Patents JPH05191902A

Image data processing system

Abstract
JPH05191902A
PURPOSE:To process enormous volume of input image data such as front image data of a traveling
Japan
vehicle in a short time. CONSTITUTION:Partially hatched images are cut out from the image in each
frame outputted from a television camera located at a position in front of a vehicle. The region of the
partial image is set such that the image data in front of the vehicle can be obtained continuously based Find Prior Art Similar
on traveling speed of vehicle, frame frequency of television camera, view angle of the television
camera, and the like. Thus cut out partial image is then cut off at ceiling parts S, S' and subjected to Other languages: Japanese
conversion such that a left ceiling part A1, left side face part B, oor part C, right side face part D, and
Inventor: Hiroshi Sasama, 宏 笹間
right ceiling part Aa are arranged linearly thus creating a wall face developing image 2. Since only
partial images are processed, volume of image data to be processed can be reduced drastically.
Worldwide applications

1991 JP

Application JP28583491A events

1991-10-31 Application led by Railway Technical Res Inst, 財

団法人鉄道総合技術研究所

1991-10-31 Priority to JP28583491A

1993-07-30 Publication of JPH05191902A

1996-10-02 Application granted

1996-10-02 Publication of JP2538730B2

2011-10-31 Anticipated expiration

Status Expired - Lifetime

Info: Cited by (6), Legal events, Similar documents, Priority and

Related Applications

External links: Espacenet, Global Dossier, Discuss

Description Claims (4) Hide Dependent

Detailed Description of the Invention

[0001]
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
relates to an image data processing system, and more particularly to an image data
processing system suitable for processing image data in front of a moving body
such as a railroad vehicle traveling on a predetermined route.
[0002]
2. Description of the Prior Art The greatest goal of railways as a public transportation
system is to provide safe transportation services. For this reason, visual inspections
such as front monitoring of running vehicles, safety monitoring at stations and
platforms, and patrol inspections of train tracks and train work inspections are
essential. However, human cognitive ability and attention are not perfect, and it is
becoming di cult to secure a person who is engaged in such a sober and patient
work.
Therefore, it is conceivable to acquire an image signal of an object to be monitored
by an image pickup means such as a television camera and process it by an
electronic computer. Conventionally, electronic signals are obtained based on an
image of a rail input from the television camera. The only thing that has been done is
to detect an image of the seam of the rail with a computer and monitor the seam
interval for abnormalities.
[0004]
However, in the above-mentioned conventional image data processing system, since
the output of the television camera is directly input to the electronic computer, the
amount of data such as the front image data of the traveling vehicle is enormous. In
this case, there is a problem that the processing takes a lot of time.
It is an object of the present invention to solve the above problems and provide an
image data processing system capable of processing a huge amount of image data
such as a forward image of a traveling vehicle in a short time. .. Another object of the
present invention is to provide an image data processing method capable of
performing image reconstruction under free conditions based on the processed
image data.
[Claims]
1. 1. An image data processing method for processing image data in front of
a moving body traveling on a predetermined route, comprising: (a) storing
an image in front of the moving body output from an image input device in
an image memory. (B) A frame-shaped partial image having a
predetermined width in the horizontal and vertical directions is cut out
from the image stored in the image memory at a predetermined position in
the screen, and (c) the partial image is divided into the frame. An image
data processing method characterized by creating wall surface expanded
image data that is cut at a predetermined position and expanded linearly.
2. 2. The image data processing method according to claim 1,
wherein the wall surface expanded image data is created by
printing the wall surface expanded image data by the image output
device.
3. 3. The image data processing method according to claim 1,
wherein the expanded wall image data is stored in an auxiliary
storage device.
4. 4. An image data processing method for processing image data in front of
a moving body traveling on a determined route, wherein a wall surface
expanded image is formed on an inner surface based on (a) wall surface
expanded image data created from partial images. Pixel data of a wall
surface developed image at each position of the cylindrical tunnel and the
inner surface of the tunnel is created, and (b) a viewpoint and its viewing
angle are set at a predetermined position in the tunnel or in front of the
tunnel, and A screen is created at a position where the viewing angle
intersects with the tunnel, (c) a region where a straight line connecting the
viewpoint and any pixel on the screen intersects with the tunnel, and (d) in
the intersecting region An image data processing method characterized in
that pixel data of a reconstructed image is obtained using pixel data of a
wall surface developed image.

