Advantageous Effects>
[0104] According to the present example embodiment, as illustrated,
for example, in FIG. 13 or FIG. 14, the user moves a target object
so as to pass through a transverse side of a person or the like
appearing on the captured image 10 and thereby may easily confirm
whether there is no feeling of strangeness in a manner of view of
the target object. Specifically, when a manner of view of a target
object is provided via continuous movement, rightfulness and a
feeling of strangeness based on human visual sense are further
emphasized, resulting in an effective function for
verification.
MODIFIED EXAMPLES
[0105] The image processing device 2000 may include functions as
described below. The image processing device 2000 including the
following functions is expressed as an image processing device 2000
of a first modified example. The image processing device 2000 of
the first modified example may include the functions of the image
processing device 2000 of the above-described first and second
example embodiments or may not include these functions.
[0106] As describe above, for estimation of camera parameters, used
is a method in which "a calibration pattern or an object equivalent
thereto is image-captured by a camera, and estimation is performed
on the basis of an association relation between three-dimensional
coordinates of the calibration pattern in a real world and
two-dimensional coordinates of the calibration pattern of the
captured image" (NPL 1). Specifically, camera parameters are
calculated so as to reduce, using estimated camera parameters, an
error (re-projection error) between two-dimensional coordinates
upon projecting three-dimensional coordinates of a calibration
pattern in a real world on a captured image and two-dimensional
coordinates of the calibration pattern appearing on the captured
image. There is, for example, a method for calculating estimation
values of camera parameters so as to minimize a square sum of
errors.
[0107] Commonly, when a system setter or the like handling the
image processing device 2000 performs work for estimating camera
parameters using the above-described calibration, the system setter
or the like views only camera parameters as an estimation result
and does not view the error that is an interim progress. However,
when the error that is an interim progress is caused to be viewed
by the system setter or the like, it is conceivable that accuracy
in estimation of camera parameters may be enhanced. When, for
example, positions having large errors are concentrated on an edge
of a captured image, it is conceivable that an error is increased
due to a cause resulting from an input error of a corresponding
point or lens distortion. In such a case, when a selection manner
of a calibration pattern is changed so as not to use a calibration
pattern image-captured in a position within a predetermined
distance from an edge of an image to estimate camera parameters,
accuracy of the camera parameters may be enhanced.
[0108] The image processing device 2000 presents, for each position
where a calibration pattern is image-captured, the error with
respect to the calibration pattern image-captured in the position
in a periphery of a position on a captured image relating to the
position. FIG. 12 is a diagram illustrating a situation where
information (error information 140) indicating an error is
presented on a captured image. In FIG. 12, to obtain a calibration
pattern, a person is used. Specifically, a line 130 connecting the
feet and the head of a person substantially standing erect is used
as a calibration pattern. The error information 140 presented in a
transverse side of the line 130 indicates a re-projection error
relating to the line 130.
[0109] The image processing device 2000 may map the calibration
pattern on a ground surface on the basis of the technique described
in the second example embodiment and display the error in
association with the calibration pattern mapped on the ground
surface.
[0110] While the example embodiments of the present invention have
been described with reference to the drawings, these example
embodiments are illustrative of the present invention, and various
constitutions other than the above are employable.
[0111] Hereinafter, examples of reference modes will be
supplementarily noted.
1. An image processing device includes:
[0112] an input means configured to accept inputting of an
operation for movement, on a captured image captured by a camera,
to a first image that is superimposed on the captured image on the
basis of predetermined camera parameters indicating a position and
attitude of the camera and indicates a target object having a
predetermined shape and a predetermined size set on a real space;
and
[0113] a presentation means configured to present the first image
indicating the target object in a manner of view relating to a
position on the captured image after the movement on the basis of
the camera parameters.
2. The image processing device according to 1., wherein
[0114] the input means accepts an operation for the movement by
repeatedly accepting a designation of a first position on the
captured image, and
[0115] the presentation means generates, when a certain first
position is designated, on the basis of the camera parameters, a
predetermined shape and a predetermined size on a real space of the
target object, and a second position on the real space relating to
the first position, a first image indicating the target object on
the captured image appearing in a camera determined by the camera
parameters when the target object is disposed in the second
position and presents the generated first image in the first
position on the captured image.
3. The image processing device according to 2., wherein
[0116] the presentation means [0117] acquires height information of
the second position and [0118] calculates the second position on
the basis of the camera parameters, the first position, and the
height information of the second position. 4. The image processing
device according to 3., wherein the presentation means acquires
information indicating a height of a ground surface in a real space
as the height information of the second position. 5. The image
processing device according to 3., wherein the presentation means
acquires pieces of information of different heights for a plurality
of areas on the captured image, respectively, as the height
information of the second position. 6. The image processing device
according to any one of 1. to 5., wherein the target object has a
planar shape. 7. The image processing device according to any one
of 1. to 6., comprising:
[0119] a second input means configured to accept inputting of a
point or line to the captured image; and
[0120] a second display means configured to display a second image
indicating the point or line upon mapping on a plane parallel to a
ground surface, on the basis of the camera parameters, a position
on the captured image of the point or line, and height information
on a real space of the point or line.
