JP2003016446A - Image processor and image processing method, recording medium, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a mixing ratio showing the state of mixing of a plurality of objects. SOLUTION: An addition part 422 extracts pixel data of a frame around a frame of interest corresponding to a pixel of interest as background pixel data corresponding to a background object, extracts interest pixel data of the pixel of interest and near pixel data of near pixels, and generates a plurality of relational expressions showing the relation among the interest pixel data, near pixel data, and background pixel data corresponding to the interest pixel data or near pixel data through approximation wherein the mixing ratio corresponding to the interest pixel and near pixels is constant. An arithmetic part 423 detects the mixing ratio showing the mixing state of a plurality of objects in the real world corresponding to the pixel of interest according to the relational expressions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing apparatus and method, a recording medium, and a program, and more particularly, to an image processing apparatus and method, a recording medium, and a recording medium in consideration of a difference between a signal detected by a sensor and the real world. Regarding the program.

[0002]

2. Description of the Related Art A technique of detecting a phenomenon in the real world with a sensor and processing sampling data output from an image sensor is widely used.

For example, in an image obtained by picking up an object moving in front of a predetermined stationary background with a video camera, when the moving speed of the object is relatively high, motion blur occurs.

[0004]

When an object moves in front of a stationary background, not only the motion blur caused by the mixture of the images of the moving object itself, but also the background image and the image of the moving object. Mixing occurs. Heretofore, it has not been considered to detect the state of the mixture of the background image and the image of the moving object.

The present invention has been made in view of such a situation, and makes it possible to detect a mixture ratio indicating a state of mixture of a plurality of objects such as a background image and a moving object image. The purpose is to

[0006]

An image processing apparatus of the present invention corresponds to a pixel of interest of a frame of interest of image data,
The pixel data of the peripheral frame around the target frame is extracted as background pixel data corresponding to the background object of the plurality of objects of the image data, and the target pixel data of the target pixel and the target pixel in the target frame are extracted. A plurality of relationships indicating the relationship between the pixel data of interest, the pixel data of the neighborhood, and the pixel data of the pixel of interest or the background pixel data corresponding to the pixel data of the neighborhood are extracted by extracting the pixel data of the neighboring pixels located in the vicinity of A relational expression generating means for generating an equation, and a mixture ratio detecting means for detecting a mixture ratio indicating a mixture state of a plurality of objects in the real world, based on the relational expression, corresponding to the pixel of interest. The generation unit is configured to generate a plurality of relationships based on approximation that the mixture ratio corresponding to the pixel of interest and the neighboring pixels is constant. And generating a.

The relational expression generating means generates a plurality of relational expressions based on the approximation that the components of the foreground object among the plurality of objects contained in the target pixel data and the neighboring pixel data are constant. You can

The relational expression generating means approximates the change in the component of the foreground object of the plurality of objects included in the target pixel data and the neighboring pixel data to be linear with respect to the pixel position. Based on this, a plurality of relational expressions can be generated.

The image processing apparatus, based on the mixture ratio with respect to the pixel of interest, sets the image data to an object image consisting only of a foreground object component forming a foreground object of the image data and a background object component forming a background object. It is possible to further provide a foreground / background separating means for separating the foreground / background object image.

The mixing ratio detecting means can detect the mixing ratio by solving a plurality of relational expressions by the method of least squares.

According to the image processing method of the present invention, the pixel data of the peripheral frame around the target frame corresponding to the target pixel of the target frame of the image data is equivalent to the background object of the plurality of objects of the image data. The target pixel data of the target pixel and the neighboring pixel data of the neighboring pixel located near the target pixel in the target frame are extracted as the background pixel data of the target pixel, and the target pixel data and the neighboring pixel data of the target pixel are extracted. , And a relational expression generating step for generating a plurality of relational expressions showing the relation between the target pixel data or the background pixel data corresponding to the neighboring pixel data, and a plurality of relational expressions corresponding to the target pixel based on the relational expression in the real world. And a mixture ratio detecting step of detecting a mixture ratio indicating a mixture state of the object In step, based on the approximation of the mixture ratio corresponding to the pixel of interest and its neighboring pixels is constant, and a plurality of relational expressions are generated.

The program of the recording medium of the present invention sets the pixel data of the peripheral frame around the target frame corresponding to the target pixel of the target frame of the image data to the background object of the plurality of objects of the image data. The target pixel data of the target pixel and the neighboring pixel data of the neighboring pixel located near the target pixel in the target frame are extracted as the corresponding background pixel data, and the target pixel data and the neighboring pixel of the target pixel are extracted. A relational expression generating step for generating a plurality of relational expressions showing the relation between the data and the background pixel data corresponding to the target pixel data or the neighboring pixel data, and in the real world, corresponding to the target pixel based on the relational expression. A mixture ratio detecting step of detecting a mixture ratio indicating a mixture state of a plurality of objects. In formula generation step, based on the approximation of the mixture ratio corresponding to the pixel of interest and its neighboring pixels is constant, and a plurality of relational expressions are generated.

The program of the present invention is stored in a computer,
Pixel data of peripheral frames around the target frame corresponding to the target pixel of the target frame of the image data is extracted as background pixel data corresponding to a background object of the plurality of objects of the image data,
The target pixel data of the target pixel and the neighboring pixel data of the neighboring pixel located near the target pixel in the target frame are extracted, and the target pixel data and the neighboring pixel data, and the target pixel data or the neighboring pixel data of the target pixel are extracted. A relational expression generating step for generating a plurality of relational expressions indicating the relationship of the background pixel data corresponding to, and a mixture indicating a mixed state of a plurality of objects in the real world corresponding to the pixel of interest based on the relational expression. And performing a mixture ratio detection step of detecting a ratio, and generating a plurality of relational expressions based on an approximation that the mixture ratio corresponding to the pixel of interest and the neighboring pixels is constant in the relational expression generation step. Characterize.

In the image processing apparatus and method, the recording medium, and the program of the present invention, the pixel data of the peripheral frame around the frame of interest corresponding to the pixel of interest of the frame of interest of the image data is converted into a plurality of objects of the image data. Of the target pixel data of the target pixel and the neighboring pixel data of the neighboring pixel located near the target pixel in the target frame For, a plurality of relational expressions indicating the relationship between the target pixel data and the neighboring pixel data, and the background pixel data corresponding to the target pixel data or the neighboring pixel data are generated, and based on the relational expression, corresponding to the target pixel, A mixture ratio indicating the mixture state of multiple objects in the real world is detected, and the relational expression is generated. In, on the basis of the approximate mixing ratio corresponding to the pixel of interest and its neighboring pixels is constant,
A plurality of relational expressions are generated.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing an embodiment of an image processing apparatus according to the present invention. CPU (Central Proce
The ssing unit) 21 is a ROM (Read Only Memory) 22,
Alternatively, various processes are executed according to the programs stored in the storage unit 28. RAM (RandomAccess Memory) 2
In 3, the programs and data executed by the CPU 21 are stored as appropriate. These CPU 21, ROM 22, and RA
The M23s are interconnected by a bus 24.

An input / output interface 25 is also connected to the CPU 21 via a bus 24. The input / output interface 25 is connected to an input unit 26 including a keyboard, a mouse, a microphone and the like, and an output unit 27 including a display and a speaker. The CPU 21 executes various kinds of processing in response to a command input from the input unit 26. Then, the CPU 21 outputs the image, sound, etc. obtained as a result of the processing to the output unit 27.

The storage unit 28 connected to the input / output interface 25 is composed of, for example, a hard disk or the like, and stores programs executed by the CPU 21 and various data. The communication unit 29 communicates with an external device via the Internet or another network. In the case of this example, the communication unit 29 functions as an acquisition unit that captures the output of the sensor.

The program may be acquired via the communication unit 29 and stored in the storage unit 28.

The drive 30 connected to the input / output interface 25 includes a magnetic disk 51 and an optical disk 5.
2. When the magneto-optical disk 53, the semiconductor memory 54, or the like is mounted, they are driven to acquire the program or data recorded therein. The acquired programs and data are transferred to and stored in the storage unit 28 as needed.

FIG. 2 is a block diagram showing the image processing apparatus.

Note that it does not matter whether each function of the image processing apparatus is realized by hardware or software. That is, each block diagram in this specification may be considered as a block diagram of hardware or a functional block diagram of software.

In this specification, an image corresponding to an object in the real world, which is the object of imaging, is called an image object.

The input image supplied to the image processing apparatus is supplied to the object extracting unit 101, the region specifying unit 103, the mixture ratio calculating unit 104, and the foreground / background separating unit 105.

The object extracting unit 101 roughly extracts the image object corresponding to the foreground object included in the input image, and supplies the extracted image object to the motion detecting unit 102. The object extraction unit 101
For example, by detecting the contour of the image object corresponding to the foreground object included in the input image, the image object corresponding to the foreground object is roughly extracted.

The object extracting unit 101 roughly extracts an image object corresponding to a background object included in the input image, and supplies the extracted image object to the motion detecting unit 102. The object extraction unit 101
For example, the image object corresponding to the background object is roughly extracted from the difference between the input image and the extracted image object corresponding to the foreground object.

Further, for example, the object extracting unit 101
To roughly extract the image object corresponding to the foreground object and the image object corresponding to the background object from the difference between the background image stored in the background memory provided inside and the input image. You may

The motion detecting section 102 calculates a motion vector of the image object corresponding to the roughly extracted foreground object by a method such as a block matching method, a gradient method, a phase correlation method, and a per-recursive method. The calculated motion vector and position information of the motion vector (information specifying the position of the pixel corresponding to the motion vector) are supplied to the area specifying unit 103 and the motion blur adjusting unit 106.

The motion vector output from the motion detector 102 includes information corresponding to the motion amount v.

Further, for example, the motion detecting section 102 calculates the motion vector for each image object together with the pixel position information for specifying the pixel in the image object, and the motion blur adjusting section 10
6 may be output.

The movement amount v is a value that represents a change in the position of an image corresponding to a moving object in units of pixel intervals. For example, the image of the object corresponding to the foreground is 4 in the next frame with respect to a certain frame.
When moving so as to be displayed at a pixel-separated position, the motion amount v of the image of the object corresponding to the foreground is
It is set to 4.

The object extraction unit 101 and the motion detection unit 102 are necessary when adjusting the amount of motion blur corresponding to a moving object.

The area specifying unit 103 specifies each of the pixels of the input image as either the foreground area, the background area, or the mixed area, and selects the foreground area, the background area, or the mixed area for each pixel. Information that indicates whether it belongs to
(Referred to as area information) is supplied to the mixture ratio calculation unit 104, the foreground / background separation unit 105, and the motion blur adjustment unit 106.

The mixture ratio calculating unit 104, based on the input image and the region information supplied from the region specifying unit 103, the mixture ratio corresponding to the pixels included in the mixed region (hereinafter, the mixture ratio α.
(Referred to as “)” and the calculated mixture ratio is supplied to the foreground / background separation unit 105.

The mixture ratio α is a value indicating a ratio of an image component (hereinafter, also referred to as a background component) corresponding to a background object in a pixel value, as shown in the equation (3) described later.

The foreground / background separating unit 105 includes a region specifying unit 10
3 and the region information supplied from the mixture ratio calculation unit 104.
Based on the mixture ratio α supplied from, the input image is a foreground component image consisting only of image components corresponding to the foreground object (hereinafter also referred to as foreground component) and a background component image consisting only of background components. Are separated and the foreground component image is supplied to the motion-blur adjusting unit 106 and the selecting unit 107. It should be noted that the separated foreground component image may be the final output. It is possible to specify only the foreground and the background without considering the conventional mixed area, and obtain a more accurate foreground and background than the method of separating.

The motion-blur adjusting unit 106 determines a processing unit indicating one or more pixels included in the foreground component image, based on the motion amount v and the area information known from the motion vector. The processing unit is data that designates a group of pixels that are the target of the processing for adjusting the amount of motion blur.

The motion-blur adjusting unit 106 receives the motion-blur adjusting amount input to the image processing apparatus, the foreground component image supplied from the foreground / background separating unit 105, the motion vector supplied from the motion detecting unit 102, and its position information. And removing motion blur contained in the foreground component image based on the processing unit,
The amount of motion blur included in the foreground component image is adjusted by decreasing the amount of motion blur or increasing the amount of motion blur, and the foreground component image with the adjusted amount of motion blur is selected by the selection unit 1
It outputs to 07. The motion vector and its position information may not be used.

Here, the motion blur refers to the distortion included in the image corresponding to the moving object, which is caused by the movement of the object in the real world to be imaged and the image pickup characteristics of the sensor. .

The selecting unit 107 determines the foreground component image supplied from the foreground / background separating unit 105 and the amount of motion blur supplied from the motion blur adjusting unit 106 based on a selection signal corresponding to the user's selection, for example. Either one of the adjusted foreground component images is selected and the selected foreground component image is output.

Next, the input image supplied to the image processing apparatus will be described with reference to FIGS.

FIG. 3 is a diagram for explaining the image pickup by the sensor. The sensor is, for example, a CCD (Cha
rge-Coupled Device) A CCD video camera equipped with an area sensor. The object corresponding to the foreground in the real world horizontally moves between the object corresponding to the background and the sensor in the real world, for example, from the left side to the right side in the drawing.

The sensor images the object corresponding to the foreground together with the object corresponding to the background. The sensor outputs the captured image in units of one frame. For example, the sensor outputs an image consisting of 30 frames per second. The exposure time of the sensor can be 1/30 second. The exposure time is a period from when the sensor starts converting the input light into electric charges to when ending the conversion of the input light into electric charges. Hereinafter, the exposure time is also referred to as the shutter time.

FIG. 4 is a diagram for explaining the arrangement of pixels.
In FIG. 4, A to I indicate individual pixels. The pixels are arranged on a plane corresponding to the image. One detection element corresponding to one pixel is arranged on the sensor. When the sensor captures an image, one detection element outputs a pixel value corresponding to one pixel forming the image. For example, the position of the detection element in the X direction corresponds to the horizontal position on the image, and the position of the detection element in the Y direction corresponds to the vertical position on the image.

As shown in FIG. 5, the detection element, which is, for example, a CCD, converts the input light into electric charge and stores the converted electric charge during a period corresponding to the shutter time. The amount of electric charge is almost proportional to the intensity of the input light and the time during which the light is input. The detection element adds the electric charge converted from the input light to the electric charge already accumulated in the period corresponding to the shutter time. That is, the detection element integrates the input light for a period corresponding to the shutter time, and accumulates an amount of charges corresponding to the integrated light.
It can be said that the detection element has an integration effect with respect to time.

The electric charge accumulated in the detecting element is converted into a voltage value by a circuit (not shown), and the voltage value is further converted into a pixel value such as digital data and output. Therefore, each pixel value output from the sensor is a value projected to a one-dimensional space, which is a result of integrating a portion having a spatial spread of the object corresponding to the foreground or the background with respect to the shutter time. Have.

The image processing apparatus extracts the significant information buried in the output signal, for example, the mixture ratio α, by the accumulation operation of the sensor. The image processing apparatus adjusts the amount of distortion caused by the foreground image objects themselves being mixed, for example, the amount of motion blur. Further, the image processing device adjusts the amount of distortion caused by the mixture of the foreground image object and the background image object.

FIG. 6 is a view for explaining an image obtained by picking up an object corresponding to a moving foreground and an object corresponding to a stationary background. Figure 6
(A) is an object corresponding to a moving foreground,
The image obtained by imaging the object corresponding to the stationary background is shown. In the example shown in FIG. 6A, the object corresponding to the foreground is moving horizontally from left to right with respect to the screen.

FIG. 6 (B) shows one of the images shown in FIG. 6 (A).
It is the model figure which expanded the pixel value corresponding to one line in the time direction. The horizontal direction of FIG. 6 (B) corresponds to the spatial direction X of FIG. 6 (A).

The pixel value of the pixel in the background area is formed only from the background component, that is, the image component corresponding to the background object. The pixels in the foreground area are
The pixel value is configured only from the foreground component, that is, the image component corresponding to the foreground object.

The pixel value of the pixel in the mixed area is composed of the background component and the foreground component. It can be said that the mixed region is a distorted region because its pixel value is composed of the background component and the foreground component. The mixed area is further classified into a covered background area and an uncovered background area.

The covered background area is a mixed area at a position corresponding to the front end of the foreground object in the traveling direction with respect to the foreground area, and the background component is covered with the foreground as time passes. Say.

On the other hand, the uncovered background area is a mixed area at a position corresponding to the trailing end of the foreground object in the traveling direction with respect to the foreground area, and the background component corresponding to the passage of time. It means the area where appears.

As described above, the image including the foreground area, the background area, or the covered background area or the uncovered background area is the area specifying unit 103,
It is input as an input image to the mixture ratio calculation unit 104 and the foreground / background separation unit 105.

FIG. 7 is a diagram for explaining the background area, foreground area, mixed area, covered background area, and uncovered background area as described above. In the case corresponding to the image shown in FIG. 6, the background area is a still portion, the foreground area is a moving portion, and the covered background area of the mixed area is a portion that changes from the background to the foreground. The uncovered background area is the portion that changes from the foreground to the background.

In FIG. 8, the pixel values of the pixels arranged in a row adjacent to each other in the image obtained by picking up the object corresponding to the stationary foreground and the object corresponding to the stationary background are expanded in the time direction. FIG. For example, if pixels that are adjacently arranged in a line are
Pixels arranged on one line can be selected.

The pixel values F01 to F04 shown in FIG. 8 are the pixel values of the pixels corresponding to the stationary foreground object. The pixel values B01 to B04 shown in FIG. 8 are pixel values of pixels corresponding to a stationary background object.

The vertical direction in FIG. 8 corresponds to time, and time elapses from top to bottom in the figure. The position of the upper side of the rectangle in FIG. 8 corresponds to the time when the sensor starts converting the input light into electric charge, and the position of the lower side of the rectangle in FIG. 8 corresponds to the electric charge of the light input into the sensor. Corresponds to the time to end the conversion of. That is, the distance from the upper side to the lower side of the rectangle in FIG. 8 corresponds to the shutter time.

The case where the shutter time and the frame interval are the same will be described below as an example.

The horizontal direction in FIG. 8 corresponds to the spatial direction X described in FIG. More specifically, in the example shown in FIG. 8, the distance from the left side of the rectangle described as “F01” to the right side of the rectangle described as “B04” in FIG. 8 is 8 times the pixel pitch, That is, it corresponds to the interval of eight consecutive pixels.

When the foreground object and the background object are stationary, the light input to the sensor does not change during the period corresponding to the shutter time.

Here, the period corresponding to the shutter time is set to 2
Divide into one or more equal length periods. For example, if the number of virtual divisions is 4, the model diagram shown in FIG. 8 can be represented as the model shown in FIG. The number of virtual divisions is set corresponding to the amount of movement v of the object corresponding to the foreground within the shutter time. For example, the virtual division number is set to 4 corresponding to the motion amount v of 4, and the period corresponding to the shutter time is divided into 4.

The top row in the figure corresponds to the first divided period after the shutter is opened. The second row from the top in the figure corresponds to the second divided period when the shutter is opened. The third row from the top in the figure corresponds to the third divided period when the shutter is opened. The fourth row from the top in the drawing corresponds to the fourth divided period when the shutter is opened.

Hereinafter, the shutter time divided corresponding to the motion amount v is also referred to as shutter time / v.

When the object corresponding to the foreground is stationary, the light input to the sensor does not change, so the foreground component F01 / v is equal to the pixel value F01 divided by the virtual division number. Similarly, when the object corresponding to the foreground is stationary, the foreground component F02 / v is equal to the pixel value F02 divided by the virtual division number, and the foreground component F03 / v is the pixel value F03. It is equal to the value divided by the number of divisions, and the foreground component F04 / v is
It is equal to the pixel value F04 divided by the number of virtual divisions.

Since the light input to the sensor does not change when the object corresponding to the background is stationary, the background component B01 / v is equal to the pixel value B01 divided by the virtual division number. Similarly, when the object corresponding to the background is stationary, the background component B02 / v is equal to the pixel value B02 divided by the virtual division number, and B03 / v is the pixel value B03 in the virtual division number. B04 / v is equal to the pixel value B04 divided by the number of virtual divisions.

That is, when the object corresponding to the foreground is stationary, the light corresponding to the object in the foreground input to the sensor does not change during the period corresponding to the shutter time. Foreground component F01 / v corresponding to time / v and second foreground component F0 corresponding to shutter time / v when the shutter is open
1 / v, the third foreground component F01 / v corresponding to the shutter time / v with the shutter open, and the fourth foreground component F01 / v corresponding to the shutter time / v with the shutter open. Is
It will be the same value. F02 / v to F04 / v also have the same relationship as F01 / v.

When the object corresponding to the background is stationary, the light corresponding to the background object input to the sensor does not change during the period corresponding to the shutter time, so the shutter time / first shutter time / The background component B01 / v corresponding to v, the second background component B01 / v corresponding to the shutter time / v when the shutter is opened, and the third background shutter component / v corresponding to the shutter time / v. The background component B01 / v and the fourth background component B01 / v corresponding to the shutter time / v after the shutter is opened have the same value. B02 / v to B04 / v have the same relationship.

Next, the case where the object corresponding to the foreground is moving and the object corresponding to the background is stationary will be described.

