Image processing method and image capturing apparatus

Abstract

An image processing method includes acquiring a plurality of image data items by continuously capturing images of an object by an image capturing apparatus (S1), transmitting the plurality of image data items to a computing section (S2), computing image feature values each of which relates to positional information and information correlated with illumination conditions of each of the image data items by using the computing section (S3), comparing degrees of matching between reference image feature values, each of which corresponds to positional information and information correlated with illumination conditions, and the plurality of image data items (S4), and selecting, from the plurality of image data items, an image having positional information and illumination conditions that match the reference image feature values and outputting the image (S5).

1 . An image processing method comprising:
 acquiring at least two image data items obtained by capturing images of a same object within a field of view of an image-capturing-optical system;   calculating an image feature value for each of the two image data items, the image feature value correlated with a difference in brightness of at least a part of the object within the field of view of the image-capturing-optical system; and   performing processes different from one another for the two image data items, respectively, depending on the image feature values of the respective two image data items.   
     
     
         2 . The image processing method according to  claim 1 , wherein the object moves between a time when an image of the object is captured to acquire one of the two image data items and a time when an image of the object is captured to acquire another one of the two image data items. 
     
     
         3 . The image processing method according to  claim 1 , wherein one of the processes performed for the two image data items includes a process for discarding one of the two image data items. 
     
     
         4 . The image processing method according to  claim 1 , wherein the processes for the respective two image data items are determined based on a degree of matching between each of the image feature values of the two image data items and a reference value that has been obtained before acquiring the two image data items. 
     
     
         5 . The image processing method according to  claim 1 , wherein the processes are performed for the two image data items, respectively, after acquiring the two image data items. 
     
     
         6 . The image processing method according to  claim 1 , wherein at least one of a position of a light source, an irradiation intensity, an irradiation angle, and a light-emitting wavelength of an illumination unit configured to illuminate the object differs between a time when an image of the object is captured to acquire one of the two image data items and a time when an image of the object is captured to acquire another one of the two image data items. 
     
     
         7 . A non-transitory storage medium storing a program that, when executed by a computer, executes the image processing method according to  claim 1 . 
     
     
         8 . A system comprising:
 a computing unit configured to acquire at least two image data items of images captured by an image-capturing-optical system,   wherein the computing unit calculates an image feature value for each of the two image data items, the image feature value correlated with a difference in brightness of at least a part of an object within a field of view of the image-capturing-optical system, and   wherein, after the computing unit acquires the two image data items, the computing unit performs processes different from one another for the two image data items, respectively, depending on the image feature values of the respective two image data items.   
     
     
         9 . The system according to  claim 8 , wherein one of the processes performed for the two image data items includes a process for discarding one of the two image data items. 
     
     
         10 . The system according to  claim 9 , wherein the other of the processes performed for the two image data items includes a process for saving the other of the two image data items and saving the image feature value of the other of the two image data items. 
     
     
         11 . The system according to  claim 8 , wherein the other of the processes performed for the two image data items includes a process for generating a video signal based on the other of the two image data items. 
     
     
         12 . The system according to  claim 8 , wherein the image feature value is a value based on a sum of values indicating brightness of each of a plurality of pixels in the image data item. 
     
     
         13 . The system according to  claim 8 , wherein the computing unit determines the processes for the respective two image data items based on the image feature value of one of the two image data items and the image feature value of the other of the two image data items. 
     
     
         14 . The system according to  claim 8 , wherein the computing unit determines the processes for the respective two image data items based on a degree of matching between each of the image feature values of the two image data items and a reference value that has been obtained before acquiring the two image data items. 
     
     
         15 . The system according to  claim 14 , wherein an image data item, of the two image data items, having a lower degree of matching is discarded. 
     
     
         16 . The system according to  claim 8 , wherein the computing unit performs a process for removing information corresponding to brightness of a background of the object in each of the two image data items, before performing the processes different from one another for the two image data items, respectively. 
     
     
         17 . The system according to  claim 8 , further comprising an illumination unit configured to illuminate the object,
 wherein the computing unit controls the illumination unit in such a manner that at least one of a position of a light source, an irradiation intensity, an irradiation angle, and a light-emitting wavelength of the illumination unit differs between a time when an image of the object is captured to acquire one of the two image data items and a time when an image of the object is captured to acquire another one of the two image data items.   
     
     
         18 . The system according to  claim 8 , further comprising a moving unit configured to move the object. 
     
     
         19 . The system according to  claim 8 , wherein a position and orientation of the object is recognized using any one of the two image data items. 
     
     
         20 . A system comprising:
 an image-capturing-optical system;   an illumination unit configured to illuminate an object within a field of view of the image-capturing-optical system; and   a computing unit configured to acquire image data of an image captured by an image-capturing-optical system,   wherein the illumination unit is controlled in such a manner that a brightness of at least a part of the object within the field of view of the image-capturing-optical system differs between a time when an image of the object is captured by the image-capturing-optical system to acquire one of the two image data items and a time when an image of the object is captured to acquire another one of the two image data items, and   wherein the computing unit performs a process for each of the two image data items based on the difference in the brightness of at least a part of the object within the field of view of the image-capturing-optical system.   
     
     
         21 . The system according to  claim 20 , wherein the computing unit performs processes different from one another for the two image data items, respectively. 
     
     
         22 . A production method for producing an article using the image processing method according to  claim 1 , wherein the object is at least a part of the article. 
     
     
         23 . A production method for producing an article using the system according to  claim 8 , wherein the object is at least a part of the article. 
     
     
         24 . A production method for producing an article using the system according to  claim 20 , wherein the object is at least a part of the article. 
     
     
         25 . A camera comprising:
 an image-capturing-optical system; and   a computing unit configured to acquire image data of an image captured by an image-capturing-optical system,   wherein, when the computing unit acquires two image data items from capturing images of a same object within a field of view of an image-capturing-optical system, and in a case where a brightness of at least a part of the object within the field of view of the image-capturing-optical system differs between a time when an image of the object is captured to acquire one of the two image data items and a time when an image of the object is captured to acquire another one of the two image data items, the computing unit performs, after capturing images of the object to acquire the two image data items, a process for discarding one of the two image data items and a process for outputting a video signal based on the other of the two image data items to outside the camera.