US-12620117-B2 - Image processing device, non-transitory computer-readable storage medium, and image processing method

US12620117B2US 12620117 B2US12620117 B2US 12620117B2US-12620117-B2

Abstract

An image processing device includes an object detecting unit that processes captured image data representing a captured image, which is an image including an object or detection target and a background of the object, to generate processed image data representing a processed image, which is an image in which the object is detected; an expected-data generating unit that generates expected data representing an expected image, which a virtual image in which the object represented by an attribute is placed at a position on the background on the basis of object data representing the position of the object and background data representing the background; and a detection-result determining unit that compares the processed image data and the expected data to determine whether or not the object is detected correctly in the processed image data.

Inventors

Shingo Mine

Assignees

MITSUBISHI ELECTRIC CORPORATION

Dates

Publication Date: 20260505
Application Date: 20230825

Claims (11)

1 . An image processing device comprising: a processor to execute a program; and a memory to store the program which, when executed by the processor, performs processes of, processing captured image data representing a captured image, to generate processed image data representing a processed image, the captured image being an image including an object and a background of the object, the object being a detection target, the processed image being an image in which the object is detected; generating expected data representing an expected image on a basis of object data representing a position and an attribute of the object and background data representing the background, the expected image being a virtual image in which the object is placed at the position on the background, the attribute including information that enables a shape and a color of the object to be specified; and comparing the processed image data and the expected data to determine whether or not the object is detected correctly in the processed image data, wherein the processor refers to the expected data and processes the captured image data through image processing, to detect the object in the background, the image processing being processing with an adaptive binarization filter, the processor reduces the size of a local area of the adaptive binarization filter as similarity between a color of the object represented by the expected data and a color of the background represented by the expected data is low, and when the shape of the object detected in the processed image data differs from a shape of the object represented by the expected data, the processor refers to the expected data to modify the shape of the object detected in the processed image data.
2 . The image processing device according to claim 1 , wherein when a portion of the object is detected in the processed image data, the processor refers to the expected data to complement the object on a basis of the portion in the processed image data.
3 . The image processing device according to claim 1 , wherein the processor accepts input of an operation by a user when the object is not detected in the processed image data, to specify a position of the object represented by the expected data in the processed image and adds an image of the object represented by the expected data to the processed image data.
4 . The image processing device according to claim 1 , wherein the processor refers to the expected data and processes the captured image data through image processing, to detect the object in the background.
5 . The image processing device according to claim 4 , wherein the image processing is processing with an adaptive binarization filter.
6 . The image processing device according to claim 5 , wherein the processor executes processing with the adaptive binarization filter only on a predetermined area including the object represented by the expected data, the predetermined area being a portion of the captured image.
7 . The image processing device according to claim 5 , wherein the processor executes processing with the adaptive binarization filter only on a predetermined area including an edge of the object represented by the expected data, the predetermined area being a portion of the captured image.
8 . The image processing device according to claim 1 , wherein the processor compares the object specified via the processed image data with the object represented by the expected data to calculate a shift in a position and an angle of the object specified via the processed image data relative to the object represented by the expected data.
9 . An image processing method comprising: processing captured image data representing a captured image, to generate processed image data representing a processed image, the captured image being an image including an object and a background of the object, the object being a detection target, the processed image being an image in which the object is detected; generating expected data representing an expected image on a basis of object data representing a position and an attribute of the object and background data representing the background, the expected image being a virtual image in which the object is placed at the position on the background, the attribute including information that enables a shape and a color of the object to be specified; and comparing the processed image data and the expected data to determine whether or not the object is detected correctly in the processed image data, wherein the expected data is referred to and the captured image data is processed through image processing, to detect the object in the background, the image processing being processing with an adaptive binarization filter, the size of a local area of the adaptive binarization filter is reduced as similarity between a color of the object represented by the expected data and a color of the background represented by the expected data is low, and when the shape of the object detected in the processed image data differs from a shape of the object represented by the expected data, the expected data is referred to, to modify the shape of the object detected in the processed image data.
10 . The image processing device according to claim 1 , wherein the processor executes processing with the adaptive binarization filter only on a predetermined area including the object represented by the expected data, the predetermined area being a portion of the captured image.
11 . The image processing device according to claim 1 , wherein the processor executes processing with the adaptive binarization filter only on a predetermined area including an edge of the object represented by the expected data, the predetermined area being a portion of the captured image.