FIG. 10 is a model diagram in which the pixel values of pixels on one line including the covered background area are expanded in the time direction when the object corresponding to the foreground moves toward the right side in the figure. is there. In FIG. 10, the motion amount v of the foreground is 4. Since one frame is a short time, the object corresponding to the foreground is a rigid body,
It can be assumed that they are moving at a constant speed. In FIG. 10, the image of the object corresponding to the foreground moves so as to be displayed on the right side by four pixels in the next frame with reference to a certain frame.

In FIG. 10, the leftmost pixel through the fourth pixel from the left belong to the foreground area. In FIG. 10, the fifth through seventh pixels from the left belong to the mixed area, which is the covered background area. Figure 10
In, the rightmost pixel belongs to the background area.

Since the object corresponding to the foreground is moving over time so as to cover up the object corresponding to the background, the component included in the pixel value of the pixel belonging to the covered background area corresponds to the shutter time. At some point in the period, the background component is replaced by the foreground component.

For example, the pixel value with a bold frame in FIG.
M is represented by Formula (1).

[0073] M = B02 / v + B02 / v + F07 / v + F06 / v (1)

For example, the fifth pixel from the left includes the background component corresponding to one shutter time / v, and the foreground component corresponding to three shutter times / v.
The mixture ratio α of the th pixel is 1/4. The sixth pixel from the left includes the background component corresponding to two shutter times / v and the foreground component corresponding to two shutter times / v, so the mixture ratio α of the sixth pixel from the left is , 1/2. Since the seventh pixel from the left includes the background component corresponding to three shutter times / v and the foreground component corresponding to one shutter time / v, the mixture ratio α of the seventh pixel from the left is , 3/4.

It can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed so that the image of the foreground is displayed on the right side by 4 pixels in the next frame. Therefore, for example, the fourth from the left in FIG. The first foreground component F07 / v of the shutter time / v of the pixel of
This is equal to the foreground component of the fifth pixel from the left in 0 corresponding to the second shutter time / v from when the shutter has opened. Similarly, the foreground component F07 / v is the foreground component of the sixth pixel from the left in FIG. 10 corresponding to the third shutter time / v from when the shutter has opened, and the seventh component from the left in FIG. Of pixels,
It is equal to the foreground component corresponding to the fourth shutter time / v with the shutter open.

Since the object corresponding to the foreground is a rigid body and it can be assumed that the foreground image moves at a constant speed so that it is displayed on the right side by 4 pixels in the next frame, for example, the third from the left in FIG. The foreground component F06 / v of the first pixel for which the shutter has opened for the first shutter time / v is shown in FIG.
It is equal to the foreground component of the fourth pixel from the left corresponding to the second shutter time / v from when the shutter has opened. Similarly, the foreground component F06 / v corresponds to the foreground component of the fifth pixel from the left in FIG. 10 corresponding to the third shutter time / v from when the shutter has opened, and the sixth from the left in FIG. Of pixels,
It is equal to the foreground component corresponding to the fourth shutter time / v with the shutter open.

Since it can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed so that the image of the foreground is displayed on the right side by 4 pixels in the next frame, for example, the second from the left in FIG. The foreground component F05 / v of the first pixel of the shutter time / v after the shutter is opened is shown in FIG.
Equal to the foreground component of the third pixel from the left corresponding to the second shutter time / v from when the shutter has opened. Similarly, the foreground component F05 / v is the foreground component of the fourth pixel from the left in FIG. 10 corresponding to the third shutter time / v from when the shutter has opened, and the fifth from the left in FIG. Of pixels,
It is equal to the foreground component corresponding to the fourth shutter time / v with the shutter open.

Since the object corresponding to the foreground is a rigid body and it can be assumed that the foreground image moves at a constant speed so that it is displayed on the right side by 4 pixels in the next frame, for example, the leftmost pixel in FIG. The foreground component F04 / v of the first shutter time / v after the shutter is opened is the foreground component of the second pixel from the left in FIG. 10 corresponding to the second shutter time / v after the shutter is opened. be equivalent to. Similarly, the foreground component F04 / v is the third pixel from the left in FIG.
The foreground component corresponding to the third shutter time / v after the shutter is opened and the foreground component corresponding to the fourth shutter time / v after the shutter is opened, which is the fourth pixel from the left in FIG. , Each equal.

The foreground region corresponding to the moving object includes the motion blur as described above, and can be said to be a distorted region.

FIG. 11 is a model diagram in which the pixel values of pixels on one line including the uncovered background area are expanded in the time direction when the foreground moves toward the right side in the drawing. In FIG. 11, the foreground motion amount v
Is 4. Since one frame is a short time, it can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed. In FIG. 11, the image of the object corresponding to the foreground moves to the right by four pixels in the next frame with reference to a certain frame.

In FIG. 11, the leftmost pixel through the fourth pixel from the left belong to the background area. In FIG. 11, the fifth through seventh pixels from the left belong to the mixed area, which is the uncovered background. Figure 11
In, the rightmost pixel belongs to the foreground area.

Since the object corresponding to the foreground covering the object corresponding to the background is moved so as to be removed from the front of the object corresponding to the background over time, the pixel of the pixel belonging to the uncovered background area The component included in the value changes from the foreground component to the background component at a certain point in the period corresponding to the shutter time.

For example, the pixel value with a bold frame in FIG.
M'is represented by Formula (2).

[0084] M '= F02 / v + F01 / v + B26 / v + B26 / v (2)

For example, the fifth pixel from the left includes the background component corresponding to three shutter times / v, and the foreground component corresponding to one shutter time / v.
The mixture ratio α of the th pixel is 3/4. The sixth pixel from the left includes the background component corresponding to two shutter times / v and the foreground component corresponding to two shutter times / v, so the mixture ratio α of the sixth pixel from the left is , 1/2. The seventh pixel from the left includes the background component corresponding to one shutter time / v, and the foreground component corresponding to three shutter times / v. Therefore, the mixture ratio α of the seventh pixel from the left is , 1/4.

When the equations (1) and (2) are generalized, the pixel value M is represented by the equation (3).

[0087]

[Equation 1]

Here, α is a mixing ratio. B is the background pixel value, and Fi / v is the foreground component.

Since the object corresponding to the foreground is a rigid body and can be assumed to move at a constant speed, and the amount of movement v is 4, for example, the shutter of the fifth pixel from the left in FIG. 11 is opened. First, foreground component F01 / with shutter time / v
v is equal to the foreground component of the sixth pixel from the left in FIG. 11 corresponding to the second shutter time / v from when the shutter has opened. Similarly, F01 / v is the foreground component of the seventh pixel from the left in FIG. 11 corresponding to the third shutter time / v from when the shutter has opened, and the eighth pixel from the left in FIG. ,
It is equal to the foreground component corresponding to the fourth shutter time / v with the shutter open.

Since the object corresponding to the foreground is a rigid body and can be assumed to move at a constant speed, and the number of virtual divisions is 4, for example, the shutter of the sixth pixel from the left in FIG. First foreground component F0 with shutter time / v
2 / v is equal to the foreground component of the seventh pixel from the left in FIG. 11 corresponding to the second shutter time / v from when the shutter has opened. Similarly, the foreground component F02 / v is equal to the foreground component of the eighth pixel from the left in FIG. 11 corresponding to the third shutter time / v from when the shutter has opened.

Since it can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed, and the motion amount v is 4, for example, the shutter of the seventh pixel from the left in FIG. First, foreground component F03 / with shutter time / v
v is equal to the foreground component of the eighth pixel from the left in FIG. 11 corresponding to the second shutter time / v from when the shutter has opened.

In the description of FIGS. 9 to 11, the number of virtual divisions is four, but the number of virtual divisions corresponds to the motion amount v. The amount of movement v generally corresponds to the moving speed of the object corresponding to the foreground. For example, when the object corresponding to the foreground is moving so as to be displayed on the right side by four pixels in the next frame with respect to a certain frame, the motion amount v is set to 4. The virtual division number is set to 4 corresponding to the motion amount v. Similarly, for example, when the object corresponding to the foreground is moving so as to be displayed on the left side by 6 pixels in the next frame with respect to a certain frame, the motion amount v is set to 6 and the virtual division number is , 6, and so on.

12 and 13 described above,
The relationship between a mixed area including a foreground area, a background area, a covered background area, or an uncovered background area, and a foreground component and a background component corresponding to divided shutter times is shown.

FIG. 12 shows an example in which the pixels of the foreground area, the background area, and the mixed area are extracted from the image including the foreground corresponding to the object moving in front of the stationary background. In the example shown in FIG. 12, the object corresponding to the foreground is moving horizontally with respect to the screen.

The frame # n + 1 is a frame next to the frame #n, and the frame # n + 2 is a frame next to the frame # n + 1.

Pixels in the foreground area, background area, and mixed area extracted from any one of frame #n to frame # n + 2 are extracted, and the pixel value of the extracted pixel is set to 4 as the motion amount v. A model developed in the time direction is shown in FIG.

The pixel value of the foreground area is composed of four different foreground components corresponding to the shutter time / v period because the object corresponding to the foreground moves. For example, the leftmost pixel of the pixels in the foreground area shown in FIG. 13 is composed of F01 / v, F02 / v, F03 / v, and F04 / v. That is, the pixels in the foreground area include motion blur.

Since the object corresponding to the background is stationary, the light corresponding to the background input to the sensor does not change during the period corresponding to the shutter time. In this case, the pixel value of the background area does not include motion blur.

The pixel values of the pixels belonging to the mixed area consisting of the covered background area or the uncovered background area are composed of the foreground component and the background component.

Next, when the image corresponding to the object is moving, the pixel values of the pixels in a plurality of frames which are arranged in a row adjacent to each other and which are at the same position on the frame are set in the time direction. The model developed in 1. will be explained. For example, when the image corresponding to the object is moving horizontally with respect to the screen, the pixels lined up on one line of the screen can be selected as the pixels lined up adjacently in one line.

FIG. 14 shows pixels in three frames of an image obtained by picking up an object corresponding to a stationary background, which are arranged in a row adjacent to each other and which are located at the same position on the frame. It is the model figure which expanded the value in the time direction. The frame #n is a frame next to the frame # n-1, and the frame # n + 1 is a frame next to the frame #n. Other frames are also referred to in the same manner.

The pixel values B01 to B12 shown in FIG. 14 are the pixel values of the pixels corresponding to the stationary background object. Since the object corresponding to the background is stationary, the pixel value of the corresponding pixel in frame # n-1 to frame n + 1 does not change. For example, the pixel in frame #n and the pixel in frame # n + 1, which correspond to the position of the pixel having the pixel value of B05 in frame # n-1, have the pixel value of B05, respectively.

FIG. 15 shows pixels arranged in a row adjacent to each other in three frames of an image obtained by picking up an object corresponding to the foreground moving to the right side in the figure together with an object corresponding to a stationary background. FIG. 11 is a model diagram in which pixel values of pixels at the same position on a frame are expanded in the time direction. The model shown in FIG. 15 includes a covered background area.

In FIG. 15, it can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed, and the image of the foreground moves so as to be displayed on the right side by 4 pixels in the next frame. The quantity v is 4 and the number of virtual divisions is 4.

For example, the foreground component of the leftmost pixel of frame # n-1 in FIG. 15 at the first shutter time / v from when the shutter has opened is F12 / v, which is the second from the left in FIG. The foreground component of the pixel at the second shutter time / v after the shutter is opened is also F12 / v. The foreground component of the third pixel from the left in FIG. 15 corresponding to the third shutter time / v from when the shutter has opened, and the fourth pixel from the left in FIG.
The foreground component at the fourth shutter time / v from when the shutter has opened is F12 / v.

The foreground component of the leftmost pixel of frame # n-1 in FIG. 15 corresponding to the second portion of the shutter time / v from when the shutter has opened is F11 / v, which is the second from the left in FIG. The foreground component of the pixel at the third shutter time / v from when the shutter has opened is also F11 / v. The foreground component of the third pixel from the left in FIG. 15 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is F11 / v.

The foreground component of the leftmost pixel of frame # n-1 in FIG. 15 corresponding to the third portion of the shutter time / v from when the shutter has opened is F10 / v, which is the second from the left in FIG. The foreground component of the pixel for the fourth shutter time / v from when the shutter has opened is also F10 / v. The shutter time of the leftmost pixel of frame # n-1 in FIG.
The foreground component of / v is F09 / v.

Since the object corresponding to the background is stationary, the background component of the second pixel from the left of frame # n-1 in FIG. 15 corresponding to the first shutter time / v from when the shutter has opened is B01. / v. The background component of the third pixel from the left of frame # n-1 in FIG. 15 corresponding to the first and second portions of the shutter time / v from when the shutter has opened is B02 / v. Figure 15
The background component of the fourth pixel from the left of frame # n-1 in the first to third shutter times / v from when the shutter has opened is B03 / v.

In frame # n-1 in FIG. 15, the leftmost pixel belongs to the foreground area, and the second to fourth pixels from the left belong to the mixed area which is the covered background area.

The fifth through twelfth pixels from the left of frame # n-1 in FIG. 15 belong to the background area, and the pixel values thereof are B04 through B11, respectively.

The first through fifth pixels from the left of frame #n in FIG. 15 belong to the foreground area. Frame #n
The foreground component of shutter time / v in the foreground region of
Any of F05 / v to F12 / v.

It can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed, and since the foreground image moves so as to be displayed on the right side by 4 pixels in the next frame, frame #n in FIG. The foreground component of the fifth pixel from the left of is the first shutter time / v from when the shutter has opened:
F12 / v, and the foreground component of the sixth pixel from the left in FIG. 15 corresponding to the second shutter time / v from when the shutter has opened is also
It will be F12 / v. The foreground component of the seventh pixel from the left in FIG. 15 corresponding to the third shutter time / v from when the shutter has opened, and the fourth shutter time from the left opening of the eighth pixel in FIG. The foreground component of / v is F12 / v.

The foreground component of the fifth pixel from the left of frame #n in FIG. 15 corresponding to the second portion of the shutter time / v from when the shutter has opened is F11 / v, and the sixth component from the left in FIG. The foreground component of the pixel at the third shutter time / v from when the shutter has opened is also F11 / v. The foreground component of the seventh pixel from the left in FIG. 15 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is F11 / v.

The foreground component of the fifth pixel from the left of frame #n in FIG. 15 corresponding to the third portion of the shutter time / v from when the shutter has opened is F10 / v, which is the sixth component from the left in FIG. The foreground component of the pixel for the fourth shutter time / v from when the shutter has opened is also F10 / v. The foreground component of the fifth pixel from the left of frame #n in FIG. 15 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is F09 / v.

Since the object corresponding to the background is stationary, the background component of the sixth pixel from the left of frame #n in FIG. 15 at the first shutter time / v from when the shutter has opened is B05 / v. Becomes 7 from the left of frame #n in FIG.
The background component of the second pixel at the first and second shutter times / v from when the shutter has opened is B06 / v. The background components of the eighth pixel from the left of frame #n in FIG. 15 corresponding to the first through third portions of the shutter time / v from when the shutter has opened are:
It will be B07 / v.

In frame #n in FIG. 15, the sixth through eighth pixels from the left belong to the mixed area, which is a covered background area.

The ninth through twelfth pixels from the left of frame #n in FIG. 15 belong to the background area, and the pixel values are
They are B08 to B11, respectively.

The first through ninth pixels from the left of frame # n + 1 in FIG. 15 belong to the foreground area. flame
The foreground component of shutter time / v in the # n + 1 foreground area is any one of F01 / v to F12 / v.

It can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed, and since the foreground image moves so as to be displayed on the right side by 4 pixels in the next frame, the frame #n in FIG. Of the 9th pixel from the left of +1
The foreground component of the first shutter time / v after the shutter is opened is F12 / v, and the foreground component of the tenth pixel from the left in FIG. It will be F12 / v. The foreground component of the 11th pixel from the left in FIG. 15 corresponding to the third shutter time / v from when the shutter has opened, and the 4th shutter time from the left of the 12th pixel in FIG. The foreground component of / v is F12 / v.

The foreground component of the ninth pixel from the left of frame # n + 1 in FIG. 15 during the second shutter time / v from when the shutter has opened is F11 / v. From 1
The foreground component of the 0th pixel at the third shutter time / v from when the shutter has opened is also F11 / v. The foreground component of the 11th pixel from the left in FIG. 15 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is F11 / v.

The foreground component of the ninth pixel from the left of frame # n + 1 in FIG. 15 corresponding to the third portion of the shutter time / v from when the shutter has opened is F10 / v, from the left in FIG. The 10th pixel is the 4th shutter time / v after the shutter is opened
The foreground component of is also F10 / v. Frame # n + in Figure 15
The foreground component of the ninth pixel from the left of 1 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is F09 / v.

Since the object corresponding to the background is stationary, the background component of the 10th pixel from the left of frame # n + 1 in FIG. 15 corresponding to the first shutter time / v from when the shutter has opened is B09. / v. The background component of the eleventh pixel from the left of frame # n + 1 in FIG. 15 corresponding to the first and second portions of the shutter time / v from when the shutter has opened is B10 / v. The background components of the 12th pixel from the left of frame # n + 1 in FIG. 15 corresponding to the first through third portions of the shutter time / v from when the shutter has opened are B11 / v.

In frame # n + 1 in FIG. 15, the tenth to twelfth pixels from the left correspond to the mixed area which is the covered background area.

FIG. 16 is a model diagram of an image obtained by extracting the foreground components from the pixel values shown in FIG.

FIG. 17 shows pixels arranged in a row adjacent to each other in three frames of an image of a foreground corresponding to an object moving to the right side in the drawing together with a stationary background. It is the model figure which expanded the pixel value of the pixel of the same position above in the time direction. In FIG.
Includes uncovered background area.

In FIG. 17, it can be assumed that the object corresponding to the foreground is a rigid body and is moving at a constant speed. Since the object corresponding to the foreground is moving so as to be displayed on the right side by four pixels in the next frame, the movement amount v is 4.

For example, for the leftmost pixel of frame # n-1 in FIG. 17, the first shutter time / v after the shutter is opened.
The foreground component of the image is F13 / v, and the second shutter time / v of the second pixel from the left in FIG.
The foreground component of is also F13 / v. The third shutter time / v of the third pixel from the left in FIG.
17 and the foreground component of the fourth pixel from the left in FIG. 17 corresponding to the fourth portion of the shutter time / v from when the shutter has opened are F13 / v.

The foreground component of the second pixel from the left of frame # n-1 in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F14 / v, the third from the left in FIG. The foreground component of the second pixel at the shutter time / v after the shutter is opened is also F14 / v. The foreground component of the third pixel from the left in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F15 / v.

Since the object corresponding to the background is stationary, the leftmost pixel of frame # n-1 in FIG.
Second to fourth shutter time / v after the shutter opens
The background component is B25 / v. Frame # n- in Figure 17
The background component of the second pixel from the left of 1 at the third and fourth portions of the shutter time / v from when the shutter has opened is B26 / v
Becomes The background component of the third pixel from the left of frame # n-1 in FIG. 17 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is B27 / v.

In frame # n-1 in FIG. 17, the leftmost pixel through the third pixel belong to the mixed area which is an uncovered background area.

The fourth through twelfth pixels from the left of frame # n-1 in FIG. 17 belong to the foreground area. The foreground component of the frame is any of F13 / v to F24 / v.

The leftmost pixel through the fourth pixel from the left of frame #n in FIG. 17 belong to the background area, and the pixel value is
They are B25 to B28, respectively.

It can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed, and since the foreground image moves so as to be displayed on the right side by 4 pixels in the next frame, frame #n in FIG. The foreground component of the fifth pixel from the left of is the first shutter time / v from when the shutter has opened:
F13 / v, and the foreground component of the sixth pixel from the left in FIG. 17 corresponding to the second portion of the shutter time / v from when the shutter has opened is also
It becomes F13 / v. The foreground component of the seventh pixel from the left in FIG. 17 corresponding to the third shutter time / v from when the shutter has opened, and the fourth shutter time from the left opening of the eighth pixel in FIG. The foreground component of / v is F13 / v.

The foreground component of the sixth pixel from the left of frame #n in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F14 / v, and the seventh pixel from the left in FIG. The foreground component of the second shutter time / v after the shutter opens is also F14 / v. The foreground component of the eighth pixel from the left in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F15 / v.

Since the object corresponding to the background is stationary, the fifth to fifth pixels from the left of frame #n in FIG.
The background component of / v is B29 / v. Frame # in Figure 17
The background component of the sixth pixel from the left of n corresponding to the third and fourth portions of the shutter time / v from when the shutter has opened is B30 / v. Of the seventh pixel from the left of frame #n in FIG.
The background component at the fourth shutter time / v from when the shutter has opened is B31 / v.

In frame #n in FIG. 17, 5 from the left.
The seventh pixel to the seventh pixel belong to the mixed area which is the uncovered background area.

The eighth through twelfth pixels from the left of frame #n in FIG. 17 belong to the foreground area. flame
The value corresponding to the period of shutter time / v in the foreground area of #n is any one of F13 / v to F20 / v.

The leftmost pixel through the eighth pixel from the left of frame # n + 1 in FIG. 17 belong to the background area, and the pixel values are B25 through B32, respectively.

