초록 ▼

An image processing apparatus includes an acquisition unit to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected. An adjustment unit adjusts, based on the pattern in the acquired captured image, at least one of a first pa

An image processing apparatus includes an acquisition unit to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected. An adjustment unit adjusts, based on the pattern in the acquired captured image, at least one of a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and a second parameter for controlling an exposure amount of the image capturing unit.

대표청구항 ▼

1. An image processing apparatus comprising: at least one processor operatively coupled to a memory, serving as:(a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) an obtaining uni

1. An image processing apparatus comprising: at least one processor operatively coupled to a memory, serving as:(a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) an obtaining unit configured to obtain an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected; and(c) an adjustment unit configured to adjust, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit. 2. The apparatus according to claim 1, wherein, when the ratio is not higher than a threshold, said adjustment unit adjusts one of (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern darker, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to decrease the exposure amount. 3. The apparatus according to claim 2, wherein, when the ratio has exceeded a threshold, said adjustment unit obtains, as a second ratio, a ratio, to the number of intersection points, of the number of intersection points obtained by referring to pixels whose pixel values are saturated,when the second ratio has exceeded a threshold, said adjustment unit adjusts one of (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern darker, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to decrease the exposure amount, andwhen the second ratio is not higher than the threshold, said adjustment unit adjusts one of (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern brighter, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to increase the exposure amount. 4. The apparatus according to claim 2, wherein, when the ratio has exceeded a threshold, said adjustment unit obtains, as a second ratio, a ratio, to the number of intersection points, of the number of intersection points obtained by referring to pixels whose pixel values are saturated,when the second ratio has exceeded a threshold, said adjustment unit adjusts (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern darker, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to decrease the exposure amount, andwhen the second ratio is not higher than the threshold, said adjustment unit adjusts (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern brighter, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to increase the exposure amount. 5. The apparatus according to claim 1, wherein, when the ratio is not higher than a threshold, said adjustment unit adjusts (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, to make the pattern darker, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to decrease the exposure amount. 6. The apparatus according to claim 1, further comprising a unit configured to perform distance measurement with respect to the target object by using an image captured by the image capturing unit. 7. The apparatus according to claim 1, wherein the captured image is an image in a region in which the target object is captured in an image captured by the image capturing unit. 8. The apparatus according to claim 1, wherein the first parameter is provided for controlling at least one of emission luminance of a light source of the projection unit, a display gradation value of display element of the projection unit, and a projection stop of the projection unit. 9. The apparatus according to claim 1, wherein the second parameter is provided for controlling at least one of an exposure time of the image capturing unit and an image capturing stop of the image capturing unit. 10. An image processing apparatus comprising: at least one processor operatively coupled to a memory, serving as:(a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) a unit configured to specify, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and to acquire a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image; and(c) an adjustment unit configured to adjust, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit. 11. The apparatus according to claim 10, wherein said adjustment unit adjusts one of (i) the first parameter for controlling the brightness of the pattern projected from the projection unit, and (ii) the second parameter for controlling the exposure amount of the image capturing unit, to make a value obtained by dividing, by the number of positions, the number of pixels each having a pixel value not lower than a saturation level, be equal to a threshold. 12. An image processing method to be performed by an image processing apparatus, the method comprising: (a) an acquisition step of acquiring a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) an obtaining step of obtaining an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected; and(c) an adjustment step of adjusting, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit. 13. An image processing method to be performed by an image processing apparatus, the method comprising: (a) an acquisition step of acquiring a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) a step of specifying, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and acquiring a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image; and(c) an adjustment step of adjusting, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit. 14. A non-transitory computer-readable storage medium that stores a computer program for causing a computer of an image processing apparatus to function as: (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) an obtaining unit configured to obtain an intersection point between (i) a luminance value waveform formed from luminance values of respective pixels constituting a first captured image of the target object to which a first pattern has been projected, and (ii) a luminance value waveform formed from luminance values of respective pixels constituting a second captured image of the target object to which a second pattern obtained by inverting bright and dark portions in the first pattern has been projected; and(c) an adjustment unit configured to adjust, in accordance with a ratio of the number of intersection points to the number of pixels of the captured image, at least one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit. 15. A non-transitory computer-readable storage medium that stores a computer program for causing a computer of an image processing apparatus to function as: (a) an acquisition unit configured to acquire a captured image obtained by capturing, by an image capturing unit, a target object to which a pattern has been projected;(b) a unit configured to specify, as a pixel value corresponding to a position of the pattern in the captured image, a maximum pixel value among pixel values of respective pixels referred to detect the position of the pattern from the captured image, and to acquire a distribution of the maximum pixel value corresponding to the position of the pattern in the captured image; and(c) an adjustment unit configured to adjust, by using the distribution, one of (i) a first parameter for controlling brightness of the pattern projected from a projection unit configured to project the pattern, and (ii) a second parameter for controlling an exposure amount of the image capturing unit.