Image Processing Device for Deformed Object Positioning
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Solution Overview
Problem
Existing image processing technologies fail to accurately determine the position of a detection object whose shape has changed from the registered model information, especially when the shape deformation is influenced by environmental conditions or external forces, leading to instability in robotic manipulation and processing tasks.
Innovation Solution
An image processing device that extracts feature points from both model and input images, determines their correspondence relationship, and estimates the position of the detection object using an interpolation function, allowing for accurate positioning even when the object's shape differs from the registered model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If model information is pre-registered for image processing, then processing efficiency is improved, but accuracy deteriorates when the detection object's shape changes from the registered model
Solution Approach 1:
The patent segments the detection object into multiple feature points and establishes correspondence relationships between these feature points and the model. By dividing the object into discrete feature points rather than treating it as a whole, the system can accurately track position even when the overall shape changes, thus resolving the contradiction between processing efficiency and position determination accuracy.
Solution Approach 2:
The patent changes the parameter representation from complete shape matching to feature point correspondence. Instead of requiring the entire object shape to match the pre-registered model, the system uses parameter changes in the form of coordinate transformations and correspondence relationships between feature points, allowing accurate position determination despite shape variations.
2Adaptability or versatility
If the detection object's shape is allowed to vary dynamically, then adaptability is improved, but position determination accuracy deteriorates
Solution Approach 1:
By segmenting the object into multiple feature points, the system gains adaptability to shape variations while maintaining position determination accuracy. Each feature point can independently correspond to its model counterpart, allowing the object to deform or change shape without losing tracking accuracy.
Solution Approach 2:
The patent introduces the dimension of correspondence relationships between feature points. Instead of relying solely on two-dimensional shape matching, the system establishes multi-point correspondence relationships that provide additional constraints and information, enabling accurate position determination even when the object's shape varies dynamically.
3Measurement precision
If feature point correspondence is established, then position estimation accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent uses segmentation into feature points, which actually reduces computational complexity compared to full shape matching. By focusing on key feature points rather than processing the entire object surface or volume, the system achieves accurate position estimation with lower computational requirements.
Solution Approach 2:
The system performs partial action by selecting and using only the necessary feature points for position determination. Instead of processing all possible geometric information, the patent applies partial action by focusing on correspondence relationships of key feature points, reducing computational complexity while maintaining accuracy.
Data Source
AI summary
Disclosed is an image processing device that includes: a storage unit that holds model information including information indicating a plurality of feature points of a detection object; a correspondence-relationship determination unit that extracts a plurality of feature points included in an input image as a two-dimensional image or a three-dimensional image and that determines a correspondence relationship between an extracted plurality of feature points and a plurality of feature points of the model information; and a position estimating unit that estimates, based on the correspondence relationship, one or a plurality of second positions of the input image corresponding to one or a plurality of first positions set relatively to the detection object. The one or plurality of first positions is included in a point, a line, or a region.