US 12,230,057 B2
Image processing apparatus, image processing method, image input apparatus, image processing system, and program
Takahisa Yamamoto, Kanagawa (JP); Hiroshi Sato, Kanagawa (JP); Atsuo Nomoto, Tokyo (JP); and Yoshinori Ito, Tokyo (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Dec. 17, 2021, as Appl. No. 17/555,122.
Application 17/555,122 is a continuation of application No. PCT/JP2020/021930, filed on Jun. 3, 2020.
Claims priority of application No. 2019-120329 (JP), filed on Jun. 27, 2019.
Prior Publication US 2022/0114837 A1, Apr. 14, 2022
Int. Cl. G06V 40/16 (2022.01); G06V 10/75 (2022.01); G06V 10/82 (2022.01)
CPC G06V 40/172 (2022.01) [G06V 10/757 (2022.01); G06V 10/82 (2022.01); G06V 40/168 (2022.01)] 15 Claims
OG exemplary drawing
 
1. An image processing apparatus comprising:
one or more memories storing instructions; and
one or more processors that, upon execution of the stored instructions, are configured to:
receive a first captured image captured by a first camera and a second captured image captured by a second camera;
perform first extraction processing on the first captured image to extract a first model feature quantity and on the second captured image to extract a second model feature quantity;
perform second extraction processing having a lower throughput than the first extraction processing on the first captured image to extract a first small-scale feature quantity and on the second captured image to extract a second small-scale feature quantity;
compare the first model feature quantity with the first small-scale feature quantity to obtain a first comparison result and compare the second model feature quantity with the second small-scale feature quantity to obtain a second comparison result; and
based on the first comparison result, update first parameters to be used in the second extraction processing on an image captured by the first camera, and based on the second comparison result, update second parameters to be used in the second extraction processing on an image captured by the second camera,
wherein the first comparison result includes a difference between the first model feature quantity and the first small-scale feature quantity,
wherein the second comparison result includes a difference between the second model feature quantity and the second small-scale feature quantity,
wherein the one or more processors are further configured to perform control,
in an initial state for updating the first parameters and the second parameters, to perform the first extraction processing and the second extraction processing in parallel,
during a transition from the initial state to a steady state, to gradually reduce performing the first extraction processing to update the first parameters, based on the first comparison result and to perform the second extraction processing,
during a transition from the initial state to a steady state, to gradually reduce performing the first extraction processing to update the second parameters, based on the second comparison result and to perform the second extraction processing,
to determine that the image processing apparatus is in the steady state for the first camera in a case where the number of times that the difference between the first model feature quantity and the first small-scale feature quantity for a predetermined number of captured images received from the first camera is determined to be smaller than a threshold value is equal to or greater than a predetermined number of times, and
to determine that the image processing apparatus is in the steady state for the second camera in a case where the number of times that the difference between the second model feature quantity and the second small-scale feature quantity for a predetermined number of captured images received from the second camera is determined to be smaller than a threshold value is equal to or greater than a predetermined number of times.