Image processing device and method for detecting image of object to be detected from input data
An image processing device that detects an image of an object from input data captured by a vision sensor, on the basis of a model pattern including a set of a plurality of first feature points representing the shape of the object, includes an object detection unit that detects images of the object by matching between a plurality of second feature points extracted from the input data and a plurality of first feature points forming the model pattern, a corresponding point selection unit that selects, for each image of the object, second feature points corresponding to the first feature points and stores the selected second feature points as corresponding points, and a model pattern correction unit that calculates a statistic of a predetermined physical quantity of the plurality of corresponding points associated with each first feature point and corrects the first feature point on the basis of the statistic.
1. An image processing device for detecting an object from input data captured by a vision sensor, on the basis of a model pattern comprising a set of a plurality of first feature points representing a shape of the object, the device comprising a processor configured to:
detect, from the input data, a plurality of images of the object by matching between a plurality of second feature points extracted from the input data and the plurality of first feature points forming the model pattern,
for each image among the plurality of images of the object detected from the input data,
select second feature points corresponding to the plurality of first feature points forming the model pattern from the plurality of second feature points forming the image, and
store, as corresponding points, the selected second feature points in association with the first feature points, and
for each of the plurality of first feature points forming the model pattern,
calculate a statistic of a predetermined physical quantity of the plurality of corresponding points, said plurality of corresponding points present in the plurality of images, and
correct the first feature point on the basis of the calculated statistic of the predetermined physical quantity,
wherein the processor is further configured to:
for each image among the plurality of images of the object detected from the input data,
store as a feature point candidate, at least one second feature point which corresponds to none of the first feature points forming the model pattern of the plurality of second feature points forming the image, and
for each other image among the plurality of images, select a second feature point corresponding to the at least one stored feature point candidate, and store, as a corresponding point, the selected second feature point in association with the feature point candidate, and
for each of the at least one stored feature point candidate,
calculate a statistic of a predetermined physical quantity of a plurality of corresponding points associated with the feature point candidate, and
add the feature point candidate to the model pattern as a first feature point on the basis of the statistic of the predetermined physical quantity.