Canon Kabushiki Kaisha

Miho Ishigami

Ichiro Umeda

Masakazu Matsugu

Katsuhiko Mori

Yusuke Mitarai

Xiaoyan Dai

An apparatus includes a capturing unit that captures a target object and generates a range image representing distance information, a general estimation unit that analyzes the range image and estimates a general position and orientation of the target object, and a determination unit that determines a priority order of a plurality of identification units, based on the estimated general position and orientation. In addition, a setting unit sets a search window indicating a range for detailed estimation of position and orientation of the range image based on a preregistered general size of the target object, a calculation unit calculates a difference between a first distance value of a first pixel in the range image and a second distance value of a second pixel which is next to the first pixel in the range image, and an updating unit updates the search window based on the calculated difference. A detailed estimation unit estimates a detailed position and orientation of the target object, using the plurality of identification units in the determined priority order within the range of the search window.

Estimation apparatus, control method thereof, and program

A reflectance image that represents a reflectance distribution, and an illuminance component image that represents an illuminance distribution are generated from an input image. A plurality of small regions, which are divided based on illuminance components of the generated illuminance component image, are specified. A quantized image is generated from the reflectance image for respective specified small regions. Regions having equal quantized pixel values are acquired in the quantized image. Representative pixel values for the respective acquired regions are acquired based on the illuminance component image. Quantized pixel values of the respective acquired regions are corrected using the acquired representative pixel values.

Image processing apparatus, image processing method, and medium storing image processing program

An image processing apparatus and method generate a vector expression by defining a direction and attribute of gradation of an image as a daub color of the vector expression for each divided contour line of a similar color region obtained from an input image, based on pixel values of plural sampling points inside each of the divided contour lines.

Growing community of inventors

Tokyo, Japan

Miho Ishigami