Image processing device

Abstract

Provided is an image processing device comprising: an image acquisition unit that acquires, from a visual sensor, image information obtained as a result of the visual sensor capturing an image within a field of view; a detection unit that performs a detection process to detect an object from the image information on the basis of information representing object features; a blob extraction unit that uses the image information as a basis for extracting a region identified as a blob; an area calculation unit that calculates the area of the object detected by the detection unit as a first area and calculates the area of the region identified as the blob as a second area; and a determination unit that determines whether or not an undetected object that was not detected in the detection process is present in the image information, on the basis of a comparison of the first and second areas.

Claims

1. An image acquisition unit that acquires image information obtained from a visual sensor by capturing images within the field of view, A detection unit performs a detection process to detect the object from the image information based on information representing the characteristics of the object, A blob extraction unit extracts a region identified as a blob based on the aforementioned image information, An area calculation unit calculates the area of ​​the object detected by the detection unit as the first area, and the area of ​​the region identified as the blob as the second area. A determination unit that determines whether or not there are undetected objects in the image information that were not detected in the detection process, based on a comparison of the first area and the second area, An image processing device equipped with the following features.

2. The image processing apparatus according to claim 1, wherein the area calculation unit calculates the sum of the areas of the objects detected by the detection unit as the first area, and calculates the sum of the areas of the regions identified as blobs as the second area.

3. The aforementioned image information includes a two-dimensional image. The blob extraction unit includes a binarization processing unit that performs binarization processing on the two-dimensional image, The binarization processing unit extracts regions having specific pixel values ​​in the image after the binarization process as regions identified as blobs. The image processing apparatus according to claim 1, wherein the area calculation unit calculates the sum of the areas of regions having the specific pixel values ​​in the image after the binarization process as the second area.

4. The image processing apparatus according to claim 3, further comprising a setting unit that accepts an operation to specify a threshold for performing the binarization process, or at least one of the regions in the two-dimensional image to be subjected to the binarization process.

5. The aforementioned image information includes a three-dimensional point cloud, The blob extraction unit includes a plane calculation unit that extracts planes located at a specific height or within a specific height range from the three-dimensional point cloud as regions identified as blobs. The image processing apparatus according to claim 1, wherein the area calculation unit calculates the sum of the areas of the obtained planes as the second area.

6. The image processing apparatus according to claim 5, further comprising a setting unit that accepts an operation to specify at least one of the above-mentioned specific height, the range of the above-mentioned specific height, or the region in the three-dimensional point cloud for which the plane is to be determined.

7. The image processing apparatus according to any one of claims 1 to 6, wherein the determination unit determines that there are undetected objects when the difference between the second area and the first area is greater than or equal to a predetermined threshold.

8. The image processing apparatus according to any one of claims 1 to 6, wherein the determination unit determines, based on information representing the area of ​​one of the objects, how many undetected objects that were not detected in the detection process are present in the image information.

9. The image processing apparatus according to any one of claims 1 to 6, further comprising a detection result storage unit that stores the image information and information regarding the results of the detection process when the determination unit determines that there are undetected objects.

10. The determination unit further includes a setting unit that accepts an operation to specify a determination threshold to be used for determination, The image processing apparatus according to claim 1, 2, 3, or 5, wherein the determination unit determines that there are undetected objects when the difference between the second area and the first area is greater than or equal to a specified determination threshold.

11. The image processing apparatus according to claim 3, further comprising a learning unit that learns actual data relating to the image information and at least one of the threshold values ​​used by the binarization processing unit when performing the binarization processing or the determination unit when performing the determination, as training data, and provides an estimated value of at least one of the threshold values ​​used by the binarization processing unit when performing the binarization processing or the determination threshold values ​​to be applied to arbitrary input image information.

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