Computer-readable recording medium and image processing apparatus

1. A non-transitory computer-readable recording medium having stored therein an image processing program for causing a computer to execute a process comprising:

identifying, on a taken image of a jig having a plurality of first color regions and a plurality of second color regions different in color from the first color regions, the first color regions;

comparing each of the identified first color regions with a predetermined convex shape and retracting each of the first color regions until it is determined that each of the first color regions has a similarity in shape to the predetermined convex shape; and

determining a feature point of the jig on the image on the basis of a positional relationship of a plurality of first retracted regions on the image, the first retracted regions being obtained from the first color regions as a result of retraction at the retracting, wherein

the identifying includes comparing each of pixel values of pixels composing a grayscale image with a predetermined threshold, binarizing a pixel of which the pixel value is larger than the predetermined threshold to “1”, binarizing a pixel of which the pixel value is equal to or smaller than the predetermined threshold to “0”, generating a binary image from the grayscale image, and identifying white regions as the first color regions and black regions as the second color regions on the grayscale image, and

the retracting includes performing a retracting process to repeatedly retract each of color regions in the binary image generated at the identifying until the shape of a binarized region in the binary image is judged as having a similarity to a predetermined elliptical shape, separating the white regions in a circular portion of the jig from the white regions outside of the circular portion of the jig, and separating the black regions in the circular portion of the jig from the black regions outside of the circular portion of the jig.

2. The non-transitory computer-readable recording medium according to claim 1 , wherein

the identifying includes identifying the first color regions and the second color regions on the image,

the retracting includes comparing each of the first and second color regions identified at the identifying with the predetermined convex shape and retracting each of the first and second color regions until it is determined that each of the first and second color regions has a similarity in shape to the predetermined convex shape, and

the determining includes determining the feature point of the jig on the image on the basis of the positional relationship of the first retracted regions on the image and a positional relationship of a plurality of second retracted regions on the image, the second retracted regions being obtained from the second color regions as a result of retraction at the retracting.

3. The non-transitory computer-readable recording medium according to claim 2 , wherein the process further comprises

judging whether a first line connecting predetermined points in the first retracted regions on the image intersects with a second line connecting predetermined points in the second retracted regions on the image;

acquiring a combination of paired first retracted regions forming the first line and paired second retracted regions forming the second line when the first line intersects with the second line; and

calculating an evaluation value for evaluating the possibility of being the jig with respect to each of combinations acquired at the acquiring and verifying whether the calculated evaluation value is equal to or more than a predetermined value, and wherein

the determining includes finding a point of intersection between the first line and the second line with respect to the combination of which the evaluation value is evaluated as equal to or more than the predetermined value at the verifying and determining the feature point on the basis of the point of intersection.

4. The non-transitory computer-readable recording medium according to claim 3 , wherein

the acquiring includes, when the first line intersects with the second line, judging whether a distance between a midpoint of the first line and a midpoint of the second line is equal to or less than a predetermined value, and, when the distance between the midpoint of the first line and the midpoint of the second line is equal to or less than the predetermined value, acquiring the combination of the paired first retracted regions and the paired second retracted regions.

5. The non-transitory computer-readable recording medium according to claim 4 , wherein

the acquiring includes, when the distance between the midpoint of the first line and the midpoint of the second line is equal to or less than the predetermined value, judging whether an angle between the first line and the second line is equal to or more than a predetermined value, and, when the angle between the first line and the second line is equal to or more than the predetermined value, acquiring the combination of the paired first retracted regions and the paired second retracted regions.

6. The non-transitory computer-readable recording medium according to claim 3 , wherein the process further comprises

generating a cross filter on the basis of the first line and the second line with respect to the combination of which the evaluation value is evaluated as equal to or more than the predetermined value at the verifying, and wherein

the determining includes generating a convolved image convolved with the cross filter with respect to each of coordinates of an input image of the jig around the point of intersection, acquiring a coordinate corresponding to a local maximum value closest to the point of intersection among coordinates corresponding to local maximum values in the generated convolved image, and determining the acquired coordinate of the local maximum value as a coordinate of the feature point.

7. The non-transitory computer-readable recording medium according to claim 1 , wherein the process further comprises

calculating a mounting position or angle of a camera that takes the image of the jig using a coordinate of the determined feature point.

8. An image processing apparatus comprising:

a memory; and

a processor coupled to the memory, wherein the processor executes a process comprising:

identifying, on a taken image of a jig having a plurality of first color regions and a plurality of second color regions different in color from the first color regions, the first color regions;

comparing each of the identified first color regions with a predetermined convex shape and retracting each of the first color regions until it is determined that each of the first color regions has a similarity in shape to the predetermined convex shape; and

determining a feature point of the jig on the image on the basis of a positional relationship of a plurality of first retracted regions on the image, the first retracted regions being obtained from the first color regions as a result of retraction at the retracting, wherein

the identifying includes comparing each of pixel values of pixels composing a grayscale image with a predetermined threshold, binarizing a pixel of which the pixel value is larger than the predetermined threshold to “1”, binarizing a pixel of which the pixel value is equal to or smaller than the predetermined threshold to “0”, generating a binary image from the grayscale image, and identifying white regions as the first color regions and black regions as the second color regions on the grayscale image and

the retracting includes performing a retracting process to repeatedly retract each of color regions in the binary image generated at the identifying until the shape of a binarized region in the binary image is judged as having a similarity to a predetermined elliptical shape, separating the white regions in a circular portion of the jig from the white regions outside of the circular portion of the jig, and separating the black regions in the circular portion of the jig from the black regions outside of the circular portion of the jig.