It can be assumed that the object corresponding to the foreground is a rigid body and moves at a constant speed. Since the foreground image moves so as to be displayed on the right side by 4 pixels in the next frame, the frame #n in FIG. Of the 9th pixel from the left of +1
The foreground component of the first shutter time / v after the shutter is opened is F13 / v, and the foreground component of the tenth pixel from the left in FIG. 17 corresponding to the second shutter time / v after the shutter is opened is also It becomes F13 / v. The foreground component of the 11th pixel from the left in FIG. 17 corresponding to the third shutter time / v from when the shutter has opened, and the 4th shutter time from the left of the 12th pixel in FIG. The foreground component of / v is F13 / v.

The foreground component of the tenth pixel from the left of frame # n + 1 in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F14 / v, which is the 11th pixel from the left in FIG. The foreground component of the second pixel at the shutter time / v after the shutter is opened is also F14 / v. The foreground component of the 12th pixel from the left in FIG. 17 corresponding to the first portion of the shutter time / v from when the shutter has opened is F15 / v.

Since the object corresponding to the background is stationary, the background of the ninth pixel from the left of frame # n + 1 in FIG. 17 for the second to fourth shutter time / v from when the shutter has opened. The component of is B33 / v. When the shutter of the 10th pixel from the left of frame # n + 1 in FIG.
The background component of the second and fourth shutter times / v is B3
It becomes 4 / v. The background component of the eleventh pixel from the left of frame # n + 1 in FIG. 17 corresponding to the fourth portion of the shutter time / v from when the shutter has opened is B35 / v.

In frame # n + 1 in FIG. 17, the ninth through eleventh pixels from the left belong to the mixed area, which is an uncovered background area.

The twelfth pixel from the left of frame # n + 1 in FIG. 17 belongs to the foreground area. The foreground components of shutter time / v in the foreground area of frame # n + 1 are F13 / v to F13 / v.
It is either 16 / v.

FIG. 18 is a model diagram of an image obtained by extracting the foreground components from the pixel values shown in FIG.

Returning to FIG. 2, the area specifying unit 103 uses the pixel values of a plurality of frames to set a flag indicating that each pixel belongs to a foreground area, a background area, a covered background area, or an uncovered background area. And is supplied as region information to the mixture ratio calculation unit 104 and the motion blur adjustment unit 106.

The mixture ratio calculation unit 104 calculates the mixture ratio α for each pixel included in the mixed region based on the pixel values of a plurality of frames and the region information, and calculates the calculated mixture ratio α as the foreground / background separation. It is supplied to the unit 105.

The foreground / background separating section 105 extracts a foreground component image consisting of only foreground components based on the pixel values of a plurality of frames, area information, and the mixture ratio α, and supplies it to the motion blur adjusting section 106. .

The motion-blur adjusting unit 106 detects the foreground component image supplied from the foreground / background separating unit 105, and the motion detecting unit 102.
The motion vector supplied from
The amount of motion blur included in the foreground component image is adjusted based on the area information supplied from the foreground component image, and the foreground component image with the adjusted amount of motion blur is output.

The process of adjusting the amount of motion blur by the image processing apparatus will be described with reference to the flowchart of FIG.
In step S11, the area specifying unit 103, based on the input image, area information indicating whether each pixel of the input image belongs to the foreground area, the background area, the covered background area, or the uncovered background area. Execute the process to specify the area to be created. Details of the area specifying process will be described later. The area specifying unit 103 supplies the generated area information to the mixture ratio calculating unit 104.

In step S11, the area specifying unit 103 distinguishes the foreground area, the background area, or the mixed area (covered background area or uncovered background area) for each pixel of the input image based on the input image. Area information indicating which one of (No) is included may be generated. In this case, the foreground / background separation unit 105 and the motion blur adjustment unit 106 determine whether the mixed region is a covered background region or an uncovered background region based on the direction of the motion vector. For example, when the foreground area, the mixed area, and the background area are arranged in order corresponding to the direction of the motion vector, the mixed area is determined to be a covered background area, and the background corresponding to the direction of the motion vector is determined. When the region, the mixed region, and the foreground region are lined up in order, the mixed region is determined as the uncovered background region.

In step S12, the mixture ratio calculation unit 1
04 calculates the mixing ratio α for each pixel included in the mixed area based on the input image and the area information. Details of the processing for calculating the mixing ratio will be described later. The mixture ratio calculation unit 104 supplies the calculated mixture ratio α to the foreground / background separation unit 105.

In step S13, the foreground / background separation unit 105 extracts the foreground component from the input image based on the area information and the mixture ratio α and supplies it to the motion blur adjustment unit 106 as a foreground component image.

In step S14, the motion-blur adjusting unit 106 is a continuous pixel arrayed in the motion direction based on the motion vector and the area information, and is any of the uncovered background area, the foreground area, and the covered background area. A processing unit indicating the position on the image of that belonging to the crab is generated, and the amount of motion blur included in the foreground component corresponding to the processing unit is adjusted. Details of the process of adjusting the amount of motion blur will be described later.

In step S15, the image processing apparatus determines whether the processing has been completed for the entire screen,
If it is determined that the process has not been completed for the entire screen, the process proceeds to step S14, and the process of adjusting the amount of motion blur for the foreground component corresponding to the process unit is repeated.

If it is determined in step S15 that the process has been completed for the entire screen, the process ends.

As described above, the image processing apparatus can separate the foreground and the background and adjust the amount of motion blur included in the foreground. That is, the image processing apparatus can adjust the amount of motion blur included in the sample data that is the pixel value of the foreground pixel.

Hereinafter, the area specifying unit 103 and the mixture ratio calculating unit 1
04, foreground / background separation unit 105, and motion blur adjustment unit 1
The respective configurations of 06 will be described.

FIG. 20 is a block diagram showing an example of the structure of the area specifying unit 103. The area specifying unit 103 having the configuration shown in FIG. 20 does not use the motion vector. The frame memory 201 stores the input image on a frame-by-frame basis. In the frame memory 201, the processing target is frame #n.
, Frame # n-2, which is the frame two frames before frame #n, and frame # n-1, which is the frame one frame before frame #n, frame #n, and one frame after frame #n. The frame # n + 1, which is the frame, and the frame # n + 2, which is the frame two frames after the frame #n, are stored.

The stationary / moving determination unit 202-1 determines the pixel value of the pixel of frame # n + 2 located at the same position as the position of the pixel of the frame #n which is the area specifying target on the image, and the pixel of frame #n. The pixel value of the pixel of frame # n + 1 located at the same position on the image as the pixel that is the object of region identification is stored in the frame memory 2
Then, the absolute value of the difference between the read pixel values is calculated. The static / moving determination unit 202-1 determines whether or not the absolute value of the difference between the pixel value of frame # n + 2 and the pixel value of frame # n + 1 is greater than a preset threshold Th. When it is determined that the absolute value of the difference is larger than the threshold value Th, the static / moving determination indicating the movement is supplied to the area determination unit 203-1. Frame #n
When it is determined that the absolute value of the difference between the pixel value of the pixel of +2 and the pixel value of the pixel of frame # n + 1 is less than or equal to the threshold value Th, the stationary / moving determination unit 202-1 determines that the stationary / moving indicates stationary. Area determination unit 2
03-1 is supplied.

The static / moving judgment unit 202-2 determines the pixel value of the pixel of frame # n + 1 at the same position as the position on the image of the pixel which is the object of area identification of frame #n, and the value of frame #n. The pixel value of the target pixel is read from the frame memory 201, and the absolute value of the difference between the pixel values is calculated. The stationary / moving determination unit 202-2 determines whether or not the absolute value of the difference between the pixel value of frame # n + 1 and the pixel value of frame #n is larger than a preset threshold Th, When it is determined that the absolute value of the difference is larger than the threshold value Th, the static / moving determination indicating the movement is supplied to the area determination unit 203-1 and the area determination unit 203-2. When it is determined that the absolute value of the difference between the pixel value of the pixel of frame # n + 1 and the pixel value of the pixel of frame #n is less than or equal to the threshold value Th, the stationary / moving determination unit 202-2 indicates stationary. The static / moving determination is supplied to the area determination unit 203-1 and the area determination unit 203-2.

The static / moving determination unit 202-3 is located at the same position as the pixel value of the pixel which is the area specifying object of the frame #n and the position of the pixel which is the area specifying object of the frame #n on the image. The pixel value of the pixel of frame # n-1 is stored in the frame memory 2
The absolute value of the difference between the pixel values is calculated by reading from 01.
The static / moving determination unit 202-3 determines whether or not the absolute value of the difference between the pixel value of frame #n and the pixel value of frame # n-1 is greater than a preset threshold Th, and the pixel value When it is determined that the absolute value of the difference is larger than the threshold value Th, the static / moving determination indicating the movement is performed as the area determination unit 203-2 and the area determination unit 203
-3. Pixel value of pixel in frame #n and frame
When it is determined that the absolute value of the difference between the pixel value of the pixel # n-1 and the pixel value is less than or equal to the threshold value Th, the static / moving determination unit 202-3 determines the static / moving determination indicating stillness to the region determination unit 203-2. And the area determination unit 203-3.

The static / moving judgment unit 202-4 determines the pixel value of the pixel of frame # n-1 at the same position as the position of the pixel of the frame #n, which is the object of region identification, on the image, and the pixel of frame #n. The frame memory 2 stores the pixel value of the pixel of frame # n-2 at the same position as the position of the pixel of the region specifying target on the image.
The absolute value of the difference between the pixel values is calculated by reading from 01.
The static / moving determination unit 202-4 determines whether or not the absolute value of the difference between the pixel value of frame # n-1 and the pixel value of frame # n-2 is larger than a preset threshold Th, When it is determined that the absolute value of the difference between the pixel values is larger than the threshold value Th, the static / moving determination indicating the movement is supplied to the area determination unit 203-3. Frame #n
When it is determined that the absolute value of the difference between the pixel value of the pixel of -1 and the pixel value of the pixel of frame # n-2 is less than or equal to the threshold Th, the static / moving determination unit 202-4 determines that the static The motion determination is supplied to the area determination unit 203-3.

The area determination unit 203-1 is the stationary / moving determination unit 20.
When the static / moving determination supplied from 2-1 indicates stillness and the static / moving determination supplied from the static / moving determination unit 202-2 indicates movement, a pixel which is a target of region identification in frame #n Is determined to belong to the uncovered background area, and "1" indicating that it belongs to the uncovered background area is set to the uncovered background area determination flag corresponding to the pixel of which the area is determined.

The area determination unit 203-1 is the stationary / moving determination unit 20.
When the static / movement determination supplied from 2-1 indicates movement, or the static / movement determination supplied from the static / moving determination unit 202-2 indicates static, it is a target for region identification in frame #n. It is determined that the pixel does not belong to the uncovered background area, and "0" indicating that the pixel does not belong to the uncovered background area in the uncovered background area determination flag corresponding to the determined pixel of the area.
To set.

The area determination unit 203-1 thus reads "
The uncovered background area determination flag in which “1” or “0” is set is supplied to the determination flag storage frame memory 204.

The area determination unit 203-2 is the stationary / moving determination unit 20.
When the static / moving determination supplied from 2-2 indicates static and the static / moving determination supplied from the static-moving determining unit 202-3 indicates static, the pixel that is the target of region identification in frame #n Is determined to belong to the still area, and the still area determination flag corresponding to the pixel of the area to be determined is set to "1" indicating that it belongs to the still area.

The area determining unit 203-2 is the stationary / moving determining unit 20.
When the static / movement determination supplied from 2-2 indicates a motion, or when the static / movement determination supplied from the static-movement determination unit 202-3 indicates a motion, it is a target for region identification in frame #n. It is determined that the pixel does not belong to the still area, and "0" indicating that the pixel does not belong to the still area is set in the still area determination flag corresponding to the pixel of which the area is determined.

The area determination unit 203-2 thus reads "
The still area determination flag in which “1” or “0” is set is supplied to the determination flag storage frame memory 204.

The area determining section 203-2 is the stationary / moving determining section 20.
When the static / moving determination supplied from 2-2 indicates a motion and the static / moving determination supplied from the static / moving determination unit 202-3 indicates a motion, a pixel which is a target of region identification in frame #n Is determined to belong to the motion area, and "1" indicating that it belongs to the motion area is set in the motion area determination flag corresponding to the pixel of which the area is determined.

The area determination unit 203-2 is the stationary / moving determination unit 20.
When the static / moving determination supplied from 2-2 indicates static, or when the static / moving determination supplied from the static-moving determining unit 202-3 indicates static, it is a target for region identification in frame #n. It is determined that the pixel does not belong to the motion area, and "0" indicating that the pixel does not belong to the motion area is set in the motion area determination flag corresponding to the pixel of which the area is determined.

The area determination unit 203-2 thus reads "
The motion area determination flag in which “1” or “0” is set is supplied to the determination flag storage frame memory 204.

The area determination unit 203-3 is the stationary / moving determination unit 20.
When the static / moving determination supplied from 2-3 indicates motion and the static / moving determination supplied from the static / moving determination unit 202-4 indicates static, the pixel that is the target of region identification in frame #n Is determined to belong to the covered background area, and the covered background area determination flag corresponding to the pixel of which the area is determined is set to "1" indicating that it belongs to the covered background area.

The area determination unit 203-3 is a stationary / moving determination unit 20.
When the static / moving determination supplied from 2-3 indicates static, or when the static / moving determination supplied from the static-moving determining unit 202-4 indicates movement, it is a target for region identification in frame #n. It is determined that the pixel does not belong to the covered background area, and "0" indicating that the pixel does not belong to the covered background area is set in the covered background area determination flag corresponding to the pixel of which the area is determined.

The area determination unit 203-3 is thus
The covered background area determination flag in which “1” or “0” is set is stored as the determination flag in the frame memory 20.
Supply to 4.

The judgment flag storage frame memory 204 is
The uncovered background area determination flag supplied from the area determination unit 203-1, the still area determination flag supplied from the area determination unit 203-2, the area determination unit 203-
The motion area determination flag supplied from No. 2 and the covered background area determination flag supplied from the area determination unit 203-3 are stored.

The judgment flag storage frame memory 204 is
The synthesizing unit 2 stores the stored uncovered background area determination flag, still area determination flag, moving area determination flag, and covered background area determination flag.
Supply to 05. The synthesizing unit 205 determines that each pixel is based on the uncovered background area determination flag, the still area determination flag, the moving area determination flag, and the covered background area determination flag supplied from the determination flag storage frame memory 204. Area information indicating that it belongs to any of the covered background area, the still area, the moving area, and the covered background area is generated and supplied to the determination flag storage frame memory 206.

The judgment flag storage frame memory 206 is
The area information supplied from the composition unit 205 is stored, and the stored area information is output.

Next, an example of the processing of the area specifying unit 103 is shown in FIG.
Description will be made with reference to FIGS.

When the object corresponding to the foreground is moving, the position of the image corresponding to the object on the screen changes for each frame. As shown in FIG. 21, in the frame #n, the image corresponding to the object located at the position indicated by Yn (x, y) is Yn + 1 (x, Located in y).

FIG. 22 shows a model diagram in which the pixel values of the pixels arranged in one row adjacent to the moving direction of the image corresponding to the foreground object are expanded in the time direction. For example, when the moving direction of the image corresponding to the foreground object is horizontal to the screen, the model diagram in FIG. 22 shows a model in which the pixel values of adjacent pixels on one line are expanded in the time direction.

In FIG. 22, the line in frame #n is the same as the line in frame # n + 1.

In frame #n, the foreground components corresponding to the objects contained in the second to thirteenth pixels from the left are the sixth to seventeenth pixels from the left in frame # n + 1. included.

In frame #n, the pixels belonging to the covered background area are the 11th to 13th pixels from the left, and the pixels belonging to the uncovered background area are the 2nd to 4th pixels from the left. .
In frame # n + 1, the pixels belonging to the covered background area are the 15th to 17th pixels from the left, and the pixels belonging to the uncovered background area are the 6th to 8th pixels from the left.

In the example shown in FIG. 22, since the foreground component contained in frame #n has moved by 4 pixels in frame # n + 1, the motion amount v is 4. The number of virtual partitions is
It corresponds to the movement amount v and is 4.

Next, the change in the pixel value of the pixels belonging to the mixed area before and after the frame of interest will be described.

In frame #n shown in FIG. 23 in which the background is stationary and the motion amount v of the foreground is 4, the pixels belonging to the covered background area are the 15th to 17th pixels from the left.
It is the th pixel. Since the motion amount v is 4, the fifteenth to seventeenth pixels from the left in the immediately preceding frame # n−1 include only the background component and belong to the background region. In frame # n-2, which is one frame before, the fifteenth to seventeenth pixels from the left include only the background component and belong to the background area.

Here, since the object corresponding to the background is stationary, the pixel value of the fifteenth pixel from the left of frame # n-1 is the pixel value of the fifteenth pixel from the left of frame # n-2. Does not change from Similarly, 1 from the left of frame # n-1
The pixel value of the sixth pixel does not change from the pixel value of the 16th pixel from the left of frame # n-2, and the pixel value of the 17th pixel from the left of frame # n-1 is the same as that of frame # n- 17 from left of 2
It does not change from the pixel value of the second pixel.

That is, the frame corresponding to the pixels belonging to the covered background area in frame #n
The pixels of # n-1 and frame # n-2 are composed of only the background component, and the pixel values do not change, so the absolute value of the difference is almost 0. Therefore, frame # n-1 and frame # n-1 corresponding to the pixels belonging to the mixed area in frame #n
The static / moving determination for the pixel # n-2 is performed by the static / moving determining unit 202-4.
Is determined to be stationary.

Since the pixels belonging to the covered background area in frame #n include the foreground components, the pixel values are different from those of frame # n-1 consisting of only the background components. Therefore, the still / moving determination unit 202-3 determines that the pixel belonging to the mixed area in the frame #n and the corresponding pixel in the frame # n−1 are moving.

As described above, the area determining unit 203-3 is supplied with the result of the static / moving determination indicating the movement from the static / moving determining unit 202-3, and the static / moving determination unit 202-4 determines the static / moving determination indicating the static. When the result is provided, it is determined that the corresponding pixel belongs to the covered background area.

In the frame #n in which the background is stationary and the motion amount v of the foreground is 4 shown in FIG. 24, the pixels included in the uncovered background area are the second to fourth pixels from the left. Since the motion amount v is 4, the second to fourth pixels from the left in the subsequent frame # n + 1 include only the background component and belong to the background region. In the frame # n + 2 that is one frame further after, the second to fourth pixels from the left include only the background component and belong to the background area.

Here, since the object corresponding to the background is stationary, the pixel value of the second pixel from the left of frame # n + 2 is the pixel value of the second pixel from the left of frame # n + 1. Does not change from Similarly, the pixel value of the third pixel from the left of frame # n + 2 does not change from the pixel value of the third pixel from the left of frame # n + 1, and it is the fourth pixel from the left of frame # n + 2. The pixel value of the pixel is unchanged from the pixel value of the fourth pixel from the left of frame # n + 1.

That is, the pixels of frame # n + 1 and frame # n + 2, which correspond to the pixels belonging to the uncovered background area in frame #n, are composed of the background component only and the pixel value does not change. The absolute value of the difference is almost zero. Therefore, the still / moving determination unit 20 performs the still / moving determination on the pixels of the frame # n + 1 and the frame # n + 2 corresponding to the pixels belonging to the mixed area in the frame #n.
It is determined to be stationary according to 2-1.

Since the pixels belonging to the uncovered background area in frame #n include the foreground components,
In the case where it consists only of the background component in frame # n + 1,
Pixel value is different. Therefore, the still / moving determination unit 202-2 determines that the pixel belonging to the mixed area in the frame #n and the corresponding pixel in the frame # n + 1 are moving.

As described above, the area determining unit 203-1 is supplied with the result of the static / moving determination indicating the movement from the static / moving determining unit 202-2, and the static / moving determination unit 202-1 determines the static / moving determination indicating the static. When the result is supplied, it is determined that the corresponding pixel belongs to the uncovered background area.

FIG. 25 is a diagram showing the judgment conditions of the area specifying unit 103 in frame #n. The pixel of frame # n-2 at the same position on the image as the position of the pixel that is the target of frame #n determination, and the same position as the position on the image of the pixel that is the target of determination of frame #n A pixel in frame # n-1 is determined to be still, and a pixel in frame # n-1 and a pixel in frame #n that are at the same position on the image as the pixel to be determined in frame #n When and are determined to be motions, the region identifying unit 103 determines that the pixel to be the determination target of the frame #n belongs to the covered background region.

The pixel of frame # n-1 and the pixel of frame #n, which are at the same position on the image as the pixel to be judged in frame #n, are judged to be still, and the pixel of frame #n is judged to be still. When it is determined that the pixel of the frame # n + 1 at the same position on the image as the pixel of the determination target of the frame #n is still, the area specifying unit 103 determines that the determination of the frame #n is performed. It is determined that the target pixel belongs to the still region.

The pixel of frame # n-1 and the pixel of frame #n, which are at the same position on the image as the pixel to be judged in frame #n, are judged to be in motion, and the pixel of frame #n When it is determined that the pixel of frame # n + 1 and the pixel of frame # n + 1 located at the same position on the image as the determination target of frame #n are in motion, the area specifying unit 103 determines whether frame #n is determined. It is determined that the target pixel of (1) belongs to the motion area.