[0006]

In order to solve the above problems, the present invention provides an image data
processing system for processing image data in front of a moving body traveling on a
predetermined route, which is output from an image input device. The image in front
of the moving body is stored in the image memory, and from the image stored in the
image memory, a frame-shaped partial image having a predetermined width in the
horizontal direction and the vertical direction at a predetermined position in the
screen is cut out, The partial image was cut at a predetermined position of the frame
to generate linearly expanded wall surface image data.
Further, according to the present invention, in the image data processing method for
processing the image data in front of the moving body traveling on the determined
route, the wall surface expanded image is formed on the inner surface based on the
wall surface expanded image data created from the partial images. Create the pixel
data of the wall surface expansion image at each position of the tubular tunnel and
the inner surface of the tunnel having the, set the viewpoint and its viewing angle at a
predetermined position in the tunnel or in front of the tunnel, and intersect the
viewing angle and the tunnel. Create a screen at the position where the straight line
connecting the viewpoint and any pixel on the screen intersects the tunnel, and
obtain the pixel data of the reconstructed image using the pixel data of the wall
surface expansion image in the intersecting region. I did it.

[0008]

According to the present invention, since the image data processing system is
con gured as described above, the image input device stores the image in front of
the moving body in the image memory, and the image processing device stores each
image stored in the image memory. Wall-expanded image data obtained by cutting
out a frame-shaped partial image having a predetermined width in the horizontal and
vertical directions at a predetermined position on the screen, cutting the partial image
at a predetermined position of the frame, and expanding it linearly. To create.

Further, according to the present invention, the image processing device is based on
the wall surface developed image data created from the partial images,
Create the pixel data of the wall surface expansion image at each position of the
cylindrical tunnel and the tunnel inner surface having the wall surface expansion
image on the inner surface, set the viewpoint and its viewing angle at a
predetermined position in the tunnel or in front of the tunnel, and Create a screen at
the position where the tunnel and the tunnel intersect, nd the region where the
straight line connecting the viewpoint and any pixel on the screen intersects the
tunnel, and reconstruct it using the pixel data of the wall surface expansion image in
the intersecting region. Get image pixel data.

[0010]

Embodiments of the present invention will now be described in detail with reference
to the drawings. FIG. 1 is an explanatory diagram of an embodiment in which the
image data processing method according to the present invention is applied to the
processing of image data in front of a railway vehicle. In the gure, (a) is an image of
the (i + 1) th frame output from a television camera provided at a predetermined
position of a railway vehicle (not shown; hereinafter, referred to as a vehicle), and (b)
is an image of the i-th frame. , (C) are images of the (i-1) th frame. The hatched
portion in the image of each frame is the partial image 1 cut out in each frame.
Further, (d) is a demapping image formed by demapping the cut out partial image,
and (e) is a reconstructed image reconstructed by remapping the demapping image.

First, regarding the demapping process,

The description will be made assuming that it is at the timing of processing the
image of the (i-1) th frame in (c). First, the hatched partial image 1i-1 is cut out from
the image of the (i-1) th frame in (c). The area of the partial image is set based on the
traveling speed of the vehicle, the frame frequency of the TV camera, the viewing
angle of the TV camera, and the like. For example, if the traveling speed of the
vehicle is V [m /
s] and the frame frequency of the TV camera is fv [Hz], the vehicle is (V / fv) [V from
the time when the TV camera outputs the image of the i-1th frame to the time when
the image of the i-th frame is output. In order to continuously acquire image data in
front of the vehicle, the partial images 1 are set so as to include images in the range
of the traveling direction (V / fv) [m]. If the width is 1 pixel in both the horizontal and
vertical directions (therefore, the width of one horizontal scanning line in the
horizontal direction), the processing of image data becomes easy. Also, this width is
1
The number of pixels is alternately set to 1 pixel and 2 pixels for each frame, and the
average is 1.
The width may be 5 pixels. Although the partial image 1 is set to the outermost part of
the screen in the gure, the present invention is not limited to this place.

Next, the cut out partial image 1i-1 is cut at the ceiling portions S and S ', and as
shown in FIG.
1, the left side wall surface portion B, the oor portion C, the right side wall surface
portion D, and the right side ceiling portion A2 are converted so as to be aligned
linearly, and the wall surface developed image 2i-1
To create. Note that when the width of the partial image 1 is set to a plurality of lines,
the number of pixels inside the partial image 1 becomes smaller than the number of
pixels outside, so pixels are created by interpolation processing.

Next, in the image of the i-th frame shown in (b), the image inside the frame-shaped
portion inside the partial image 1i-1 of the i-1th frame comes to the outermost side of
the screen, so Image 1i is cut out and a wall surface developed image 2i is created.
Hereinafter, the partial images are sequentially cut out from the images of the
respective frames starting from the (i + 1) th frame shown in (a), and are linearly
arranged as shown in (d) to create the wall surface developed image 2.

The above is the demapping process. As shown in (e), the remapping process is a
reverse process of the demapping process, and is a process of reconstructing an
image at an arbitrary position and viewpoint from the wall surface developed image 2
created by the demapping process. For details, refer to FIG. 2 and FIG.
explain.

