Information processing apparatus, information processing method, and storage medium for defect inspection and detection

1. An information processing apparatus comprising:

one or more processors; and

one or more memories in communication with the one or more processors,

wherein the one or more processors and the one or more memories cooperate to implement:

a feature extraction unit configured to extract feature points from each of a plurality of images of an object to be inspected captured from a plurality of viewpoints;

a feature evaluation unit configured to perform feature point evaluation including evaluating a positional distribution of the feature points, and evaluating the number of feature points, extracted from each of the plurality of images;

an image quality evaluation unit configured to, for each of the plurality of images, evaluate whether an image quality based on a predetermined index satisfies allowable conditions for inspection works of the object, wherein, for images, among the plurality of images, where a value indicating a result of the feature point evaluation by the feature evaluation unit is equal to or larger than a predetermined threshold value, the image quality evaluation unit evaluates whether the image quality based on the predetermined index satisfies the allowable conditions for inspection works of the object; and

an image stitching unit configured to stitch at least a part of the images, among the plurality of images, having the image quality that satisfies the allowable conditions according to a positional relation based on the feature points extracted by the feature extraction unit.

2. The information processing apparatus according to claim 1 ,

wherein, each of the plurality of images includes a plurality of regions, and for each of the plurality of regions in each of the plurality of images, the image quality evaluation unit evaluates whether the image quality based on the predetermined index satisfies the allowable conditions for inspection works of the object, and

wherein the image stitching unit stitches partial regions included in the plurality of images having the image quality that satisfies the allowable conditions according to the positional relation based on the extracted feature points.

3. The information processing apparatus according to claim 2 , wherein the image quality evaluation unit evaluates a defocus amount for each region in the image.

4. The information processing apparatus according to claim 2 , wherein the image quality evaluation unit evaluates a defocus amount for each pixel in the image.

5. The information processing apparatus according to claim 1 , wherein the one or more processors and the one or more memories further cooperate to implement:

a position and orientation estimation unit configured to estimate a position and an orientation of a camera for capturing the plurality of images; and

a shape estimation unit configured to estimate a three-dimensional shape of the object,

wherein the position and orientation estimation unit estimates the position and the orientation of the camera based on the feature points extracted by the feature extraction unit, and

wherein the shape estimation unit estimates the three-dimensional shape based on the position and the orientation of the camera estimated by the position and orientation estimation unit and the plurality of images.

6. The information processing apparatus according to claim 5 , wherein, based on the position and the orientation of the camera estimated by the position and orientation estimation unit, the image stitching unit projects the plurality of images based on the evaluation by the image quality evaluation unit onto the three-dimensional shape estimated by the shape estimation unit to stitch the projected image.

7. The information processing apparatus according to claim 6 , wherein the one or more processors and the one or more memories further cooperate to implement a display unit,

wherein the display unit displays the image stitched by the image stitching unit.

8. The information processing apparatus according to claim 1 , wherein the one or more processors and the one or more memories further cooperate to implement:

a detection unit configured to detect defects of the object appearing in the image; and

a display unit,

wherein the detection unit detects defects of the object from the plurality of images, and

wherein the display unit displays information about the detected defects.

9. The information processing apparatus according to claim 8 , wherein, based on a result of detecting cracks as the defects by the detection unit and a resolution on the object calculated in the evaluation by the image quality evaluation unit, the display unit estimates and displays an estimation error in the width of the cracks.

10. The information processing apparatus according to claim 1 , wherein the one or more processors and the one or more memories further cooperate to implement:

a generation unit configured to, based on the stitched image, generate an inspection image in which the object is viewed from the front.

11. The information processing apparatus according to claim 10 , wherein the one or more processors and the one or more memories further cooperate to implement:

a detection unit configured to detect defects of the object appearing in the inspection image, wherein the detection unit detects defects of the object based on the inspection image.

12. The information processing apparatus according to claim 1 , wherein the object is an infrastructure having a concrete wall surface, and the inspection works are works for identifying defects occurring on the concrete wall surface.

13. An information processing method performed by an information processing apparatus, the method comprising:

extracting feature points from each of a plurality of images of an object to be inspected captured from a plurality of viewpoints;

performing feature point evaluation including evaluating a positional distribution of the feature points, and evaluating the number of feature points, extracted from each of the plurality of images;

evaluating for each of the plurality of images whether an image quality based on a predetermined index satisfies allowable conditions for inspection works of the object, wherein, for images, among the plurality of images, where a value indicating a result of the feature point evaluation by the feature evaluation is equal to or larger than a predetermined threshold value, the evaluating evaluates whether the image quality based on the predetermined index satisfies the allowable conditions for inspection works of the object; and

stitching at least a part of the images, among the plurality of images, having the image quality that satisfies the allowable conditions according to a positional relation based on the feature points extracted in the extracting.

14. A non-transitory computer-readable medium storing a program for causing a computer to function as:

a feature extraction unit configured to extract feature points from each of a plurality of images of an object to be inspected captured from a plurality of viewpoints;

a feature evaluation unit configured to perform feature point evaluation including evaluating a positional distribution of the feature points, and evaluating the number of feature points, extracted from each of the plurality of images;

an image quality evaluation unit configured to, for each of the plurality of images, evaluate whether an image quality based on a predetermined index satisfies allowable conditions for inspection works of the object, wherein, for images, among the plurality of images, where a value indicating a result of the feature point evaluation by the feature evaluation unit is equal to or larger than a predetermined threshold value, the image quality evaluation unit evaluates whether the image quality based on the predetermined index satisfies the allowable conditions for inspection works of the object; and

an image stitching unit configured to stitch at least a part of the images, among the plurality of images, having the image quality that satisfies the allowable conditions according to a positional relation based on the feature points extracted by the feature extraction unit.