It is determined that the pixel of frame #n and the pixel of frame # n + 1 at the same position on the image as the pixel to be determined in frame #n are moving, and the determination of frame #n is made. The pixel of frame # n + 1 located at the same position on the image as the pixel of interest, and the frame # n + located at the same position on the image as the pixel of interest for frame #n determination. When it is determined that the 2nd pixel is still, the area specifying unit 103 determines that the pixel that is the determination target of the frame #n belongs to the uncovered background area.

FIG. 26 is a diagram showing an example of the result of specifying the area by the area specifying unit 103. In FIG. 26A, the pixels determined to belong to the covered background area are displayed in white. In FIG. 26B, the pixels determined to belong to the uncovered background area are displayed in white.

In FIG. 26C, the pixels determined to belong to the motion area are displayed in white. FIG. 26
In (D), the pixels determined to belong to the still area are displayed in white.

FIG. 27 is a diagram showing, as an image, area information indicating a mixed area in the area information output from the judgment flag storage frame memory 206. In FIG. 27, the pixels determined to belong to the covered background area or the uncovered background area, that is, the pixels determined to belong to the mixed area are displayed in white.
The area information indicating the mixed area output from the determination flag storage frame memory 206 indicates a mixed area and a textured portion surrounded by a texture-free portion in the foreground area.

Next, referring to the flowchart of FIG. 28, the area specifying processing of the area specifying unit 103 will be described. In step S201, the frame memory 201 acquires images of the frame # n-2 to the frame # n + 2 including the frame #n to be determined.

In step S202, the stationary / moving determination unit 2
02-3 determines whether or not the pixel of frame # n-1 and the pixel at the same position of frame #n are still. If it is determined to be still, the process proceeds to step S203, and the stationary / moving determination unit 202- Two
Determines whether the pixel of frame #n and the pixel at the same position of frame # n + 1 are still.

If it is determined in step S203 that the pixel of frame #n and the pixel of the same position in frame # n + 1 are still, the process proceeds to step S204, and the area determination unit 20
3-2 sets “1” indicating that the pixel belongs to the still area in the still area determination flag corresponding to the pixel of which the area is determined. The area determination unit 203-2 supplies the still area determination flag to the determination flag storage frame memory 204, and the procedure proceeds to step S205.

In step S202, frame # n-1
If it is determined that there is a motion between the pixel of # 1 and the pixel of the same position of frame #n, or in step S203, the pixel of frame #n and the pixel of the same position of frame # n + 1 are determined to be motion. In this case, since the pixel of frame #n does not belong to the still area, the process of step S204 is skipped and the procedure proceeds to step S205.

In step S205, the stationary / moving determination unit 2
02-3 determines whether or not there is a motion between the pixel of frame # n-1 and the pixel at the same position of frame #n. If it is determined to be motion, the process proceeds to step S206, and the stationary / moving determination unit 202- Two
Determines whether the pixel of frame #n and the pixel at the same position of frame # n + 1 are in motion.

If it is determined in step S206 that the pixel of frame #n and the pixel at the same position of frame # n + 1 are in motion, the process proceeds to step S207 and the area determination unit 20
3-2 sets “1” indicating that the pixel belongs to the motion area, in the motion area determination flag corresponding to the pixel of which the area is determined. The area determination unit 203-2 supplies the motion area determination flag to the determination flag storage frame memory 204, and the procedure proceeds to step S208.

In step S205, frame # n-1
When it is determined that the pixel of the frame #n and the pixel of the same position of the frame #n are static, or in step S206, the pixel of the frame #n and the pixel of the same position of the frame # n + 1 are determined to be static. In this case, since the pixel of frame #n does not belong to the motion area, the process of step S207 is skipped and the procedure proceeds to step S208.

In step S208, the stationary / moving determination unit 2
02-4 determines whether or not the pixel of frame # n-2 and the pixel of the same position of frame # n-1 are still, and when it is determined to be still, the process proceeds to step S209, and the static / moving determination unit 202-
In No. 3, it is determined whether or not the pixel of frame # n-1 and the pixel at the same position of frame #n are moving.

In step S209, frame # n-1
If it is determined that there is a motion between the pixel of the pixel and the pixel of the same position of frame #n, the process proceeds to step S210, and the area determination unit 20
3-3 sets the covered background area determination flag corresponding to the pixel of which the area is determined to "1" indicating that the area belongs to the covered background area. The area determination unit 203-3 supplies the covered background area determination flag to the determination flag storage frame memory 204, and the procedure proceeds to step S211.

In step S208, frame # n-2
If it is determined that there is a motion between the pixel of the frame # n-1 and the pixel of the same position of the frame # n-1, or in step S209, the pixel of the frame # n-1 and the pixel of the same position of the frame #n,
If it is determined to be still, the pixels of frame #n do not belong to the covered background area, so step S21
The process of 0 is skipped, and the procedure is step S211.
Proceed to.

In step S211, the stationary / moving determination unit 2
02-2 determines whether or not there is a motion between the pixel of frame #n and the pixel at the same position of frame # n + 1. If it is determined to be motion, the process proceeds to step S212, and the stationary / moving determination unit 202- 1
Determines whether the pixel of frame # n + 1 and the pixel of the same position of frame # n + 2 are still.

In step S212, frame # n + 1
When it is determined that the pixel of the pixel and the pixel of the same position of the frame # n + 2 are still, the process proceeds to step S213, and the area determination unit 2
03-1 sets "1" indicating belonging to the uncovered background area in the uncovered background area determination flag corresponding to the pixel of which the area is determined. The area determination unit 203-1 supplies the uncovered background area determination flag to the determination flag storage frame memory 204, and the procedure proceeds to step S214.

If it is determined in step S211 that the pixel of frame #n and the pixel of the same position in frame # n + 1 are still, or in step S212, the pixel of frame # n + 1 and the pixel of frame # n + 1. With the pixel at the same position of +2,
If it is determined to be moving, the pixels of frame #n do not belong to the uncovered background area, so step S
The processing of step 213 is skipped, and the procedure is step S2.
Proceed to 14.

In step S214, the area specifying unit 1
03 determines whether or not areas have been specified for all pixels of frame #n, and if it is determined that areas have not been specified for all pixels of frame #n, the procedure returns to step S202, The region specifying process is repeated for other pixels.

If it is determined in step S214 that the regions have been specified for all the pixels of frame #n,
In step S215, the combining unit 205 generates area information indicating a mixed area based on the uncovered background area determination flag and the covered background area determination flag stored in the determination flag storage frame memory 204, Furthermore, area information indicating that each pixel belongs to any of an uncovered background area, a still area, a moving area, and a covered background area is generated, and the generated area information is set in the determination flag storage frame memory 206. Then, the process ends.

As described above, the area specifying unit 103 determines, for each of the pixels included in the frame, the motion area,
Area information indicating that the area belongs to a static area, an uncovered background area, or a covered background area can be generated.

The area specifying unit 103 applies the logical sum to the area information corresponding to the uncovered background area and the covered background area to generate the area information corresponding to the mixed area and includes it in the frame. Region information including a flag indicating that the pixel belongs to a moving region, a still region, or a mixed region may be generated for each of the pixels.

When the object corresponding to the foreground has a texture, the area specifying unit 103 can specify the moving area more accurately.

The area specifying unit 103 can output area information indicating a moving area as area information indicating a foreground area, and area information indicating a still area as area information indicating a background area.

Although it has been described that the object corresponding to the background is stationary, the above-described processing for specifying the area can be applied even if the image corresponding to the background area includes motion. For example, when the image corresponding to the background area is moving uniformly, the area specifying unit 103 shifts the entire image according to this movement, and performs the same processing as when the object corresponding to the background is stationary. To do. Also,
When the image corresponding to the background region includes a motion that differs locally, the region identifying unit 103 selects a pixel corresponding to the motion and executes the above-described processing.

FIG. 29 is a block diagram showing another example of the structure of the area specifying unit 103. The area specifying unit 103 illustrated in FIG. 29 does not use the motion vector. The background image generation unit 301 generates a background image corresponding to the input image and supplies the generated background image to the binary object image extraction unit 302. The background image generation unit 301 extracts, for example, an image object corresponding to a background object included in the input image to generate a background image.

FIG. 30 shows an example of a model diagram in which the pixel values of pixels arranged in one row adjacent to the moving direction of the image corresponding to the foreground object are expanded in the time direction. For example, when the moving direction of the image corresponding to the foreground object is horizontal to the screen, the model diagram in FIG. 30 shows a model in which the pixel values of adjacent pixels on one line are expanded in the time direction.

In FIG. 30, the line in frame #n is the same as the line in frame # n-1 and frame # n + 1.

In frame #n, the foreground components corresponding to the objects contained in the sixth through seventeenth pixels from the left are located in the second through thirteenth pixels from the left in frame # n-1. It is included in the 10th to 21st pixels from the left in frame # n + 1.

In frame # n-1, the pixels belonging to the covered background area are eleventh to thirteenth from the left.
Pixels belonging to the uncovered background area are the second to fourth pixels from the left. In frame #n, the pixels belonging to the covered background area are the 15th to 17th pixels from the left, and the pixels belonging to the uncovered background area are the 6th to 8th pixels from the left. flame
In # n + 1, the pixels belonging to the covered background area are the 19th to 21st pixels from the left, and the pixels belonging to the uncovered background area are the 10th to 12th pixels from the left.

In frame # n-1, the pixels belonging to the background area are the first pixel from the left and the 14th to 21st pixels from the left. In frame #n, the pixels belonging to the background area are the first to fifth pixels from the left and the eighteenth to 21st pixels from the left. In frame # n + 1, the pixels belonging to the background area are the first to ninth pixels from the left.

FIG. 30 generated by the background image generation unit 301.
An example of the background image corresponding to the example of FIG. The background image is composed of pixels corresponding to the background objects,
Does not include image components corresponding to foreground objects.

The binary object image extraction unit 302 generates a binary object image based on the correlation between the background image and the input image, and supplies the generated binary object image to the time change detection unit 303.

FIG. 32 shows the binary object image extraction unit 3
It is a block diagram which shows the structure of 02. Correlation value calculator 32
Reference numeral 1 calculates the correlation between the background image and the input image supplied from the background image generation unit 301, generates a correlation value, and supplies the generated correlation value to the threshold processing unit 322.

The correlation value calculation unit 321 is, for example, as shown in FIG.
As shown in (A), a block in a 3 × 3 background image centered on X ₄ and a center in Y ₄ corresponding to a block in the background image as shown in FIG. Done 3x3
(4) is applied to the block in the input image of
Calculate the correlation value corresponding to ₄ .

[0233]

[Equation 2]

[Equation 3]

[Equation 4]

The correlation value calculation unit 321 supplies the correlation value thus calculated corresponding to each pixel to the threshold value processing unit 322.

Further, the correlation value calculation unit 321 may, for example, as shown in FIG. 34 (A), a block in a 3 × 3 background image centered on X ₄ and as shown in FIG. 34 (B). To
3 centered on Y ₄ corresponding to the block in the background image
Equation (7) may be applied to the block in the input image of × 3 to calculate the absolute difference value corresponding to Y ₄ .

[0236]

[Equation 5]

The correlation value calculation unit 321 uses the absolute difference value thus calculated as the correlation value, and the threshold value processing unit 322.
Supply to.

The threshold value processing section 322 compares the pixel value of the correlation image with the threshold value th0, and when the correlation value is less than or equal to the threshold value th0, sets 1 to the pixel value of the binary object image. If the correlation value is larger than the threshold value th0, the pixel value of the binary object image is set to 0, and the binary object image in which 0 or 1 is set to the pixel value is output. The threshold value processing unit 322 may store the threshold value th0 in advance, or the threshold value th0 input from the outside.
You may make it use 0.

FIG. 35 is a diagram showing an example of a binary object image corresponding to the model of the input image shown in FIG.
In the binary object image, a pixel value of 0 is set for a pixel having a high correlation with the background image.

FIG. 36 is a block diagram showing the structure of the time change detector 303. The frame memory 341 supplies the frame # n-supplied from the binary object image extraction unit 302 when determining the area for the pixel of the frame #n.
The binary object images of 1, frame #n, and frame # n + 1 are stored.

The area determination unit 342 is connected to the frame memory 34.
Frames based on the binary object images of frame # n-1, frame #n, and frame # n + 1 stored in 1
A region is determined for each pixel of #n, region information is generated, and the generated region information is output.

FIG. 37 is a diagram for explaining the judgment of the area judgment unit 342. When the pixel of interest of the binary object image of frame #n is 0, the area determination unit 342
It is determined that the pixel of interest in frame #n belongs to the background area.

The pixel of interest in the binary object image of frame #n is 1, the corresponding pixel of the binary object image of frame # n-1 is 1, and the pixel of 2 in frame # n + 1.
When the corresponding pixel of the value object image is 1, the area determination unit 342 determines that the pixel of interest of frame #n belongs to the foreground area.

When the pixel of interest in the binary object image of frame #n is 1 and the corresponding pixel of the binary object image of frame # n-1 is 0, the area determination unit 3
42 determines that the pixel of interest in frame #n belongs to the covered background area.

When the pixel of interest in the binary object image of frame #n is 1 and the corresponding pixel of the binary object image of frame # n + 1 is 0, the area determination unit 3
42 determines that the pixel of interest in frame #n belongs to the uncovered background area.

FIG. 38 is a diagram showing an example of the binary change object image corresponding to the model of the input image shown in FIG. Since the pixel corresponding to frame #n of the binary object image is 0, the time change detection unit 303 is the first to fifth pixels from the left of frame #n.
The th pixel is determined to belong to the background area.

Since the pixel of frame #n of the binary object image is 1 and the corresponding pixel of frame # n + 1 is 0, the time change detection unit 303 uncovers the sixth to ninth pixels from the left. It is determined to belong to the background area.

The time change detection unit 303 determines that the pixel of frame #n of the binary object image is 1, the corresponding pixel of frame # n-1 is 1, and the corresponding pixel of frame # n + 1 is 1. Therefore, it is determined that the tenth to thirteenth pixels from the left belong to the foreground area.

Since the pixel of frame #n of the binary object image is 1 and the corresponding pixel of frame # n-1 is 0, the time change detection unit 303 covers the 14th to 17th pixels from the left. It is determined that it belongs to the ground area.

Since the corresponding pixel of frame #n of the binary object image is 0, the time change detecting unit 303 determines that the 18th to 21st pixels from the left belong to the background area.

Next, referring to the flow chart of FIG. 39, the area specifying processing of the area determining unit 103 will be described. In step S301, the background image generation unit 301 of the area determination unit 103 generates a background image by extracting, for example, an image object corresponding to a background object included in the input image based on the input image, and the generated background Image 2
It is supplied to the value object image extraction unit 302.

In step S 302, the binary object image extraction unit 302 calculates the correlation value between the input image and the background image supplied from the background image generation unit 301 by the calculation described with reference to FIG. 33, for example. . In step S303, the binary object image extraction unit 302
Calculates a binary object image from the correlation value and the threshold value th0 by, for example, comparing the correlation value and the threshold value th0.

In step S304, the time change detection unit 303 executes the area determination processing, and the processing ends.

Details of the area determination processing corresponding to step S304 will be described with reference to the flowchart in FIG. In step S321, the time change detection unit 303
Area determination unit 342 determines whether the pixel of interest is 0 in frame #n stored in frame memory 341, and the pixel of interest in frame #n is
If it is determined to be 0, the process proceeds to step S322,
It is set that the pixel of interest in frame #n belongs to the background area, and the process ends.

When it is determined in step S321 that the pixel of interest in frame #n is 1, the process proceeds to step S323, and the area determination unit 342 of the time change detection unit 303 is stored in the frame memory 341. In frame #n, the pixel of interest is 1, and
In frame # n-1, it is determined whether or not the corresponding pixel is 0. In frame #n, the pixel of interest is 1, and in frame # n-1, the corresponding pixel is 0. If it is determined that the pixel of interest in frame #n belongs to the covered background area, the process ends.

In step S323, the pixel of interest is 0 in frame #n or frame #n
When it is determined that the corresponding pixel is 1 in n−1, the process proceeds to step S325, and the area determination unit 342 of the time change detection unit 303 focuses on the frame #n stored in the frame memory 341. One pixel,
Also, in frame # n + 1, it is determined whether or not the corresponding pixel is 0, and in frame #n, the pixel of interest is
If it is 1 and it is determined that the corresponding pixel is 0 in frame # n + 1, the process proceeds to step S326, and it is set that the pixel of interest in frame #n belongs to the uncovered background area. , The process ends.

In step S325, the pixel of interest is 0 in frame #n, or frame #n
When it is determined that the corresponding pixel is 1 in n + 1, the process proceeds to step S327, the area determination unit 342 of the time change detection unit 303 sets the pixel of interest in frame #n as the foreground area, and The process ends.

As described above, the area specifying unit 103 determines that the pixels of the input image are the foreground area, the background area, the covered background area, and the uncovered background based on the correlation value between the input image and the corresponding background image. It is possible to specify which of the ground areas it belongs to and generate area information corresponding to the specified result.

FIG. 41 is a block diagram showing another structure of the area specifying unit 103. Area specifying unit 103 shown in FIG. 41
Uses the motion vector and its position information supplied from the motion detection unit 102. The same parts as those shown in FIG. 29 are designated by the same reference numerals, and the description thereof will be omitted.

[0260] The robust unit 361 outputs the 2 of the N frames supplied from the binary object image extraction unit 302.
A robust binary object image is generated based on the value object image, and is output to the time change detection unit 303.

FIG. 42 is a block diagram illustrating the structure of the robust unit 361. The motion compensating unit 381 compensates the motion of the binary object image of N frames based on the motion vector supplied from the motion detecting unit 102 and its position information, and outputs the motion-compensated binary object image. Output to the switch 382.

Motion compensation of the motion compensator 381 will be described with reference to the examples of FIGS. 43 and 44. For example, when determining the area of frame #n, when the binary object images of frame # n-1, frame #n, and frame # n + 1 shown in FIG. 43 are input, the motion compensation unit 381 ,
Based on the motion vector supplied from the motion detection unit 102,
As shown in the example in FIG. 44, the binary object image of the frame # n−1 and the binary object image of the frame # n + 1 are motion-compensated, and the motion-compensated binary object image is supplied to the switch 382. To do.

The switch 382 stores the motion-compensated binary object image of the first frame in the frame memory 3
83-1 and outputs the motion-compensated binary object image of the second frame to the frame memory 383-2. Similarly, the switches 382 are the third to N-1th.
The motion-compensated binary object image of the th frame is output to one of the frame memories 383-3 to 383- (N-1), and the motion-compensated binary object image of the Nth frame is output. To the frame memory 383-N.

The frame memory 383-1 stores the motion-compensated binary object image of the first frame, and outputs the stored binary object image to the weighting unit 384-1. The frame memory 383-2 is
The motion-compensated binary object image of the second frame is stored, and the stored binary object image is output to the weighting unit 384-2.

Similarly, each of the frame memories 383-3 to 383- (N-1) stores any one of the motion-compensated binary object images of the third frame to the (N-1) th frame. Then, the stored binary object image is output to one of the weighting units 384-3 to 384- (N-1).
The frame memory 383-N stores the motion-compensated binary object image of the Nth frame, and outputs the stored binary object image to the weighting unit 384-N.

The weighting section 384-1 weights the pixel value of the motion-compensated binary object image of the first frame supplied from the frame memory 383-1 with a predetermined weight.
It is multiplied by w1 and supplied to the integrating unit 385. Weighting unit 38
4-2 is 2 supplied from the frame memory 383-2.
The pixel value of the motion-compensated binary object image of the th frame is multiplied by a predetermined weight w2 and supplied to the integration unit 385.

Similarly, each of the weighting units 384-3 to 384- (N-1) is the third to the third memory supplied from any of the frame memories 383-3 to 383- (N-1). The pixel value of the motion-compensated binary object image of any of the N-1th frames is multiplied by any one of the predetermined weights w3 to w (N-1), and the result is supplied to the integrating unit 385. Weighting unit 384-N
Multiplies the pixel value of the motion-compensated binary object image of the Nth frame supplied from the frame memory 383-N by a predetermined weight wN, and supplies the multiplied value to the accumulating unit 385.

The accumulating unit 385 accumulates the corresponding pixel values of the binary object image, which are motion-compensated for the 1st to Nth frames and are multiplied by any of the weights w1 to wN, respectively, and accumulate the accumulated pixels. A binary object image is generated by comparing the value with a predetermined threshold th0.

As described above, the robust unit 361 generates a robust binary object image from the N binary object images and supplies it to the time change detecting unit 303. The configuration is shown in FIG. Even if the input image includes noise, the area specifying unit 103 can specify the area more accurately than in the case shown in FIG.

Next, the area specifying unit 10 whose structure is shown in FIG.
The region specifying process of No. 3 will be described with reference to the flowchart of FIG. Steps S341 to S
The process of 343 is the same as steps S301 to S303 described with reference to the flowchart of FIG. 39, and therefore description thereof will be omitted.

In step S344, the robust unit 361 executes robust processing.

In step S345, the time change detection unit 303 executes the area determination processing, and the processing ends. Details of the processing in step S345 are the same as the processing described with reference to the flowchart in FIG. 40, and therefore description thereof will be omitted.

Details of the robust process corresponding to the process of step S344 of FIG. 45 will be described with reference to the flowchart of FIG. Step S36
In No. 1, the motion compensation unit 381 executes the motion compensation processing of the input binary object image based on the motion vector supplied from the motion detection unit 102 and its position information. In step S362, the frame memory 383
Any one of -1 to 383-N stores the motion-compensated binary object image supplied via the switch 382.