FIG. 2 is an explanatory diagram of remapping processing in the image data

processing system according to the embodiment of the present invention, and FIG. 3
is a owchart of the remapping processing. Hereinafter, the remapping process will
be described with reference to FIGS. 2 and 3. First, according to step S1 of the
owchart, the shape of an imaginary rectangular tunnel along the route along which
the viewpoint travels is determined.
Next, in step S2, the demapping image described in FIG. 1 is pasted on the wall
surface of the rectangular tunnel. As speci c processing, rst, the wall surface
image obtained by the demapping processing described with reference to FIG. 1 is
pasted on the rectangular tunnel model wall surface assumed in the electronic
computer as follows. That is, the wall surface developed image of FIG. 1 (d) is bent
at a right angle along the dotted line, and the left ceiling portion A1, the left wall
surface portion B,
The oor portion C, the right wall surface portion D, and the right ceiling portion A2 are
made to correspond to the ceiling, wall surface, and oor portions of the rectangular
tunnel model,
Attach so that S and S'at the incision end are joined. In the actual processing in the
computer, a correspondence table of the coordinates of the rectangular tunnel wall
surface and the coordinates of the demapping image is created.

FIG. 2 shows a cross section of the tunnel cut vertically along the longitudinal
direction. Therefore, 3 is a ceiling part and 4 is a oor part. Further, 6 is a screen set in
a tunnel section perpendicular to the longitudinal direction of the tunnel.
The scales on the wall surface and the screen indicate the pixel unit of the image on
each surface. That is, here
The width of the partial image in the demapping process is 1 pixel.

Next, in step S3, one viewpoint position for which a reconstructed image is to be
created is selected in the viewpoint moving path in the rectangular tunnel. Next, in
step S4, a screen for creating an image when looking forward from the viewpoint at a
viewing angle θ is set. The position and size of this screen are arbitrary, but it is
generally desirable to extend the viewing angle θ so as to intersect the rectangular
tunnel wall surface, as shown in FIG. It is easy to assume that this screen is
transparent.

Next, in step S5, one pixel on the screen (screen pixel) is selected, the straight line
connecting the viewpoint and the grid points at the four corners thereof is extended,
and the intersection with the rectangular tunnel wall surface is obtained. The area
surrounded by these four intersections is the projection area of the screen pixel.
Next, as step S6,
The wall surface demapping image data in the screen pixel projection area is used to
determine the pixel data on the screen. Although various methods are conceivable as
the algorithm for determining the pixel data in this case, it is generally preferable to
use the average value of the wall surface demapping image data in the pixel
projection area.

The processes of steps S5 and S6 are

When the process is performed for each pixel on the screen and the processing is
completed for all pixels on the screen, the image viewed at the viewing angle θ from
the viewpoint selected in step S3 is reconstructed on the screen. As a speci c
example, in the example shown in FIG.
For example, in the pixel 6a on the screen 6, the image of the region 3a that extends
the straight line (line of sight) passing through the viewpoint 5 and the pixel 6a and
intersects the ceiling portion 3 is visible, so the average value of the pixels in this
region 3a, etc. Is the pixel value of the pixel 6a. Similarly, area 4b
The average value of the pixels inside the pixel and the like is set as the pixel value of
the reconstructed image of the pixel 6b. If this process is performed for all the pixels
on the screen 6, a reconstructed image viewed from the viewpoint 5 can be obtained.
Here, for convenience of explanation, the vertical direction of the screen 6 is
composed of 20 pixels, but in reality, it is 256, 51.
Set to an appropriate number such as 2.

FIG. 4 is a block diagram showing the arrangement of an image data processing

system for implementing the image data processing method according to the
embodiment of the present invention. In FIG. 4, reference numeral 11 denotes an
image input device composed of a television camera, which converts an image of a
subject into an image signal and digitizes it. Reference numeral 12 is an image
memory formed of a semiconductor or the like for temporarily storing a digitized
image signal, 13 is an electronic computer that performs desired processing on the
output of the image memory 12, and 14 is the electronic computer 1
An auxiliary storage device composed of a magnetic disk or the like for storing the
output of 3 and an image output device 15 for printing or displaying the output of the
electronic computer 13.

FIG. 5 is an explanatory diagram of the demapping processing operation of the image

data processing system in the embodiment of the present invention.
First, the image input device 11 arranged at a predetermined position of the vehicle
Converts the image in front of the vehicle into an image signal, converts it into an 8-
bit digitized image signal, and stores it in the image memory 12.

