Image processing apparatus, image processing method, and robot system
An image processing apparatus includes a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions; a distance image storage unit configured to store distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data; a pixel extraction unit configured to extract, among pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.
1. An image processing apparatus comprising:
a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions;
a distance image storage unit configured to store distance image data representative of distance information depending on a spatial position of the imaging target object, the distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data;
a pixel extraction unit configured to extract, among a plurality of pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and
a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.
2. The image processing apparatus according to claim 1 , wherein the first pixel is a pixel which holds imaging information of a space in the imaging target object.
3. A robot system comprising:
a robot;
a robot controller configured to control the robot; and
the image processing apparatus according to claim 1 ,
wherein the robot controller is configured to cause the robot to handle the imaging target object, based on the distance image data acquired as a result of the distance image adjusting unit setting the second pixel as the non-imaging pixel.
4. The robot system according to claim 3 , further comprising:
an image acquisition apparatus configured to acquire the plurality of two-dimensional image data and the distance image data.
5. The robot system according to claim 3 , wherein the imaging target object includes surfaces of a plurality of objects juxtaposed with a gap interposed, the first pixel holds imaging information of the gap, and the robot individually grasps each of the plurality of objects.
6. An image processing method comprising:
storing a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions;
storing distance image data representative of distance information depending on a spatial position of the imaging target object, the distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data;
extracting, among a plurality of pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and
specifying a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and setting the second pixel as a non-imaging pixel in the distance image data.