In step S363, the robust unit 361 determines whether or not N binary object images have been stored. If it is determined that N binary object images have not been stored, step S361. Back to
The process of motion compensation of the binary object image and the process of storing the binary object image are repeated.

If it is determined in step S363 that N binary object images have been stored, the process proceeds to step S364, and the weighting units 384-1 to 384- are used.
Each N is weighted by multiplying each of the N binary object images by one of the weights w1 to wN.

In step S365, the integrating section 385
Integrates the N weighted binary object images.

In step S366, the integrating section 385
Generates a binary object image from the integrated images by, for example, comparison with a predetermined threshold value th1, and the process ends.

As described above, the area specifying unit 103 having the configuration shown in FIG. 41 can generate area information based on the robust binary object image.

As described above, the area specifying unit 103 provides area information indicating that each of the pixels included in the frame belongs to the moving area, the still area, the uncovered background area, or the covered background area. Can be generated.

FIG. 47 is a block diagram showing an example of the configuration of the mixture ratio calculation unit 104. Estimated mixing ratio processing unit 401
Calculates the estimated mixture ratio for each pixel by calculation corresponding to the model of the covered background area based on the input image, and supplies the calculated estimated mixture ratio to the mixture ratio determination unit 403.

The estimated mixture ratio processing unit 402 calculates the estimated mixture ratio for each pixel by the calculation corresponding to the model of the uncovered background area based on the input image, and determines the calculated estimated mixture ratio. It is supplied to the unit 403.

Since it can be assumed that the object corresponding to the foreground is moving at a constant speed within the shutter time, the mixture ratio α of the pixels belonging to the mixed area has the following properties. That is, the mixture ratio α changes linearly according to the change in the position of the pixel. If the change of the pixel position is one-dimensional, the change of the mixture ratio α can be expressed by a straight line, and if the change of the pixel position is two-dimensional, the change of the mixture ratio α is expressed by a plane. be able to.

Since the period of one frame is short, it is assumed that the object corresponding to the foreground is a rigid body and is moving at a constant speed.

In this case, the gradient of the mixture ratio α is the inverse ratio of the movement amount v within the shutter time of the foreground.

FIG. 48 shows an example of the ideal mixing ratio α. The slope l in the mixing region of the ideal mixing ratio α can be expressed as the reciprocal of the motion amount v.

As shown in FIG. 48, the ideal mixture ratio α
Has a value of 1 in the background area, a value of 0 in the foreground area, and a value greater than 0 and less than 1 in the mixed area.

In the example of FIG. 49, the pixel value C06 of the seventh pixel from the left of frame #n is 7 from the left of frame # n-1.
It can be expressed by Expression (8) using the pixel value P06 of the th pixel.

[0288]

[Equation 6]

In equation (8), the pixel value C06 is expressed as the pixel value M of the pixel in the mixed area, and the pixel value P06 is expressed as the pixel value B of the pixel in the background area. That is, the pixel value M of the pixel in the mixed area and the pixel value B of the pixel in the background area are respectively expressed by equation (9).
And can be expressed as in Expression (10).

[0290] M = C06 (9) B = P06 (10)

2 / v in the equation (8) corresponds to the mixing ratio α. Since the motion amount v is 4, the mixture ratio α of the seventh pixel from the left of frame #n is 0.5.

As described above, the pixel value C of the focused frame #n is regarded as the pixel value of the mixed area, and the pixel value P of the frame # n−1 before the frame #n is set as the pixel value of the background area. By observing it, the equation (3) indicating the mixture ratio α can be rewritten as the equation (11).

C = α · P + f (11) f in Expression (11) is the sum Σ _i Fi / v of the foreground components included in the pixel of interest. The variables included in the equation (11) are the mixture ratio α and the sum f of the foreground components.

Similarly, FIG. 50 shows a model in which the pixel value is expanded in the time direction in which the amount of motion v is 4 and the number of virtual divisions in the time direction is 4 in the uncovered background area.

In the uncovered background area, the pixel value C of the frame of interest #n is regarded as the pixel value of the mixed area, and the frame #n and the frame n + 1
By regarding the pixel value N of the above as the pixel value of the background region, the equation (3) indicating the mixture ratio α can be expressed as the equation (12).

[0296] C = α ・ N + f (12)

Although it has been described that the background object is stationary, even when the background object is moving, by using the pixel value of the pixel at the position corresponding to the background motion amount v, Expressions (8) to (1
2) can be applied. For example, in FIG. 49, when the amount of movement v of the object corresponding to the background is 2 and the number of virtual divisions is 2, when the object corresponding to the background is moving to the right in the figure, The pixel value B of the pixel in the background area is set to the pixel value P04.

Since the equations (11) and (12) each include two variables, the mixture ratio α cannot be obtained as it is.

Therefore, by utilizing the property that the object corresponding to the foreground moves at a constant speed within the shutter time, the mixing ratio α changes linearly in response to the change in pixel position. Is the sum of the mixture ratio α and the foreground components
Establish an equation that approximates f and. By using a plurality of sets of pixel values of pixels belonging to the mixed area and pixel values belonging to the background area, as shown in FIG. 51, the mixing ratio α changes linearly and the sum of the foreground components becomes linear. To change,
Solve an equation that approximates the mixture ratio α and the sum f of the foreground components.

As shown in FIG. 51, the data that can be used to calculate the mixture ratio α of the pixels belonging to the covered background area is the pixel value M01 including the pixel value of the target pixel of the target frame #n. To M05, and frame #n
-1 pixel values P01 to P05.

The mixing ratio α differs depending on the spatial position and is represented by the mixing ratios α01 to α05.

The sum of the foreground components depends on the spatial position and is represented by f01 to f05.

When the mixture ratio α is approximated by a plane, the mixture ratio α is expressed by the equation (13) when the motion v corresponding to two directions of the image, the horizontal direction and the vertical direction, is considered.

Αx = jm + kq + p (13) In the equation (13), x is one of 01 to 05. In Expression (13), j is a horizontal index in which the position of the pixel of interest is 0, and k is a vertical index. m is the inclination of the surface of the mixture ratio α in the horizontal direction, and q is the inclination of the surface of the mixture ratio α in the vertical direction. p is the intercept of the plane of the mixing ratio α.

The sum of the foreground components is expressed by equation (14).

Fx = js + kt + u (14) In the equation (14), x is one of 01 to 05. In Expression (14), j is a horizontal index in which the position of the pixel of interest is 0, and k is a vertical index. s is the horizontal inclination of the sum surface of the foreground components, and t is the vertical inclination of the sum surface of the foreground components. u is the intercept of the sum surface of the foreground components.

For example, by applying the pixel value of 5 × 5 pixels near the space to an expression including six variables of m, q, p, s, t, and u, for example, for six variables, 25 equations are obtained. The values of the six variables can be obtained by solving the obtained formula by the method of least squares.

Further, when the foreground object moves at high speed within the shutter time, the mixture ratio α becomes
Due to the assumption of being constant and the assumption that the sum of the foreground components is constant in the spatial neighborhood, the mixture ratio α and the sum of the foreground components f were approximated by the spatial correlation of the foreground objects. You can set up a ceremony.

That is, the first term on the right side of the equation (3) is approximated to a constant mixing ratio as shown in the equation (15) described later, and the second term on the right side of the equation (3) is approximated. As shown in Expression (21) described later, the expression is established by approximating that the sum of the foreground components is constant.

A plurality of sets of pixel values of pixels belonging to the mixed area and pixels belonging to the background area are used to solve the equation approximated to the mixture ratio α and the sum f of the foreground components.

When the mixing ratio α is approximated to be constant in the vicinity of space, the mixing ratio α is expressed by the equation (15).

Α = n (15)

As shown in FIG. 52, i is a spatial index in which the position of the pixel of interest is 0.
In Expression (15), n represents the mixture ratio α of the pixel of interest corresponding to the index that is an approximate value of the mixture ratio α and is 0 at the same time.

The index i is known, but n is unknown.

By approximating the mixture ratio α as shown in equation (15), a plurality of different mixture ratios α for a plurality of pixels can be obtained.
Is represented by one variable. In the example shown in FIG. 52, five mixing ratios α for five pixels are represented by one variable, n.

When the mixture ratio α is approximated on the plane shown in FIG. 53, the equation (15) is expanded to the plane, and the mixture ratio α is calculated by the equation (1).
It is represented by 6).

Α = n (16) In FIG. 53, i is an index in the horizontal direction with the position of the pixel of interest being 0, and j is the vertical direction with the position of the pixel of interest being 0. Is the index of.

As shown in FIG. 54, the data that can be used for calculating the mixture ratio α of the pixels belonging to the covered background area is the pixel value M01 including the pixel value of the target pixel of the target frame #n. To M05, and frame #n
-1 pixel values P01 to P05.

Since the mixture ratio α is approximated to be constant regardless of the spatial position, it is expressed as the mixture ratio α.

Since the sum of the foreground components is approximated to be constant regardless of the spatial position, it is represented by f.

For example, in frame #n shown in FIG. 49, equations (17) to (19) are established for C05 to C07, respectively.

[0322] C05 = α05 ・ B05 / v + f05 (17) C06 = α06 ・ B06 / v + f06 (18) C07 = α07 ・ B07 / v + f07 (19)

If the sums of the foreground components are close to each other, that is, F01 to F03 are equal, F01 to F03 are replaced with Fc, and then equation (20) is established.

Fx = Fc (20) In Expression (20), x represents a position in the spatial direction.

I is a horizontal index, and j is
Expressed as a vertical index, equation (20)
Can be expressed as equation (21).

Fi, j = u (21) In equation (21), as shown in equation (22),
Fc is set as u.

U = Fc (22)

That is, the approximation that the sum of the foreground components is constant in the vicinity can be expressed by the equation (21).

When it is approximated that the mixture ratio α is constant in the vicinity and the sum of the foreground components is constant in the vicinity,
By substituting the equations (15) and (21) into the equation (3), the equation (23) is obtained.

M = n · B + u (23) Equation (23) includes two variables, n and u.

To obtain the mixture ratio α, the number of variables is set to 2
The number of equations may be increased by setting the pixel values of the pixels near the space in equation (23) as they are. That is, the pixel value M or the pixel value B is set in the normal equation corresponding to the equation (23) in correspondence with the pixel in the vicinity of the pixel of interest, and the pixel value
A mixture ratio α is calculated by solving a plurality of normal equations in which M or the pixel value B is set by the least square method.

For example, the index i in the horizontal direction of the pixel of interest is 0, the index j in the vertical direction is 0, and 3 × 3 pixels near the pixel of interest are:
When the pixel value M or the pixel value B is set in Expression (23), Expressions (24) to (32) are obtained.

M _{-1, -1} = B _{-1, -1} · n + u (24) M _{0, -1} = B _{0, -1} · n + u (25) M _{+ 1, -1} = B _{+ 1, -1}・ n + u (26) M _-1,0 = B _-1,0・ n + u (27) M _0,0 = B _0,0・ n + u (28) M _+1,0 = B _+1,0・ n + u (29) M _{-1, + 1} = B _{-1, + 1}・ n + u (30) M _{0, + 1} = B _{0, + 1}・ n + u (31 ) M _{+ 1, + 1} = B _{+ 1, + 1}・ n + u (32)

For two variables u and n, nine expressions,
Since equations (24) to (32) correspond, equation (24)
The two variables u and n can be obtained by solving the equation (32) by the method of least squares. At this time, the mixture ratio α of the pixel of interest corresponds to the variable n in Expression (23). Therefore, of the two obtained variables u and n, the variable n is output as the mixing ratio α.

In the description corresponding to equations (24) to (32), the pixel value of the pixel included in the mixed area is M, and
Although the pixel value of the pixel included in the background area is described as B, the normal equation is calculated for each of the case where the pixel of interest is included in the covered background area or the uncovered background area. Need to stand up.

For example, when obtaining the mixture ratio α of the pixels included in the covered background area of the frame #n shown in FIG. 49, the pixels C04 to C08 of the frame #n and the pixels of the pixel of the frame # n-1 are obtained. The values P04 to P08 are set in the normal equation.

When obtaining the mixture ratio α of the pixels included in the uncovered background area of frame #n shown in FIG. 50, the pixel values of C28 to C32 of the pixels of frame #n and the pixels of frame # n + 1 are calculated. N28 to N32 are set to the normal equation.

That is, when the model corresponding to the covered background area is used, equations (24) to (3)
In 2), M = C and B = P. On the other hand, when using the model corresponding to the uncovered background area, in equations (24) to (32), M = C and B = N
And

More specifically, for example, as shown in FIG.
When calculating the mixture ratio α of the pixels included in the covered background area, the following equations (33) to (41) are established. The pixel value of the pixel for calculating the mixture ratio α is Mc5
Is.

Mc1 = Bc1 · n + u (33) Mc2 = Bc2 ・ n + u (34) Mc3 = Bc3 ・ n + u (35) Mc4 = Bc4 ・ n + u (36) Mc5 = Bc5 ・ n + u (37) Mc6 = Bc6 ・ n + u (38) Mc7 = Bc7 ・ n + u (39) Mc8 = Bc8 ・ n + u (40) Mc9 = Bc9 ・ n + u (41)

When calculating the mixture ratio α of the pixels included in the covered background area of frame #n, equation (3
3) to formula (41), the pixel value Bc of the pixel in the background area of the pixel of frame # n-1 corresponding to the pixel of frame #n
1 to Bc9 are used. Formulas (33) to (41) are
Since nine expressions, Expressions (33) to (41), correspond to the two variables u and n, they can be solved by the least squares method.

When calculating the mixture ratio α of the pixels included in the uncovered background area shown in FIG. 55, the following equations (42) to (50) are established. Mixing ratio α
The pixel value of the pixel for calculating is Mu5.

Mu1 = Bu1 · n + u (42) Mu2 = Bu2 ・ n + u (43) Mu3 = Bu3 ・ n + u (44) Mu4 = Bu4 ・ n + u (45) Mu5 = Bu5 ・ n + u (46) Mu6 = Bu6 ・ n + u (47) Mu7 = Bu7 ・ n + u (48) Mu8 = Bu8 ・ n + u (49) Mu9 = Bu9 ・ n + u (50)

When calculating the mixture ratio α of the pixels included in the uncovered background area of the frame #n, in the formulas (42) to (50), the frame # n + 1 corresponding to the pixel of the frame #n is calculated. The pixel values Bu1 to Bu9 of the pixels in the background area of the pixel are used. Formula (42) to Formula (50)
Is an expression for nine variables, expression (4
Since equations (2) to (50) correspond, it can be solved by the least squares method.

Next, a more specific procedure for calculating the mixture ratio α by applying the least squares method will be described.

For simplicity of description, n in the equation (23) is changed to w0.
And u is expressed as w1. Similarly, the value B related to n in Expression (23) is expressed as a0, and the value 1 related to u is expressed as a1.

Further, a combination of the horizontal direction index i and the vertical direction index j in the equations (24) to (32) is represented by one index k.

When the index i and the index j are expressed by one index k, the relationship between the index i, the index j, and the index k is expressed by the equation (51).

[0349] k = (i + 1) / 3 + (j + 1) (51)

Considering the error ek, the equations (24) to (32) can be rewritten into the equation (52).

[0351]

[Equation 7]

In the equation (52), k is any integer value from 0 to 8.

From equation (52), equation (53) can be derived.

[0354]

[Equation 8]

Since the least squares method is applied, the error sum of squares E is defined as shown in equation (54).

[0356]

[Equation 9]

In order to minimize the error, the sum of squares of the error is
It suffices if the partial differential of the variable Wv with respect to E becomes zero. Here, v is an integer value of 0 or 1. Therefore, Wv is calculated so as to satisfy the equation (55).

[0358]

[Equation 10]

By substituting the equation (53) into the equation (55), the equation (56) is obtained.

[0360]

[Equation 11]

From the two equations obtained by substituting one of the integers 0 or 1 for v in equation (56), wh (h = 0,
1) ask.

As described above, the obtained result w0,
That is, n is set to the mixture ratio α corresponding to the pixel of interest.

As described above, the mixture ratio calculating unit 104 approximates that the mixture ratio α is constant in the vicinity and the sum of the foreground components is constant in the vicinity, and the mixture ratio α is calculated by a simpler calculation. It can be calculated.

Further, when the foreground object moves at high speed within the shutter time, it is assumed that the mixture ratio α is constant in the near space, and the spatial correlation of the foreground object causes the foreground component in the near space. Based on the assumption that the sum of A changes linearly, an equation approximating the mixture ratio α and the sum f of the foreground components can be established.

As shown in FIG. 56, the data that can be used to calculate the mixture ratio α of the pixels belonging to the covered background area is the pixel value M01 including the pixel value of the target pixel of the target frame #n. To M05, and frame #n
-1 pixel values P01 to P05.

Since the mixing ratio α is approximated to be constant regardless of the spatial position, it is expressed as the mixing ratio α.

The sum of the foreground components depends on the spatial position and is represented by f01 to f05.

It is approximated that α is constant. That is, the mixing ratio α
Is represented by formula (57). α = p (57)

F01 to f05 are approximate to linear. That is, f01 to f05 are expressed by equation (58). fx = js + kt + u (58) In the equation (58), x is one of 01 to 05.

By doing so, for example, by applying the pixel value of 5 × 5 pixels near the space to an expression including four variables of p, s, t, and u, On the other hand, 25 expressions are obtained. The values of the four variables can be obtained by solving the obtained equation by the method of least squares.

For example, by approximating that the mixture ratio is constant at 5 × 5 pixels near the space and that the sum of the foreground components changes linearly near the space, the variables are set to one mixture ratio and three variables. Pixel values in the vicinity of the space are set in the formula as a total of four slopes and intercepts, and the formula in which the pixel values are set is solved by the least square method.

The processing in the vicinity of the space of 3 × 3 pixels will be described below as an example.

When the horizontal and vertical indices for the pixel of interest are set to i and j (the pixel of interest is 0), in the neighborhood 3 × 3 of the pixel of interest, as shown in equations (59) to (67),
Two expressions hold.

M _{-1, -1} = B _{-1, -1}・ n + ( _-1 ) ・ s + (-1) ・ t + u (59) M _{0, -1} = B _{0, -1}・ n + 0・ S + (-1) ・ t + u (60) M _{+ 1, -1} = B _{+ 1, -1}・ n + (+ 1) ・ s + ( _-1 ) ・ t + u (61) M _-1,0 = B _-1,0・ n + ( _-1 ) ・ s + 0 ・ t + u (62) M _0,0 = B _0,0・ n + 0 ・ s + 0 ・ t + u (63) M _{+1 , 0} = B _+1,0・ n + (+ 1) ・ s + 0 ・ t + u (64) M _{-1, + 1} = B _{-1, + 1}・ n + ( _-1 ) ・ s + (+ 1)・ T + u (65) M _{0, + 1} = B _{0, + 1}・ n + 0 ・ s + (+ 1) ・ t + u (66) M _{+ 1, + 1} = B _{+ 1, + 1}・ n + (+1) ・ s + (+ 1) ・ t + u (67)

In the expressions (59) to (67), nine expressions correspond to the four variables u, s, t and n, so that the four variables u, s, t, And n can be obtained. At this time, the mixture ratio α at the pixel of interest
Is n in the equation (23). Therefore, out of the four variables obtained, n is output as the mixing ratio α.

In the description corresponding to equations (59) to (67), the pixel value of the pixel included in the mixed area is M,
Although the pixel value of the pixel included in the background area is described as B, the normal equation is calculated for each of the case where the pixel of interest is included in the covered background area or the uncovered background area. Need to stand up.

For example, when obtaining the mixture ratio α of the pixels included in the covered background area of the frame #n shown in FIG. 49, the pixels C04 to C08 of the frame #n and the pixels of the pixel of the frame # n-1 are obtained. The values P04 to P08 are set in the normal equation.

When the mixture ratio α of the pixels included in the uncovered background area of the frame #n shown in FIG. 50 is obtained, the pixel values of the pixels C28 to C32 of the frame #n and the pixels of the frame # n + 1 are calculated. N28 to N32 are set to the normal equation.

That is, when the model corresponding to the covered background area is used, equations (59) to (6)
In 7), M = C and B = P. On the other hand, when using the model corresponding to the uncovered background area, in equations (59) to (67), M = C and B = N
And

More specifically, for example, as shown in FIG.
When calculating the mixture ratio α of the pixels included in the covered background area, the following equations (68) to (76) are established. The pixel value of the pixel for calculating the mixture ratio α is Mc5
Is.

[0380] Mc1 = Bc1 ・ n + (-1) ・ s + (-1) ・ t + u (68) Mc2 = Bc2 ・ n + 0 ・ s + (-1) ・ t + u (69) Mc3 = Bc3 ・ n + (+ 1) ・ s + (-1) ・ t + u (70) Mc4 = Bc4 ・ n + (-1) ・ s + 0 ・ t + u (71) Mc5 = Bc5 ・ n + 0 ・ s + 0 ・ t + u (72) Mc6 = Bc6 ・ n + (+ 1) ・ s + 0 ・ t + u (73) Mc7 = Bc7 ・ n + (-1) ・ s + (+ 1) ・ t + u (74) Mc8 = Bc8 ・ n + 0 ・ s + (+ 1) ・ t + u (75) Mc9 = Bc9 ・ n + (+ 1) ・ s + (+ 1) ・ t + u (76)

When calculating the mixture ratio α of the pixels included in the covered background area of frame #n, the equation (6
8) to formula (76), the pixel value Bc of the pixel in the background area of the pixel of frame # n-1 corresponding to the pixel of frame #n
1 to Bc9 are used. Equations (68) to (76) are
For four variables, nine expressions, expressions (68) to (7)
Since 6) corresponds, it can be solved by the method of least squares.