Next, the electronic computer 13 cuts out the outermost portion of the screen from
the digitized image signal stored in the image memory 12 as a partial image 1 in FIG.
Convert to image data. Here, this conversion process will be described in more detail.
Now, assuming that the image signal output from the image input device 11 is 512
dots × 512 dots in length × width, the number of pixels of the partial image cut out by
the electronic computer 13 is 2048 dots in each frame. As shown in FIG. 5A, the
electronic computer 13 sequentially samples the pixels stored in the image memory
12 counterclockwise from the point S at the upper center of the screen, and as
shown in FIG. S is 0
Then, the address is converted so that S ′ becomes 2047. If this conversion
processing is performed for each frame of the digitized image signal stored in the
image memory 12, the wall surface expanded image 2
To obtain a digitized image signal. The address-converted image signal is stored in a
main storage memory (not shown) of the electronic computer 13, and when the
amount exceeds the storage capacity of the main storage memory, the auxiliary
storage device 14
Remember.
The expanded wall image 2 is created by the auxiliary storage device 1.
This can be performed by reading the digitized image signal stored in No. 4 and
converting it into an analog signal and outputting it by the image output device 15.
Next, the remapping operation of the image data processing system in the
embodiment of the present invention will be described with reference to FIGS.

First, a tubular tunnel having a rectangular cross section in FIG. 2 is created, a screen
6 is set, and a viewpoint 5 is set by using a three-dimensional computer graphics
technique. Here, the wall surface developed image 2 at each position in the tubular
tunnel created by using the three-dimensional computer graphics technology 2
The pixel data (luminance level, etc.) of the
It is stored in the main memory within 3.

Next, the straight line connecting the viewpoint 5 and any pixel on the screen 6 is
extended to nd the coordinates of the intersection with the tubular tunnel. Then, the
pixel data of the wall surface developed image at the intersection is read from the
main memory and used as the reconstructed image data of the pixel. If this process
is performed for all the pixels on the screen 6, the reconstructed image data seen
from the viewpoint 5 is obtained, and if it is displayed or printed by the image output
device 15, the reconstructed image can be seen. it can.

The reconstructed image in the present invention can be created at any position,
viewing angle, and time interval (speed different from that at the time of image
capturing). In addition, even if the image input by the image input device is an image
on a straight track, by changing the shape of the tubular tunnel with a rectangular
cross section having a wall surface expansion image created on the basis of it, It is
possible to create a curved tunnel image, an uphill tunnel image, etc. according to the
shape. FIG. 6 shows this state.

In the above embodiment, the image is stored and processed in the image memory
frame by frame. However, when one frame is composed of two elds as in the
standard television scanning system, the eld is stored. Each may be stored in the
image memory and processed.

[0029]

As described above in detail, according to the present invention, the image of each
frame stored in the image memory has a predetermined width in the horizontal and
vertical directions at a predetermined position in the screen. Since the frame-shaped
partial image is cut out and the wall surface expanded image data is created, the
amount of image data to be processed is greatly reduced without losing image
information (for example, in the above-described embodiment, 512 × 512 for each
frame).
Of the dots, only 512 × 4 dots are processed, so
The throughput can be 1/128). Therefore, it becomes possible to e ciently process
a large amount of image data such as the image data in front of the traveling vehicle,
and it is possible to contribute to the realization of a self-excited inspection system
by image processing instead of the track patrol inspection in railways. Be expected.

Further, according to the present invention, since the reconstructed image can be
created at an arbitrary position, viewing angle, time interval, etc., the reconstructed
image can be obtained under free conditions different from reality. Therefore, it is
effective for creating an image in a driving simulator or the like.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment in which an image data

processing method according to the present invention is applied to the processing of
image data in front of a railway vehicle.

FIG. 2 is an explanatory diagram of a remapping process in the image data

processing method according to the embodiment of the present invention.

FIG. 3 is a owchart of a remapping process in the image data processing method

according to the embodiment of the present invention.

FIG. 4 is a block diagram showing a con guration of an image data processing

system for implementing the image data processing method according to the
embodiment of the present invention.

FIG. 5 is an explanatory diagram of a demapping processing operation of the image

data processing system in the embodiment of the present invention.

FIG. 6 is an explanatory diagram of a con guration example of a reconstructed image

according to the embodiment of the present invention.

[Explanation of symbols]

 1 Partial image 2 Wall expansion image 3,4 Cylindrical tunnel 5 Viewpoint 6 Screen
11 Image input device 12 Image memory 13 Electronic computer 14 Auxiliary storage
device 15 Image output device

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JP2013073504A * 2011-09-28 2013-04-22 Casio Image transition device, image transition method, and program
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Ltd

WO2014162852A1 * 2013-04-04 2014-10-09 ソニー株式 Image processing device, image processing method and program
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Priority And Related Applications

Priority Applications (1)

Application Priority date Filing date Title

JP28583491A 1991-10-31 1991-10-31 Image data processing method

Applications Claiming Priority (1)

Application Filing date Title

JP28583491A 1991-10-31 Image data processing method

Legal Events

Date Code Title Description

1996-06-04 A01 Written decision to grant a patent or to grant a registration (utility model) Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 19960604

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method abstract,description 20 0.000

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