8. An image processing device includes:
[0121] an input means configured to accept a designation of a first
position on a captured image; and
[0122] a presentation means configured to present, on the basis of
predetermined camera parameters indicating a position and attitude
of a camera, a predetermined shape and a predetermined size on a
real space of a target object, and a second position on the real
space relating to the first position, a first image indicating the
target object on the captured image appearing in a camera
determined by the camera parameters when the target object is
disposed in the second position in the first position on the
captured image.
9. The image processing device according to 8., wherein
[0123] the input means accepts designations of a plurality of first
positions, and
[0124] the presentation means presents first images indicating a
plurality of target objects relating to the plurality of first
positions in respective corresponding first positions on the
captured image.
10. The image processing device according to 8. or 9., wherein
[0125] the input means repeatedly accepts a designation of the
first position, and
[0126] the presentation means generates, when a certain first
position is designated, a first image indicating the target object
disposed in a second position on a real space relating to the first
position and presents the generated first image in the first
position on the captured image.
11. An image processing device comprising:
[0127] an input means configured to accept inputting of a point or
line to a captured image captured by a camera; and
[0128] a display means configured to display a first image
indicating the point or line upon mapping on a plane parallel to a
ground surface, on the basis of predetermined camera parameters
indicating a position and attitude of the camera, a position on the
captured image of the point or line, and height information on a
real space of the point or line.
12. An image processing method executed by a computer, the method
comprising:
[0129] an input step of accepting inputting of an operation for
movement, on a captured image captured by a camera, to a first
image that is superimposed on the captured image on the basis of
predetermined camera parameters indicating a position and attitude
of the camera and indicates a target object having a predetermined
shape and a predetermined size set on a real space; and
[0130] a presentation step of presenting the first image indicating
the target object in a manner of view relating to a position on the
captured image after the movement on the basis of the camera
parameters.
13. The image processing method according to 12., wherein
[0131] the input step accepts an operation for the movement by
repeatedly accepting a designation of a first position on the
captured image, and
[0132] the presentation step generates, when a certain first
position is designated, on the basis of the camera parameters, a
predetermined shape and a predetermined size on a real space of the
target object, and a second position on the real space relating to
the first position, a first image indicating the target object on
the captured image appearing in a camera determined by the camera
parameters when the target object is disposed in the second
position and presents the generated first image in the first
position on the captured image.
14. The image processing method according to 13., wherein
[0133] the presentation step
[0134] acquires height information of the second position and
[0135] calculates the second position on the basis of the camera
parameters, the first position, and the height information of the
second position.
15. The image processing method according to 14., wherein the
presentation step acquires information indicating a height of a
ground surface in a real space as the height information of the
second position. 16. The image processing method according to 14.,
wherein the presentation step acquires pieces of information of
different heights for a plurality of areas on the captured image,
respectively, as the height information of the second position. 17.
The image processing method according to any one of 12. to 16.,
wherein the target object has a planar shape. 18. The image
processing method according to any one of 12. to 17.,
including:
[0136] a second input step of accepting inputting of a point or
line to the captured image, and
[0137] a second display step of displaying a second image
indicating the point or line upon mapping on a plane parallel to a
ground surface, on the basis of the camera parameters, a position
on the captured image of the point or line, and height information
on a real space of the point or line.
19. An image processing method executed by a computer, the method
comprising:
[0138] an input step of accepting a designation of a first position
on a captured image; and
[0139] a presentation step of presenting, on the basis of
predetermined camera parameters indicating a position and attitude
of a camera, a predetermined shape and a predetermined size on a
real space of a target object, and a second position on the real
space relating to the first position, a first image indicating the
target object on the captured image appearing in the camera
determined by the camera parameters when the target object is
disposed in the second position in the first position on the
captured image.
20. The image processing method according to 19., wherein
[0140] the input step accepts designations of a plurality of first
positions, and
[0141] the presentation step presents first images indicating a
plurality of target objects relating to the plurality of first
positions in respective corresponding first positions on the
captured image.
21. The image processing method according to 19. or 20.,
wherein
[0142] the input step repeatedly accepts a designation of the first
position, and
[0143] the presentation step generates, when a certain first
position is designated, a first image indicating the target object
disposed in a second position on a real space relating to the first
position and presents the generated first image in the first
position on the captured image.
22. An image processing method executed by a computer, the method
comprising:
[0144] an input step of accepting inputting of a point or line to a
captured image captured by a camera; and
[0145] a display step of displaying a first image indicating the
point or line upon mapping on a plane parallel to a ground surface,
on the basis of predetermined camera parameters indicating a
position and attitude of the camera, a position on the captured
image of the point or line, and height information on a real space
of the point or line.
23. A program that causes a computer to operate as the image
processing device according to any one of 1. to 11.
[0146] This application is based upon and claims the benefit of
priority from Japanese patent application No. 2014-191480, filed on
Sep. 19, 2014 and Japanese patent application No. 2014-257137,
filed on Dec. 19, 2014, the disclosures of which are incorporated
herein in their entirety by reference.
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