When calculating the mixture ratio α of the pixels included in the uncovered background area shown in FIG. 55, the following equations (77) to (85) are established. Mixing ratio α
The pixel value of the pixel for calculating is Mu5.

[0384] Mu1 = Bu1 ・ n + (-1) ・ s + (-1) ・ t + u (77) Mu2 = Bu2 ・ n + 0 ・ s + (-1) ・ t + u (78) Mu3 = Bu3 ・ n + (+ 1) ・ s + (-1) ・ t + u (79) Mu4 = Bu4 ・ n + (-1) ・ s + 0 ・ t + u (80) Mu5 = Bu5 ・ n + 0 ・ s + 0 ・ t + u (81) Mu6 = Bu6 ・ n + (+ 1) ・ s + 0 ・ t + u (82) Mu7 = Bu7 ・ n + (-1) ・ s + (+ 1) ・ t + u (83) Mu8 = Bu8 ・ n + 0 ・ s + (+ 1) ・ t + u (84) Mu9 = Bu9 ・ n + (+ 1) ・ s + (+ 1) ・ t + u (85)

When calculating the mixture ratio α of the pixels included in the uncovered background area of the frame #n, the frame # n + 1 corresponding to the pixel of the frame #n in the formulas (77) to (85) is calculated. The pixel values Bu1 to Bu9 of the pixels in the background area of the pixel are used. Formula (77) to Formula (85)
Since nine expressions, Expressions (77) to (85), correspond to four variables, can be solved by the least squares method.

Next, a more specific procedure for calculating the mixture ratio α by applying the least squares method will be described.

For simplicity of explanation, 4 of n, s, t, and u
The two variables are expressed as w0, w1, w2, and w3, respectively. Also, the values B, i, of the four variables n, s, t, and u
j and 1 are expressed as a0, a1, a2, and a3, respectively.

Also, a combination of the horizontal direction index i and the vertical direction index j in equations (59) to (67) is represented by one index k.

When the index i and the index j are expressed by one index k, the relationship between the index i, the index j, and the index k is expressed by the equation (86).

[0390] k = (i + 1) ・ 3+ (j + 1) (86)

Considering the error ek, the equations (59) to (67) can be rewritten as the equation (87).

[0390]

[Equation 12]

In the equation (87), k is an integer of 0 to 8.

From equation (87), equation (88) can be derived.

[0395]

[Equation 13]

Since the least squares method is applied, the error sum of squares E is defined as shown in equation (89).

[0397]

[Equation 14]

In order to minimize the error, the sum of squares of the error is
It suffices if the partial differential of the variable Wv with respect to E becomes zero. Here, v is any value of integers from 0 to 4. Therefore, Wv is calculated so as to satisfy the equation (90).

[0399]

[Equation 15]

By substituting the expression (88) into the expression (90), the expression (91) is obtained.

[0401]

[Equation 16]

From the four expressions obtained by substituting any one of the integers from 0 to 4 for v in the expression (91), wh (h = 0,1,2,
3) ask.

As described above, the obtained result w0, that is, n is set to the mixture ratio α corresponding to the target pixel.

As described above, the mixture ratio calculation unit 104 approximates that the mixture ratio α is constant in the vicinity and the sum of the foreground components changes linearly, and the calculation is relatively simple and relatively accurate. The mixing ratio α can be calculated well. When the mixture ratio α is constant in the vicinity and the sum of the foreground components is approximated to change linearly, and the foreground object has gradation, the mixture ratio calculation unit 104 determines that the mixture ratio α is constant in the vicinity. As compared with the case where the sum of the foreground components is approximated to be constant, the mixture ratio α can be obtained with high accuracy.

FIG. 57 is a block diagram showing the structure of the estimated mixing ratio processing unit 401. The image input to the estimated mixing ratio processing unit 401 includes the delay unit 421 and the addition unit 422.
Is supplied to.

The delay circuit 421 delays the input image by one frame and supplies it to the adder 422. Foot part 4
When the frame #n is input to 22 as the input image, the delay circuit 421 adds the frame # n-1 to the adder 42.
Supply to 2.

The adder 422 sets the pixel values of the pixels near the pixel for which the mixture ratio α is calculated and the pixel value of frame # n-1 in the normal equation. For example, the adding part 42
2 sets the pixel values Mc1 to Mc9 and the pixel values Bc1 to Bc9 in the normal equation based on the equations (33) to (41). The adding unit 422 supplies the normal equation in which the pixel value is set to the calculation unit 423.

The arithmetic unit 423 solves the normal equation supplied from the adding unit 422 to obtain the estimated mixture ratio, and outputs the obtained estimated mixture ratio.

As described above, the estimated mixing ratio processing unit 401
The estimated mixture ratio can be calculated based on the input image and supplied to the mixture ratio determination unit 403.

Since the estimated mixing ratio processing unit 402 has the same structure as the estimated mixing ratio processing unit 401, its description will be omitted.

FIG. 58 is a block diagram showing another configuration of the mixture ratio calculation unit 104. The same parts as those shown in FIG. 47 are designated by the same reference numerals, and the description thereof will be omitted.

The selecting section 441 supplies the pixels belonging to the covered background area and the corresponding pixels of the previous frame to the estimated mixture ratio processing section 401 based on the area information supplied from the area specifying section 103. . Selector 44
1 supplies the pixels belonging to the uncovered background area and the corresponding pixels of the next frame to the estimated mixture ratio processing section 402 based on the area information supplied from the area specifying unit 103.

Based on the area information supplied from the area specifying unit 103, the selecting unit 442 selects an estimated mixing ratio of 0 when the target pixel belongs to the foreground region, and selects the mixing ratio α.
If the target pixel belongs to the background area, 1
The estimated mixture ratio is selected and set to the mixture ratio α. When the target pixel belongs to the covered background area, the selection unit 442 selects the estimated mixing ratio supplied from the estimated mixing ratio processing unit 401 and sets it as the mixing ratio α, and the target pixel is uncovered background. If it belongs to the ground area, the estimated mixture ratio supplied from the estimated mixture ratio processing unit 402 is selected and set to the mixture ratio α. The selection unit 442 is
The mixture ratio α selected and set based on the region information is output.

As described above, the mixing ratio calculating unit 104 having another configuration shown in FIG. 58 can calculate the mixing ratio α for each pixel included in the image and output the calculated mixing ratio α.

Referring to the flow chart of FIG. 59, FIG.
A process of calculating the mixture ratio α by the mixture ratio calculation unit 104 having the configuration shown in FIG. In step S401, the mixture ratio calculating unit 104 acquires the area information supplied from the area specifying unit 103. In step S402, the estimated mixing ratio processing unit 401 executes the process of calculating the estimated mixing ratio using the model corresponding to the covered background area, and supplies the calculated estimated mixing ratio to the mixing ratio determination unit 403. Details of the processing for calculating the mixture ratio estimation will be described later with reference to the flowchart in FIG.

In step S403, the estimated mixture ratio processing section 402 executes the process of calculating the estimated mixture ratio using the model corresponding to the uncovered background area,
The calculated estimated mixture ratio is supplied to the mixture ratio determination unit 403.

In step S404, the mixture ratio calculation unit 104 determines whether or not the mixture ratio α has been estimated for the entire frame. If it is determined that the mixture ratio α has not been estimated for the entire frame, step S404 Returning to S402, the process of estimating the mixture ratio α for the next pixel is executed.

If it is determined in step S404 that the mixture ratio α has been estimated for the entire frame, the process advances to step S405, and the mixture ratio determination unit 403 determines that the pixel is
Foreground area, background area, covered background area,
Alternatively, the mixture ratio α is set based on the area information supplied from the area specifying unit 103, which indicates which of the uncovered background areas it belongs to. Mixing ratio determination unit 403
Sets 0 to the mixture ratio α when the target pixel belongs to the foreground region, and sets 1 to the mixture ratio α when the target pixel belongs to the background region and sets the target pixel to the covered background. If it belongs to the region, the estimated mixture ratio supplied from the estimated mixture ratio processing unit 401 is set to the mixture ratio α,
When the target pixel belongs to the uncovered background area, the estimated mixture ratio supplied from the estimated mixture ratio processing unit 402 is set to the mixture ratio α, and the process ends.

As described above, the mixture ratio calculating unit 104 can calculate the mixture ratio α, which is the feature amount corresponding to each pixel, based on the area information supplied from the area specifying unit 103 and the input image. .

The process of calculating the mixture ratio α of the mixture ratio calculating unit 104 having the configuration shown in FIG. 58 is the same as the process described in the flowchart of FIG.

Next, the process of estimating the mixture ratio by the model corresponding to the covered background area by the estimated mixture ratio processing unit 401 having the configuration shown in FIG. 57 will be described with reference to the flowchart of FIG.

In step S421, the adding portion 4
22 sets the pixel value included in the input image and the pixel value included in the image supplied from the delay circuit 421 to the normal equation corresponding to the model of the covered background area.

In step S422, the estimated mixing ratio processing unit 401 determines whether or not the setting for the target pixel is completed, and if it is determined that the setting for the target pixel is not completed, Returning to step S421, the process of setting the pixel value in the normal equation is repeated.

If it is determined in step S422 that the setting of the pixel value for the target pixel has been completed, the operation proceeds to step S423, where the arithmetic unit 423 estimates the estimated mixture based on the normal equation in which the pixel value is set. The ratio is calculated and the obtained estimated mixing ratio is output.

As described above, the estimated mixture ratio processing unit 401 having the configuration shown in FIG. 57 can calculate the estimated mixture ratio based on the input image.

The process of estimating the mixture ratio by the model corresponding to the uncovered background region is the same as the process shown in the flowchart of FIG. 60, which uses the normal equation corresponding to the model of the uncovered background region. Omit it.

Although it has been described that the object corresponding to the background is stationary, the above-described processing for obtaining the mixture ratio can be applied even if the image corresponding to the background area includes motion. For example, when the image corresponding to the background area is moving uniformly, the estimated mixing ratio processing unit 401 shifts the entire image in response to this movement, similar to the case where the object corresponding to the background is stationary. To process.
In addition, when the image corresponding to the background area includes different motions locally, the estimated mixing ratio processing unit 401 selects the pixel corresponding to the motion as the pixel corresponding to the pixel belonging to the mixed area, and The process of is executed.

As described above, the mixture ratio calculating unit 102 can calculate the mixture ratio α, which is the feature amount corresponding to each pixel, based on the area information supplied from the area specifying unit 101 and the input image. .

By using the mixture ratio α, it is possible to separate the foreground component and the background component included in the pixel value while leaving the information of the motion blur included in the image corresponding to the moving object. It will be possible.

Also, by synthesizing images based on the mixture ratio α, it becomes possible to create an image containing correct motion blur that matches the speed of a moving object, as if the real world was actually shot again. .

Next, the foreground / background separator 105 will be described. FIG. 61 is a block diagram showing an example of the configuration of the foreground / background separator 105. The input image supplied to the foreground / background separation unit 105 is supplied to the separation unit 601, the switch 602, and the switch 604. The information indicating the covered background area and the area information supplied from the area specifying unit 103 indicating the uncovered background area are supplied to the separating unit 601. Area information indicating the foreground area is supplied to the switch 602. Area information indicating the background area is supplied to the switch 604.

The mixing ratio α supplied from the mixing ratio calculating section 104 is supplied to the separating section 601.

The separating unit 601 separates the foreground components from the input image on the basis of the area information indicating the covered background area, the area information indicating the uncovered background area, and the mixture ratio α. The components are supplied to the combining unit 603, the background components are separated from the input image, and the separated background components are supplied to the combining unit 605.

The switch 602 is closed when a pixel corresponding to the foreground is input based on the area information indicating the foreground area, and supplies only the pixel corresponding to the foreground included in the input image to the combining unit 603.

The switch 604 is closed when a pixel corresponding to the background is input based on the area information indicating the background area, and supplies only the pixel corresponding to the background included in the input image to the synthesizing unit 605.

The synthesizer 603 synthesizes the foreground component image based on the foreground component supplied from the separator 601 and the pixel corresponding to the foreground supplied from the switch 602.
The combined foreground component image is output. Since the foreground area and the mixed area do not overlap, the combining unit 603 applies a logical sum operation to the component corresponding to the foreground and the pixel corresponding to the foreground to combine the foreground component images.

The compositing unit 603 stores an image in which all the pixel values are 0 in the built-in frame memory in the initialization process which is executed first in the compositing process of the foreground component images, In the synthesizing process of, the foreground component image is stored (overwritten). Therefore, in the foreground component image output by the combining unit 603, the pixel corresponding to the background region is
0 is stored as the pixel value.

The synthesizing unit 605 synthesizes the background component image on the basis of the component corresponding to the background supplied from the separating unit 601 and the pixel corresponding to the background supplied from the switch 604, and outputs the synthesized background component image. Output. Since the background area and the mixed area do not overlap, the combining unit 605 applies a logical sum operation to the component corresponding to the background and the pixel corresponding to the background to combine the background component images.

The synthesizing unit 605 stores an image in which all pixel values are 0 in the built-in frame memory in the initialization process executed first in the process of synthesizing the background component images, In the synthesizing process of, the background component image is stored (overwritten). Therefore, in the background component image output by the combining unit 605, the pixel corresponding to the foreground area is
0 is stored as the pixel value.

FIG. 62 is a diagram showing an input image input to the foreground / background separation unit 105, and a foreground component image and a background component image output from the foreground / background separation unit 105.

FIG. 62 (A) is a schematic diagram of an image to be displayed, and FIG. 62 (B) shows pixels belonging to the foreground region, pixels belonging to the background region, and mixed regions corresponding to FIG. 62 (A). 3 is a model diagram in which one line of pixels including pixels belonging to is developed in the time direction.

As shown in FIGS. 62 (A) and 62 (B), the background component image output from the foreground / background separator 105 is a background component included in the pixels belonging to the background area and the pixels in the mixed area. Composed of.

As shown in FIGS. 62 (A) and 62 (B), the foreground component image output from the foreground / background separating unit 105 includes the foreground components included in the pixels belonging to the foreground area and the pixels in the mixed area. Composed of.

The pixel values of the pixels in the mixed area are separated by the foreground / background separation unit 105 into a background component and a foreground component. The separated background component constitutes a background component image together with the pixels belonging to the background area. The separated foreground component constitutes a foreground component image together with the pixels belonging to the foreground region.

As described above, in the foreground component image, the pixel values of the pixels corresponding to the background area are set to 0, and the meaningful pixel values are set for the pixels corresponding to the foreground area and the pixels corresponding to the mixed area. Similarly, in the background component image, the pixel value of the pixel corresponding to the foreground area is set to 0, and the meaningful pixel value is set to the pixel corresponding to the background area and the pixel corresponding to the mixed area.

Next, the processing executed by the separating unit 601 for separating the foreground component and the background component from the pixels belonging to the mixed area will be described.

FIG. 63 is a model of an image showing foreground components and background components of two frames including a foreground corresponding to an object moving from left to right in the figure. In the image model shown in FIG. 63, the foreground motion amount v is 4
And the number of virtual divisions is 4.

In frame #n, the leftmost pixel and the fourteenth to eighteenth pixels from the left consist of background components only and belong to the background area. In frame #n,
The second to fourth pixels from the left include the background component and the foreground component, and belong to the uncovered background area. Eleventh to thirteenth from the left in frame #n
The th pixel contains the background and foreground components and belongs to the covered background area. In frame #n, the fifth to tenth pixels from the left consist of only the foreground components and belong to the foreground area.

In frame # n + 1, the first through fifth pixels from the left and the eighteenth pixel from the left consist of the background components only and belong to the background area. In frame # n + 1, the sixth to eighth pixels from the left include the background component and the foreground component, and belong to the uncovered background area. In frame # n + 1, the fifteenth to seventeenth pixels from the left include the background component and the foreground component, and belong to the covered background area. In frame # n + 1, the ninth through fourteenth pixels from the left consist of only the foreground components and belong to the foreground area.

FIG. 64 is a diagram for explaining the processing for separating the foreground components from the pixels belonging to the covered background area. In FIG. 64, α1 to α18 are the mixing ratios corresponding to the respective pixels in frame #n.
In FIG. 64, the fifteenth to seventeenth pixels from the left belong to the covered background area.

The pixel value C15 of the fifteenth pixel from the left of frame #n is expressed by equation (92).

C15 = B15 / v + F09 / v + F08 / v + F07 / v = α15 ・ B15 + F09 / v + F08 / v + F07 / v = α15 ・ P15 + F09 / v + F08 / v + F07 / v (92) Here, α15 is the mixture ratio of the fifteenth pixel from the left of frame #n. P15 is the pixel value of the 15th pixel from the left of frame # n-1.

1 from the left of frame #n based on equation (92).
The sum f15 of the foreground components of the fifth pixel is expressed by equation (93).

[0454] f15 = F09 / v + F08 / v + F07 / v = C15-α15 ・ P15 (93)

Similarly, the sum f16 of the foreground components of the 16th pixel from the left of frame #n is expressed by equation (94), and the sum f17 of the foreground components of the 17th pixel from the left of frame #n is shown.
Is represented by equation (95).

[0456] f16 = C16-α16 ・ P16 (94) f17 = C17-α17 ・ P17 (95)

As described above, the foreground component fc contained in the pixel value C of the pixel belonging to the covered background area is
It is calculated by the equation (96).

Fc = C−α · P (96) P is the pixel value of the corresponding pixel in the previous frame.

FIG. 65 is a diagram for explaining the processing for separating the foreground components from the pixels belonging to the uncovered background area. In FIG. 65, α1 to α18 are the mixing ratios corresponding to the respective pixels in frame #n. In FIG. 65, the second to fourth pixels from the left belong to the uncovered background area.

Pixel value of second pixel from the left in frame #n
C02 is represented by formula (97).

C02 = B02 / v + B02 / v + B02 / v + F01 / v = α2 · B02 + F01 / v = α2 · N02 + F01 / v (97) where α2 is the left of frame #n Is the mixing ratio of the second pixel from. N02 is the pixel value of the second pixel from the left of frame # n + 1.

From the left of frame #n, based on equation (97), 2
The sum f02 of the foreground components of the th pixel is represented by equation (98).

[0463]       f02 = F01 / v          = C02-α2 ・ N02 (98)

Similarly, the sum f03 of the foreground components of the third pixel from the left of frame #n is represented by equation (99), and the sum f04 of the foreground components of the fourth pixel from the left of frame #n is calculated. Is represented by formula (100).

[0465]       f03 = C03-α3 ・ N03 (99)       f04 = C04-α4 ・ N04 (100)

As described above, the foreground component fu included in the pixel value C of the pixel belonging to the uncovered background area
Is calculated by equation (101).

Fu = C−α · N (101) N is the pixel value of the corresponding pixel in the frame immediately after.

As described above, the separation unit 601 has the information indicating the covered background area included in the area information,
And information indicating the uncovered background area,
In addition, the foreground component and the background component can be separated from the pixels belonging to the mixed region based on the mixture ratio α of each pixel.

FIG. 66 is a block diagram showing an example of the configuration of the separation unit 601 which executes the processing described above. The image input to the separation unit 601 is stored in the frame memory 621.
The region information indicating the covered background region and the uncovered background region and the mixture ratio α supplied from the mixture ratio calculation unit 104 are input to the separation processing block 622.

The frame memory 621 stores the input image in frame units. The frame memory 621 is
When the processing target is the frame #n, the frame # n-1 which is the frame before the frame #n, the frame #n, and the frame # n + 1 which is the frame after the frame #n are Remember.

The frame memory 621 stores the frame # n-1,
The corresponding pixels of frame #n and frame # n + 1 are supplied to the separation processing block 622.

The separation processing block 622 uses the area information indicating the covered background area and the uncovered background area and the mixture ratio α to supply the frame # n-1 and the frame #n supplied from the frame memory 621.
The pixel values of n and the corresponding pixel of frame # n + 1 are shown in FIG.
4 and FIG. 65 is applied to separate the foreground component and the background component from the pixels belonging to the mixed area of the frame #n, and the separated components are supplied to the frame memory 623.

The separation processing block 622 is composed of an uncovered area processing section 631, a covered area processing section 632, a combining section 633, and a combining section 634.

Multiplier 6 of uncovered area processing unit 631
Reference numeral 41 indicates a switch 6 by multiplying the pixel value of the pixel of the frame # n + 1 supplied from the frame memory 621 by the mixture ratio α.
To 42. The switch 642 is used for the frame memory 6
When the pixel of frame #n supplied from 21 (corresponding to the pixel of frame # n + 1) is the uncovered background area, the pixel value is closed and multiplied by the mixing ratio α supplied from the multiplier 641. To the computing unit 643 and the combining unit 63
Supply to 4. Frame output from switch 642
The value obtained by multiplying the pixel value of the pixel of # n + 1 by the mixture ratio α is the frame
Equal to the background component of the pixel value of the corresponding pixel in #n.