Description

CROSS REFERENCE TO RELATED APPLICATION This application is a continuation application of International Application No. PCT/JP2021/012515 having an international filing date of Mar. 25, 2021. BACKGROUND OF THE INVENTION 1. Field of the Invention The disclosure relates to an image processing device, a non-transitory computer-readable storage medium, and an image processing method. 2. Description of the Related Art A typical laser processing machine includes a laser oscillator that emits a laser beam, an optical path through which the laser beam passes, a processing head that concentrates and emits the laser beam, and a table on which a plate material is placed. During laser processing, the plate material to be processed is placed on the table of the laser processing machine, the processing head is moved in accordance with the coordinate system of the laser processing machine, and a laser beam is emitted for processing. Nesting is performed in advance with the use of computer-aided design (CAD) to arrange the parts to be processed on the plate material to minimize material waste and maximize the number of parts obtained from a single sheet of material, which is effective in reducing material costs. When a plate material is placed at an expected position and angle in the coordinate system of the laser processing machine, the parts can be obtained as nested, but in reality, the plate material may be placed on the table at a shifted position or angle. For example, when the plate material is manually placed on the table of the laser processing machine, the lack of a guide or the like indicating the position and angle of the plate material is likely to cause a shift in the position or angle. In an automated laser processing system, the plate material is placed on a detachable table in advance, and the entire table is automatically installed in the laser processing machine. In such a case, a shift in the position or angle is likely to occur due to vibration during installation. A shift in the position or angle of the plate material causes a shift in the processing position of the plate material, precludes the acquisition of desired parts, and the material is wasted. In contrast, for example, the image processing device for laser processing described in Patent Literature 1 performs an operation with a captured image of a measurement target, position measurement data, and three-dimensional reference data, to calculate accurate position information of the measurement target. In such an image processing device, an imaging unit is so placed to face a lighting unit across a measurement target that illumination light from the lighting unit can transmit through a hole in the measurement target or the outer surface of the measurement target. The image processing device then captures the transmitted light at the imaging unit and acquires an image emphasizing the hole or the outline of the outer surface of the measurement target. This allows accurate determination of the position and angle of the measurement target, such as a plate material, without being affected by lighting conditions regarding illumination light or external light or image capture conditions such as the application state of cutting oil on the plate material. Patent Literature 1: Japanese Patent No. 6621351 By providing a lighting unit and a position measuring unit, the detection rate of the measurement target can be improved, but the scale and the cost of the device increase. Accordingly, it is an object of one or more aspects of the disclosure to enable the determination of whether or not an object has been detected accurately with a simple configuration. SUMMARY OF THE INVENTION An image processing apparatus according to an aspect of the disclosure includes: a processor to execute a program; and a memory to store the program which, when executed by the processor, performs processed of, processing captured image data representing a captured image, to generate processed image data representing a processed image, the captured image being an image including an object and a background of the object, the object being a detection target, the processed image being an image in which the object is detected; generating expected data representing an expected image on the background on a basis of object data representing a position of the object and background data representing the background, the expected image being a virtual image in which the object is placed at the position; and comparing the processed image data and the expected data to determine whether or not the object is detected correctly in the processed image data. A non-transitory computer-readable storage medium storing a program according to an aspect of the disclosure causes a computer to execute processing comprising: processing captured image data representing a captured image, to generate processed image data representing a processed image, the captured image being an image including an object and a