The calculator 643 subtracts the background component supplied from the switch 642 from the pixel value of the pixel of frame #n supplied from the frame memory 621 to obtain the foreground component. The calculator 643 supplies the foreground component of the pixel of frame #n belonging to the uncovered background area to the combining unit 633.

The multiplier 651 of the covered area processing unit 632.
Multiplies the pixel value of the pixel of the frame # n−1 supplied from the frame memory 621 by the mixture ratio α, and switches 652.
Output to. The switch 652 is a frame memory 621.
When the pixel of frame #n supplied from (corresponding to the pixel of frame # n-1) is a covered background area, it is closed and the pixel value multiplied by the mixture ratio α supplied from the multiplier 651 is calculated. It is supplied to the container 653 and the combining unit 634. The value obtained by multiplying the pixel value of the pixel of frame # n−1 output from the switch 652 by the mixture ratio α is equal to the background component of the pixel value of the corresponding pixel of frame #n.

The calculator 653 subtracts the background component supplied from the switch 652 from the pixel value of the pixel of frame #n supplied from the frame memory 621 to obtain the foreground component. The calculator 653 supplies the foreground component of the pixel of frame #n belonging to the covered background area to the combining unit 633.

The synthesizing unit 633 uses the arithmetic unit 6 of the frame #n.
The foreground components of the pixels belonging to the uncovered background area supplied from 43 and the foreground components of the pixels belonging to the covered background area supplied from the calculator 653 are combined and supplied to the frame memory 623. .

The synthesizer 634 supplies the background component of the pixel belonging to the uncovered background area, supplied from the switch 642, of the frame #n and the switch 652.
The background components of the pixels belonging to the covered background area, which are supplied from
Supply to.

The frame memory 623 stores the foreground component and the background component of the pixels in the mixed area of frame #n supplied from the separation processing block 622, respectively.

The frame memory 623 outputs the stored foreground component of the pixel of the mixed area of the frame #n and the stored stored background component of the pixel of the mixed area of the frame #n.

By utilizing the mixture ratio α which is the feature amount, it is possible to completely separate the foreground component and the background component included in the pixel value.

The synthesizer 603 synthesizes the foreground components of the pixels in the mixed area of frame #n output from the separator 601 and the pixels belonging to the foreground area to generate a foreground component image. The synthesizing unit 605 synthesizes the background component of the pixel of the mixed area of the frame #n output from the separating unit 601 and the pixel belonging to the background area to generate a background component image.

FIG. 67 is a diagram showing an example of the foreground component image and an example of the background component image corresponding to the frame #n in FIG.

FIG. 67A shows an example of the foreground component image corresponding to frame #n in FIG. Since the leftmost pixel and the 14th pixel from the left consist of only the background component before the foreground and the background are separated, the pixel value is set to 0.

The second to fourth pixels from the left belong to the uncovered background area before the foreground and the background are separated, the background component is set to 0, and the foreground component is left as it is. . The eleventh to thirteenth pixels from the left belong to the covered background area before the foreground and the background are separated, the background component is set to 0, and the foreground component is left as it is. The fifth to tenth pixels from the left are left as they are because they consist of only the foreground components.

FIG. 67B shows an example of a background component image corresponding to frame #n in FIG. The leftmost pixel and the 14th pixel from the left are left as they are because they consisted of only the background component before the foreground and the background were separated.

The second to fourth pixels from the left belong to the uncovered background area before the foreground and the background are separated, the foreground component is set to 0, and the background component is left as it is. . The eleventh to thirteenth pixels from the left belong to the covered background area before the foreground and the background are separated, the foreground component is set to 0, and the background component remains. The fifth to tenth pixels from the left have a pixel value of 0 because they consisted of only the foreground components before the foreground and the background were separated.

Next, the processing for separating the foreground and the background by the foreground / background separator 105 will be described with reference to the flowchart shown in FIG. In step S601, the frame memory 621 of the separation unit 601 acquires the input image,
The frame #n that is the target of separation of the foreground and the background is stored together with the preceding frame # n-1 and the subsequent frame # n + 1.

[0490] In step S602, the separation unit 601.
The separation processing block 622 of 1 acquires the area information supplied from the mixture ratio calculation unit 104. In step S603, the separation processing block 622 of the separation unit 601 acquires the mixture ratio α supplied from the mixture ratio calculation unit 104.

[0491] In step S604, the uncovered area processing unit 631 uses the area information and the mixture ratio α as a basis.
The background component is extracted from the pixel values of the pixels belonging to the uncovered background area, which are supplied from the frame memory 621.

In step S605, the uncovered area processing unit 631 uses the area information and the mixture ratio α as a basis.
The foreground component is extracted from the pixel values of the pixels belonging to the uncovered background area, which are supplied from the frame memory 621.

In step S606, the covered area processing unit 632 extracts the background component from the pixel values of the pixels belonging to the covered background area supplied from the frame memory 621 based on the area information and the mixture ratio α. .

[0494] In step S607, the covered area processing unit 632 extracts the foreground component from the pixel values of the pixels belonging to the covered background area, which are supplied from the frame memory 621, based on the area information and the mixture ratio α. .

[0495] In step S608, the combining unit 633.
Combines the foreground components of the pixels belonging to the uncovered background area extracted in the processing of step S605 and the foreground components of the pixels belonging to the covered background area extracted in the processing of step S607. The combined foreground component is supplied to the combining unit 603. Further, the combining unit 603 combines the pixels belonging to the foreground region supplied via the switch 602 and the foreground components supplied from the separating unit 601 to generate a foreground component image.

[0496] In step S609, the combining unit 634.
Combines the background components of the pixels belonging to the uncovered background area extracted in the processing of step S604 and the background components of the pixels belonging to the covered background area extracted in the processing of step S606. The combined background component is supplied to the combining unit 605. Furthermore, the combining unit 605 combines the pixels belonging to the background area supplied via the switch 604 and the background components supplied from the separating unit 601 to generate a background component image.

[0497] In step S610, the combining unit 603.
Outputs the foreground component image. In step S611, the combining unit 605 outputs the background component image, and the processing ends.

As described above, the foreground / background separation unit 105 separates the foreground component and the background component from the input image based on the area information and the mixture ratio α, and the foreground component image consisting of only the foreground component, It is possible to output a background component image including only the background component.

Next, the adjustment of the amount of motion blur of the foreground component image will be described.

FIG. 69 is a block diagram showing an example of the configuration of the motion-blur adjusting unit 106. The motion vector and its position information supplied from the motion detection unit 102 are supplied to the processing unit determination unit 801, the modeling unit 802, and the calculation unit 805. The area information supplied from the area specifying unit 103 is supplied to the processing unit determining unit 801. The foreground component image supplied from the foreground / background separator 105 is added by the adder 8
04.

The processing unit determination unit 801 generates a processing unit based on the motion vector, its position information, and area information, and supplies the generated processing unit to the modeling unit 802 and addition unit 804.

The processing unit generated by the processing unit determining unit 801 starts from the pixel corresponding to the covered background area of the foreground component image and ends at the pixel corresponding to the uncovered background area, as shown in FIG. It shows continuous pixels lined up in the movement direction or continuous pixels lined up in the movement direction starting from pixels corresponding to the uncovered background area and extending to pixels corresponding to the covered background area. The processing unit is, for example, 2 at the upper left point (the position of the pixel specified in the processing unit and located at the leftmost or uppermost pixel on the image) and the lower right point.
It consists of two data.

The modeling unit 802 executes modeling based on the motion vector and the input processing unit. More specifically, for example, the modeling unit 802 preliminarily prepares a plurality of models corresponding to the number of pixels included in the processing unit, the virtual number of pixel values in the time direction, and the number of foreground components for each pixel. A model that specifies the correspondence between the pixel value and the foreground component as shown in FIG. 71 is selected based on the processing unit and the virtual division number of the pixel value in the time direction.

For example, if the number of pixels corresponding to the processing unit is 1
When it is 2 and the amount of movement v within the shutter time is 5, the modeling unit 802 sets the virtual number of divisions to 5, the pixel located at the leftmost includes one foreground component, and is second from the left. Pixel includes two foreground components, the third pixel from the left includes three foreground components, the fourth pixel from the left includes four foreground components, and the fifth pixel from the left is five. Including the foreground component, the sixth pixel from the left contains five foreground components, the seventh pixel from the left contains five foreground components, and the eighth pixel from the left contains five foreground components , The 9th pixel from the left contains four foreground components, the 10th pixel from the left contains 3 foreground components, the 11th pixel from the left contains 2 foreground components, and the 12th from the left
The model in which the th pixel contains one foreground component and a total of eight foreground components is selected.

Note that the modeling unit 802 does not select from a model stored in advance, but generates a model based on the motion vector and the processing unit when the motion vector and the processing unit are supplied. You may do it.

The modeling unit 802 supplies the selected model to the equation generation unit 803.

The equation generation unit 803 has a modeling unit 802.
Generates an equation based on the model supplied by. Figure 7
Referring to the model of the foreground component image shown in FIG. 1, the number of foreground components is 8, the number of pixels corresponding to the processing unit is 12, the motion amount v is 5, and the virtual division number is 5. An equation generated by the equation generation unit 803 at a given time will be described.

When the foreground component corresponding to the shutter time / v included in the foreground component image is F01 / v to F08 / v, F01 / v
To F08 / v and the pixel values C01 to C12 are expressed by the formula (10
2) to Expression (113).

[0509]       C01 = F01 / v (102)       C02 = F02 / v + F01 / v (103)       C03 = F03 / v + F02 / v + F01 / v (104)       C04 = F04 / v + F03 / v + F02 / v + F01 / v (105)       C05 = F05 / v + F04 / v + F03 / v + F02 / v + F01 / v (106)       C06 = F06 / v + F05 / v + F04 / v + F03 / v + F02 / v (107)       C07 = F07 / v + F06 / v + F05 / v + F04 / v + F03 / v (108)       C08 = F08 / v + F07 / v + F06 / v + F05 / v + F04 / v (109)       C09 = F08 / v + F07 / v + F06 / v + F05 / v (110)       C10 = F08 / v + F07 / v + F06 / v (111)       C11 = F08 / v + F07 / v (112)       C12 = F08 / v (113)

The equation generation unit 803 deforms the generated equation to generate an equation. The equations generated by the equation generation unit 803 are shown in equations (114) to (125).

[0511] C01 = 1 / F01 / v + 0 / F02 / v + 0 / F03 / v + 0 / F04 / v + 0 / F05 / v                         + 0 / F06 / v + 0 / F07 / v + 0 / F08 / v (114) C02 = 1 ・ F01 / v + 1 ・ F02 / v + 0 ・ F03 / v + 0 ・ F04 / v + 0 ・ F05 / v                         + 0 / F06 / v + 0 / F07 / v + 0 / F08 / v (115) C03 = 1 / F01 / v + 1 / F02 / v + 1 / F03 / v + 0 / F04 / v + 0 / F05 / v                         + 0 / F06 / v + 0 / F07 / v + 0 / F08 / v (116) C04 = 1 / F01 / v + 1 / F02 / v + 1 / F03 / v + 1 / F04 / v + 0 / F05 / v                         + 0 / F06 / v + 0 / F07 / v + 0 / F08 / v (117) C05 = 1 / F01 / v + 1 / F02 / v + 1 / F03 / v + 1 / F04 / v + 1 / F05 / v                         + 0 / F06 / v + 0 / F07 / v + 0 / F08 / v (118) C06 = 0 ・ F01 / v + 1 ・ F02 / v + 1 ・ F03 / v + 1 ・ F04 / v + 1 ・ F05 / v                         +1 / F06 / v + 0 / F07 / v + 0 / F08 / v (119) C07 = 0 ・ F01 / v + 0 ・ F02 / v + 1 ・ F03 / v + 1 ・ F04 / v + 1 ・ F05 / v                         + 1 / F06 / v + 1 / F07 / v + 0 / F08 / v (120) C08 = 0 / F01 / v + 0 / F02 / v + 0 / F03 / v + 1 / F04 / v + 1 / F05 / v                         +1 / F06 / v + 1 / F07 / v + 1 / F08 / v (121) C09 = 0 ・ F01 / v + 0 ・ F02 / v + 0 ・ F03 / v + 0 ・ F04 / v + 1 ・ F05 / v                         +1 / F06 / v + 1 / F07 / v + 1 / F08 / v (122) C10 = 0 ・ F01 / v + 0 ・ F02 / v + 0 ・ F03 / v + 0 ・ F04 / v + 0 ・ F05 / v                         +1 / F06 / v + 1 / F07 / v + 1 / F08 / v (123) C11 = 0 ・ F01 / v + 0 ・ F02 / v + 0 ・ F03 / v + 0 ・ F04 / v + 0 ・ F05 / v                         +0 / F06 / v + 1 / F07 / v + 1 / F08 / v (124) C12 = 0 ・ F01 / v + 0 ・ F02 / v + 0 ・ F03 / v + 0 ・ F04 / v + 0 ・ F05 / v                         +0 / F06 / v +0 / F07 / v + 1 / F08 / v (125)

The expressions (114) to (125) are given by the expressions (1
26) can also be represented.

[0513]

[Equation 17]

In Expression (126), j indicates the position of the pixel. In this example, j has a value of 1 to 12. Further, i indicates the position of the foreground value.
In this example, i has a value from 1 to 8. aij is 0 or 1 corresponding to the values of i and j
Has a value of.

Expressing in consideration of the error, equation (126)
Can be expressed as in equation (127).

[0516]

[Equation 18] In Expression (127), ej is an error included in the target pixel Cj.

Expression (127) can be rewritten as expression (128).

[0518]

[Formula 19]

Here, since the least squares method is applied, the sum of squares E of the error is defined as shown in equation (129).

[0520]

[Equation 20]

In order to minimize the error, the sum of squares of the error is
It suffices if the value of the partial differential with respect to E by the variable Fk becomes zero. Fk is calculated so as to satisfy the equation (130).

[0522]

[Equation 21]

Since the motion amount v is a fixed value in the equation (130), the equation (131) can be derived.

[0524]

[Equation 22]

When the expression (131) is expanded and transposed, the expression (132) is obtained.

[0526]

[Equation 23]

This is expanded to eight expressions obtained by substituting any one of the integers 1 to 8 for k in expression (132). The obtained eight expressions can be expressed by one expression by a matrix. This equation is called a normal equation.

An example of a normal equation generated by the equation generation unit 803 based on such a least squares method is shown in equation (133).

[0529]

[Equation 24]

When the equation (133) is expressed as A · F = v · C, C, A, v are known and F is unknown. A and v are known at the time of modeling, but C is known by inputting pixel values in the adding operation.

The error contained in the pixel C can be dispersed by calculating the foreground component by the normal equation based on the method of least squares.

The equation generator 803 supplies the normal equation thus generated to the adder 804.

The adding unit 804 is the processing unit determining unit 80.
Based on the processing unit supplied from 1, the pixel value C included in the foreground component image is set in the matrix equation supplied from the equation generation unit 803. The adder 804 supplies the matrix in which the pixel value C is set to the calculator 805.

The calculation unit 805 uses the sweep method (Gauss-Jord
The foreground component Fi / v with motion blur removed is calculated by a process based on a solution method such as (an elimination method), and is an integer from 0 to 8 that is the pixel value of the foreground with motion blur removed. 72 corresponding to i in FIG. 72 is calculated, and a foreground component image from which motion blur has been removed, the foreground component image consisting of Fi that is a pixel value from which motion blur has been removed, is shown in FIG. Output to 807.

In the foreground component image shown in FIG. 72 from which motion blur has been removed, C01 to C10 are set to F01 to F08, respectively, because the position of the foreground component image with respect to the screen is not changed. And can correspond to any position.

The motion-blur adding unit 806 determines a motion-blur adjustment amount v ′ having a value different from the motion amount v, for example, a motion-blur adjustment amount v ′ that is a half of the motion amount v, or a value irrelevant to the motion amount v. The amount of motion blur can be adjusted by giving the amount of motion blur adjustment v'of. For example, as illustrated in FIG. 73, the motion-blur adding unit 806 causes the motion-blur-removed foreground pixel value Fi
Of the foreground component Fi / v '
Is calculated, the sum of the foreground components Fi / v ′ is calculated, and a pixel value in which the amount of motion blur is adjusted is generated. For example, when the motion blur adjustment amount v ′ is 3, the pixel value C02 is (F01) / v ′, the pixel value C03 is (F01 + F02) / v ′, and the pixel value C04
Is (F01 + F02 + F03) / v ', and the pixel value C05 is (F02 + F03
03 + F04) / v '.

The motion blur adding section 806 supplies the foreground component image in which the amount of motion blur is adjusted to the selecting section 807.

The selecting unit 807, for example, based on the selection signal corresponding to the user's selection, the foreground component image from which the motion blur supplied from the calculating unit 805 has been removed, and the motion supplied from the motion blur adding unit 806. Either one of the foreground component images whose blur amount has been adjusted is selected, and the selected foreground component image is output.

In this way, the motion blur adjusting section 106 can adjust the amount of motion blur based on the selection signal and the motion blur adjustment amount v '.

Further, for example, as shown in FIG. 74, when the number of pixels corresponding to the processing unit is 8 and the motion amount v is 4, the motion-blur adjusting unit 106 determines that the matrix shown in equation (134) is used. Generates the expression.

[0541]

[Equation 25]

The motion-blur adjusting unit 106 formulates a number equation corresponding to the length of the processing unit in this way, and calculates Fi, which is the pixel value in which the amount of motion-blur is adjusted. Similarly, for example, when the number of pixels included in the processing unit is 100, 1
Fi is calculated by generating an equation corresponding to 00 pixels.

FIG. 75 is a diagram showing another structure of the motion-blur adjusting unit 106. The same parts as those shown in FIG. 69 are designated by the same reference numerals, and the description thereof will be omitted.

Based on the selection signal, the selection unit 821 supplies the input motion vector and its position signal as they are to the processing unit determination unit 801 and the modeling unit 802, or adjusts the size of the motion vector by motion blur. The motion vector whose position is replaced with the motion blur adjustment amount v ′ and its position signal by replacing the amount v ′ with the motion blur adjustment amount v ′ is supplied to the processing unit determination unit 801 and the modeling unit 802.

By doing so, the processing unit determination unit 801 to the calculation unit 805 of the motion blur adjustment unit 106 in FIG.
Can adjust the amount of motion blur corresponding to the values of the motion amount v and the motion blur adjustment amount v ′. For example, the amount of movement v
Is 5 and the motion blur adjustment amount v ′ is 3, the processing unit determination units 801 to 805 of the motion blur adjustment unit 106 in FIG. FIG. 73 corresponding to the motion blur adjustment amount v ′ which is 3 for the image
The calculation is performed according to the model shown in
v) / (motion blur adjustment amount v ′) = 5/3, that is, an image including motion blur corresponding to the motion amount v of approximately 1.7 is calculated. In addition,
In this case, since the calculated image does not include the motion blur corresponding to the motion amount v of 3, the motion blur adding unit 80
It should be noted that the meaning of the relationship between the motion amount v and the motion blur adjustment amount v ′ is different from the result of No. 6.

As described above, the motion-blur adjusting unit 106
An expression is generated corresponding to the motion amount v and the processing unit, and the pixel value of the foreground component image is set in the generated expression to calculate the foreground component image in which the amount of motion blur is adjusted.

Next, the process of adjusting the amount of motion blur included in the foreground component image by the motion blur adjusting unit 106 will be described with reference to the flowchart in FIG.

In step S801, the processing unit determination unit 801 of the motion blur adjustment unit 106 generates a processing unit based on the motion vector and the area information, and supplies the generated processing unit to the modeling unit 802.

In step S802, the modeling unit 802 of the motion blur adjusting unit 106 selects or generates a model corresponding to the motion amount v and the processing unit. Step S
In 803, the equation generation unit 803 creates a normal equation based on the selected model.

[0550] In step S804, the adding portion 8 is added.
04 sets the pixel value of the foreground component image in the created normal equation. In step S805, the adding portion 8
04 determines whether or not the pixel values of all the pixels corresponding to the processing unit have been set, and when it is determined that the pixel values of all the pixels corresponding to the processing unit have not been set, step S804. Then, the process of setting the pixel value in the normal equation is repeated.

If it is determined in step S805 that the pixel values of all pixels in the processing unit have been set, the operation proceeds to step S806, where the arithmetic unit 805 causes the adder 8
Based on the normal equation in which the pixel values supplied from 04 are set, the pixel value of the foreground in which the amount of motion blur is adjusted is calculated,
The process ends.

As described above, the motion blur adjusting unit 106 can adjust the amount of motion blur from the foreground image including motion blur based on the motion vector and the area information.

That is, it is possible to adjust the amount of motion blur included in the pixel value which is the sample data.

FIG. 77 is a block diagram showing another example of the configuration of the motion-blur adjusting unit 106. The motion vector and its position information supplied from the motion detection unit 102 are supplied to the processing unit determination unit 901 and the correction unit 905, and the region information supplied from the region identification unit 103 is processed unit determination unit 9.
01 is supplied. The foreground component image supplied from the foreground / background separation unit 105 is supplied to the calculation unit 904.

The processing unit determination unit 901 generates a processing unit based on the motion vector, its position information, and area information, and supplies the generated processing unit to the modeling unit 902 together with the motion vector.

The modeling unit 902 executes modeling based on the motion vector and the input processing unit. More specifically, for example, the modeling unit 902 preliminarily creates a plurality of models corresponding to the number of pixels included in the processing unit, the virtual number of pixel values in the time direction, and the number of foreground components for each pixel. A model that specifies the correspondence between the pixel value and the foreground component as shown in FIG. 78 is stored based on the processing unit and the virtual division number of the pixel value in the time direction.

For example, the number of pixels corresponding to the processing unit is 1
When it is 2 and the amount of movement v is 5, the modeling unit 902 sets the number of virtual divisions to 5, the leftmost pixel includes one foreground component, and the second pixel from the left is 2 pixels.
The third pixel from the left contains three foreground components, the fourth pixel from the left contains four foreground components, and the fifth pixel from the left contains five foreground components. Including, the 6th pixel from the left contains 5 foreground components, the 7th pixel from the left contains 5 foreground components, and 8 from the left
The tenth pixel contains five foreground components, the ninth pixel from the left contains four foreground components, the tenth pixel from the left contains three foreground components, and the eleventh pixel from the left is two.
A model is selected that includes two foreground components, the twelfth pixel from the left includes one foreground component, and a total of eight foreground components.

The modeling unit 902 does not select from a model stored in advance, but generates a model based on the motion vector and the processing unit when the motion vector and the processing unit are supplied. You may do it.

The equation generation unit 903 is the modeling unit 902.
Generates an equation based on the model supplied by.

Referring to the models of the foreground component images shown in FIGS. 78 to 80, the number of foreground components is 8, the number of pixels corresponding to the processing unit is 12, and the motion amount v is 5. An example of an equation generated by the equation generation unit 903 at that time will be described.

When the foreground component corresponding to the shutter time / v included in the foreground component image is F01 / v to F08 / v, F01 / v
As described above, the relationships between F08 / v to F08 / v and the pixel values C01 to C12 are expressed by the equations (102) to (113).

Focusing on the pixel values C12 and C11, the pixel values
As shown in Expression (135), C12 includes only the foreground component F08 / v, and the pixel value C11 is the sum of products of the foreground component F08 / v and the foreground component F07 / v. Therefore, the foreground component F07 / v
Can be obtained by the equation (136).

[0563]       F08 / v = C12 (135)       F07 / v = C11-C12 (136)

Similarly, considering the foreground components included in the pixel values C10 to C01, the foreground components F06 / v to F01 / v can be obtained from the equations (137) to (142).

[0565]       F06 / v = C10-C11 (137)       F05 / v = C09-C10 (138)       F04 / v = C08-C09 (139)       F03 / v = C07-C08 + C12 (140)       F02 / v = C06-C07 + C11-C12 (141)       F01 / v = C05-C06 + C10-C11 (142)

The equation generation unit 903 generates the equations shown in the equations (135) to (142) for calculating the foreground component from the pixel value difference. Equation generator 90
3 supplies the generated equation to the calculation unit 904.

The calculation unit 904 sets the pixel value of the foreground component image in the equation supplied from the equation generation unit 903,
The foreground component is calculated based on the equation in which the pixel value is set. The calculation unit 904 may calculate, for example, Equations (135) to (1).
42) is supplied from the equation generation unit 903, the pixel values C05 to C12 are set in the equations (135) to (142).

The calculation unit 904 calculates the foreground component based on the equation in which the pixel value is set. For example, the calculation unit 904
Is calculated by the equations (135) to (142) in which the pixel values C05 to C12 are set, as shown in FIG.
Foreground components F01 / v through F08 / v are calculated. Computing unit 904
Supplies the foreground components F01 / v to F08 / v to the correction unit 905.

The correction unit 905 multiplies the foreground component supplied from the calculation unit 904 by the motion amount v included in the motion vector supplied from the processing unit determination unit 901, and removes the motion blur from the foreground pixel value. To calculate. For example, the correction unit 9
05 is the foreground component F01 / v supplied from the calculation unit 904.
To F08 / v are supplied, the foreground components F01 / v to F08 /
By multiplying each of v by the amount of movement v, which is 5,
As shown in FIG. 80, the pixel value of the foreground with motion blur removed
Calculate F01 to F08.

The correction unit 905 supplies the motion blur adding unit 906 and the selection unit 907 with the foreground component image composed of the pixel values of the foreground from which motion blur has been calculated, calculated as described above.

The motion-blur adding unit 906 determines a motion-blur adjustment amount v ′ having a value different from the motion amount v, for example, a motion-blur adjustment amount v ′ that is a half of the motion amount v, and a value irrelevant to the motion amount v. The amount of motion blur can be adjusted with the amount of motion blur adjustment v '.
For example, as shown in FIG. 73, the motion blur adding unit 906
Calculates the foreground component Fi / v 'by dividing the foreground pixel value Fi from which motion blur has been removed by the motion blur adjustment amount v',
The sum of the foreground components Fi / v 'is calculated to generate a pixel value in which the amount of motion blur is adjusted. For example, the motion blur adjustment amount v ′ is 3
, The pixel value C02 is set to (F01) / v ', and the pixel value C03
Is (F01 + F02) / v ', and the pixel value C04 is (F01 + F02 + F
03) / v ', and the pixel value C05 is (F02 + F03 + F04) / v'.

The motion blur adding section 906 supplies the foreground component image in which the amount of motion blur is adjusted to the selecting section 907.

The selecting unit 907, for example, based on the selection signal corresponding to the user's selection, the foreground component image supplied from the correcting unit 905 from which the motion blur is removed, and the motion supplied from the motion blur adding unit 906. Either one of the foreground component images whose blur amount has been adjusted is selected, and the selected foreground component image is output.

In this way, the motion blur adjusting section 106 can adjust the amount of motion blur based on the selection signal and the motion blur adjustment amount v '.

Next, FIG. 81 shows the process of adjusting the amount of motion blur of the foreground by the motion blur adjusting unit 106 having the configuration shown in FIG.
This will be described with reference to the flowchart in FIG.

In step S901, the processing unit determination unit 901 of the motion blur adjustment unit 106 generates a processing unit based on the motion vector and the area information, and supplies the generated processing unit to the modeling unit 902 and the correction unit 905. To do.

[0577] In step S902, the modeling unit 902 of the motion-blur adjusting unit 106 selects or generates a model corresponding to the motion amount v and the processing unit. Step S
In 903, the equation generation unit 903 generates an equation for calculating the foreground component based on the difference in pixel value of the foreground component image based on the selected or generated model.

[0578] In step S904, the calculation unit 904
Sets the pixel value of the foreground component image in the created equation, and extracts the foreground component from the difference in pixel value based on the equation in which the pixel value is set. In step S905,
The calculation unit 904 determines whether or not all foreground components corresponding to the processing unit have been extracted, and when it is determined that all foreground components corresponding to the processing unit have not been extracted, the processing unit 904 returns to step S904. , The process of extracting the foreground components is repeated.

If it is determined in step S905 that all foreground components corresponding to the processing unit have been extracted,
In step S906, the correction unit 905 corrects each of the foreground components F01 / v to F08 / v supplied from the calculation unit 904 based on the motion amount v to remove the motion blur, and the foreground pixel value. Calculate F01 to F08.

[0580] In step S907, the motion blur adding unit 906 calculates the foreground pixel value in which the amount of motion blur is adjusted, and the selection unit 907 adjusts the image from which motion blur has been removed or the amount of motion blur. Selected image is output, the selected image is output, and the process ends.

As described above, the motion-blur adjusting unit 106 having the configuration shown in FIG. 77 can adjust the motion-blur from the foreground image containing the motion-blur more quickly by a simpler calculation.

The conventional technique for partially removing motion blur such as the Wiener filter is effective in the ideal state, but is not sufficiently effective for an actual image including quantization and noise. On the other hand, even in the motion-blur adjusting unit 106 having the configuration shown in FIG.
It is possible to remove motion blur with high accuracy.

As described above, the image processing apparatus having the configuration shown in FIG. 2 can adjust the amount of motion blur included in the input image.

FIG. 82 is a block diagram showing another structure of the function of the image processing apparatus.

The same parts as those shown in FIG. 2 are designated by the same reference numerals, and the description thereof will be appropriately omitted.

The area specifying unit 103 supplies the area information to the mixture ratio calculating unit 104 and the synthesizing unit 1001.

The mixture ratio calculation unit 104 supplies the mixture ratio α to the foreground / background separation unit 105 and the synthesis unit 1001.

The foreground / background separator 105 supplies the foreground component image to the synthesizer 1001.

The synthesizing unit 1001 is supplied from the arbitrary background image and the foreground / background separating unit 105 based on the mixture ratio α supplied from the mixture ratio calculating unit 104 and the area information supplied from the area specifying unit 103. The foreground component image is combined to output a combined image in which an arbitrary background image and the foreground component image are combined.

FIG. 83 is a diagram showing the structure of the combining unit 1001. The background component generation unit 1021 generates a background component image based on the mixture ratio α and an arbitrary background image, and supplies the background component image to the mixed region image synthesis unit 1022.

The mixed area image combining unit 1022 combines the background component image and the foreground component image supplied from the background component generating unit 1021 to generate a mixed area combined image, and generate the generated mixed area combined image. Image composition unit 1023
Supply to.

The image synthesizing unit 1023, based on the area information,
The foreground component image, the mixed area combined image supplied from the mixed area image combining unit 1022, and an arbitrary background image are combined to generate and output a combined image.

As described above, the combining unit 1001 can combine the foreground component image with an arbitrary background image.

The image obtained by synthesizing the foreground component image with an arbitrary background image based on the mixture ratio α which is the feature amount becomes more natural than the image obtained by simply synthesizing pixels.

FIG. 84 is a block diagram showing still another configuration of the function of the image processing apparatus for adjusting the amount of motion blur.
While the image processing apparatus shown in FIG. 2 sequentially performs the region identification and the calculation of the mixture ratio α, the image processing apparatus shown in FIG.
The region is specified and the mixture ratio α is calculated in parallel.

The same parts as those shown in the block diagram of FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted.

The input image is supplied to the mixture ratio calculating unit 1101, the foreground / background separating unit 1102, the region specifying unit 103, and the object extracting unit 101.

The mixture ratio calculation unit 1101 estimates the mixture ratio based on the input image when the pixel belongs to the covered background area and the estimated mixture ratio when the pixel belongs to the uncovered background area. A ratio is calculated for each of the pixels included in the input image, and the estimated mixture ratio in the case where the calculated pixel is assumed to belong to the covered background region,
And the estimated mixture ratio under the assumption that the pixel belongs to the uncovered background area is supplied to the foreground / background separation unit 1102.

FIG. 85 is a block diagram showing an example of the configuration of the mixture ratio calculation unit 1101.

The estimated mixing ratio processing unit 401 shown in FIG.
It is the same as the estimated mixture ratio processing unit 401 shown in FIG. The estimated mixing ratio processing unit 402 shown in FIG. 85 is the same as the estimated mixing ratio processing unit 402 shown in FIG.

The estimated mixture ratio processing unit 401 calculates the estimated mixture ratio for each pixel by the calculation corresponding to the model of the covered background area based on the input image, and outputs the calculated estimated mixture ratio.

The estimated mixture ratio processing unit 402 calculates the estimated mixture ratio for each pixel by the calculation corresponding to the model of the uncovered background area based on the input image, and outputs the calculated estimated mixture ratio.

The foreground / background separator 1102 supplies the estimated mixture ratio supplied from the mixture ratio calculator 1101, assuming that the pixel belongs to the covered background area.
And the estimated mixture ratio in the case where the pixel belongs to the uncovered background area, and the area information supplied from the area specifying unit 103, the foreground component image is generated from the input image, and the generated foreground component image is generated. It is supplied to the motion blur adjusting unit 106 and the selecting unit 107.

FIG. 86 is a block diagram showing an example of the structure of the foreground / background separator 1102.

The same parts as those of the foreground / background separator 105 shown in FIG. 61 are designated by the same reference numerals, and the description thereof will be omitted.

The selecting unit 1121 uses the region information supplied from the region specifying unit 103 to estimate the mixture ratio supplied from the mixture ratio calculating unit 1101, assuming that the pixel belongs to the covered background region, and One of the estimated mixing ratios in the case where the pixel is assumed to belong to the uncovered background area is selected, and the selected estimated mixing ratio is supplied to the separation unit 601 as the mixing ratio α.

The separating unit 601 extracts the foreground component and the background component from the pixel values of the pixels belonging to the mixed region based on the mixture ratio α and the region information supplied from the selecting unit 1121 and extracts the extracted foreground component. To the synthesizing unit 603 and the background component to the synthesizing unit 605.

The separating unit 601 can have the same structure as that shown in FIG.

The synthesizer 603 synthesizes the foreground component image and outputs it. The combining unit 605 combines and outputs the background component images.

The motion blur adjustment unit 106 shown in FIG. 84 can have the same configuration as that shown in FIG. 2, and based on the area information and the motion vector, the foreground component image supplied from the foreground / background separation unit 1102. The amount of motion blur included in is adjusted and the foreground component image with the adjusted amount of motion blur is output.

The selection section 107 shown in FIG. 84 is based on a selection signal corresponding to the user's selection, for example, the foreground / background separation section 1
One of the foreground component image supplied from 102 and the foreground component image supplied from the motion blur adjusting unit 106 in which the amount of motion blur is adjusted is selected, and the selected foreground component image is output.

As described above, the image processing apparatus having the configuration shown in FIG. 84 adjusts and outputs the amount of motion blur included in an image corresponding to the foreground object included in the input image. You can The image processing apparatus having the configuration shown in FIG. 84 can calculate the mixing ratio α, which is the buried information, and output the calculated mixing ratio α, as in the first embodiment.

FIG. 87 is a block diagram showing another structure of the function of the image processing apparatus for synthesizing the foreground component image with an arbitrary background image. The image processing apparatus shown in FIG. 82 serially performs area identification and calculation of the mixture ratio α, whereas the image processing apparatus shown in FIG. 87 performs area identification and calculation of the mixture ratio α in parallel.

The same parts as those of the function shown in the block diagram of FIG. 84 are designated by the same reference numerals, and the description thereof will be omitted.

The mixture ratio calculation unit 1101 shown in FIG. 87 assumes that the pixel belongs to the covered background region based on the input image, and that the pixel belongs to the uncovered background region. The estimated mixture ratio in each case is calculated for each pixel included in the input image, and the estimated mixture ratio assuming that the calculated pixel belongs to the covered background area, and the pixel belongs to the uncovered background area The estimated mixture ratio in the case of the above assumption is supplied to the foreground / background separation unit 1102 and the synthesis unit 1201.

The foreground / background separator 1102 shown in FIG.
The estimated mixture ratio supplied from the mixture ratio calculation unit 1101 when the pixel is assumed to belong to the covered background area, the estimated mixture ratio when the pixel is assumed to belong to the uncovered background area, and the area specifying unit Based on the area information supplied from 103,
A foreground component image is generated from the input image, and the generated foreground component image is supplied to the combining unit 1201.

The synthesis unit 1201 has a mixture ratio calculation unit 1101.
, The estimated mixture ratio when the pixels are assumed to belong to the covered background area, and the estimated mixture ratio when the pixels are assumed to belong to the uncovered background area, the area supplied from the area specifying unit 103. An arbitrary background image and the foreground component image supplied from the foreground / background separating unit 1102 are combined based on the information, and a combined image in which the arbitrary background image and the foreground component image are combined is output.

FIG. 88 is a diagram showing the structure of the combining unit 1201. The same parts as those shown in the block diagram of FIG. 83 are designated by the same reference numerals, and the description thereof will be omitted.

The selecting unit 1221 uses the region information supplied from the region specifying unit 103 to estimate the mixture ratio supplied from the mixture ratio calculating unit 1101, assuming that the pixel belongs to the covered background region, and The background component generation unit 10 selects either one of the estimated mixture ratios on the assumption that the pixel belongs to the uncovered background area and sets the selected estimated mixture ratio as the mixture ratio α.
21.

The background component generation unit 1021 shown in FIG. 88 is
A background component image is generated based on the mixture ratio α and an arbitrary background image supplied from the selection unit 1221 and is supplied to the mixed region image synthesis unit 1022.

[0621] The mixed area image synthesis unit 1022 shown in FIG. 88.
Generates a mixed area combined image by combining the background component image and the foreground component image supplied from the background component generation unit 1021, and supplies the generated mixed area combined image to the image combining unit 1023.

The image composition unit 1023, based on the area information,
The foreground component image, the mixed area combined image supplied from the mixed area image combining unit 1022, and an arbitrary background image are combined to generate and output a combined image.

As described above, the combining unit 1201 can combine the foreground component image with an arbitrary background image.

Although the mixing ratio α has been described as the ratio of the background component included in the pixel value, it may be the ratio of the foreground component included in the pixel value.

Further, the movement direction of the foreground object has been described as left to right, but it goes without saying that it is not limited to that direction.

In the above, the case where the image of the real space having the three-dimensional space and the time-axis information is projected to the two-dimensional space and the space-time having the time-axis information by using the video camera has been taken as an example. The present invention is not limited to this example, and when more first information of the first dimension is projected to less second information of the second dimension, the distortion generated by the projection is corrected. It is also possible to apply it when extracting significant information, or when synthesizing images more naturally.

The sensor is not limited to the CCD but is a solid-state image sensor, such as a BBD (Bucket Brigade Device),
CID (Charge Injection Device), CPD (Charge Primin
g Device) or CMOS (Complementary Mental Oxide
Semiconductor) sensor or the like, or
The sensors are not limited to the sensors in which the detection elements are arranged in a matrix, and may be sensors in which the detection elements are arranged in one row.

As shown in FIG. 1, a recording medium on which a program for performing signal processing of the present invention is recorded is a magnetic disk on which the program is recorded, which is distributed in order to provide the program to the user separately from the computer. 51 (including floppy (registered trademark) disc), optical disc 52
(CD-ROM (Compact Disc-Read Only Memory), DVD (Digita
(including Versatile Disc)), magneto-optical disc 53 (M
D (including Mini-Disc) (trademark)) or a package medium including a semiconductor memory 54, etc., and a program recorded in a computer and provided to a user is recorded. RO
The M22 and the hard disk included in the storage unit 28 are included.

In this specification, the steps for writing the program recorded on the recording medium are not limited to the processing performed in time series according to the order described, but may not necessarily be performed in time series. It also includes processing executed in parallel or individually.

[0630]

According to the image processing apparatus and method, the recording medium, and the program of the present invention, the pixel data of the peripheral frame around the target frame corresponding to the target pixel of the target frame of the image data is converted into the image data. The background pixel data corresponding to the background object of the plurality of objects is extracted, and the target pixel data of the target pixel and the neighboring pixel data of the neighboring pixel located near the target pixel in the target frame are also extracted. , For the target pixel, a plurality of relational expressions indicating the relationship between the target pixel data and the neighboring pixel data, and the background pixel data corresponding to the target pixel data or the neighboring pixel data are generated, and the target pixel is handled based on the relational expression. Then, the mixture ratio indicating the mixture state of multiple objects in the real world is detected, and the relational expression is generated. In, on the basis of the approximate mixing ratio corresponding to the pixel of interest and its neighboring pixels is constant,
Since a plurality of relational expressions are generated, it becomes possible to detect a mixture ratio indicating a state of mixture of a plurality of objects such as a background image and a moving object image.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of an image processing apparatus according to the present invention.

FIG. 2 is a block diagram showing an image processing apparatus.

FIG. 3 is a diagram illustrating imaging by a sensor.

FIG. 4 is a diagram illustrating an arrangement of pixels.

FIG. 5 is a diagram illustrating an operation of a detection element.

FIG. 6 is a diagram illustrating an image obtained by capturing an object corresponding to a moving foreground and an object corresponding to a stationary background.

FIG. 7 is a diagram illustrating a background area, a foreground area, a mixed area, a covered background area, and an uncovered background area.

FIG. 8 is a model diagram in which the pixel values of pixels arranged in a row adjacent to each other in a captured image of an object corresponding to a stationary foreground and an object corresponding to a stationary background are expanded in the time direction. Is.

FIG. 9 is a model diagram in which a pixel value is expanded in a time direction and a period corresponding to a shutter time is divided.

FIG. 10 is a model diagram in which a pixel value is expanded in a time direction and a period corresponding to a shutter time is divided.

FIG. 11 is a model diagram in which a pixel value is expanded in the time direction and a period corresponding to a shutter time is divided.

FIG. 12 is a diagram showing an example in which pixels of a foreground area, a background area, and a mixed area are extracted.

FIG. 13 is a diagram showing correspondence between pixels and a model in which pixel values are expanded in the time direction.

FIG. 14 is a model diagram in which a pixel value is expanded in a time direction and a period corresponding to a shutter time is divided.

FIG. 15 is a model diagram in which a pixel value is expanded in a time direction and a period corresponding to a shutter time is divided.

FIG. 16 is a model diagram in which a pixel value is expanded in the time direction and a period corresponding to a shutter time is divided.

FIG. 17 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 18 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 19 is a flowchart illustrating a process for adjusting the amount of motion blur.

FIG. 20 is a block diagram showing an example of a configuration of a region specifying unit 103.

FIG. 21 is a diagram illustrating an image when an object corresponding to the foreground is moving.

FIG. 22 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 23 is a model diagram in which a pixel value is expanded in the time direction and a period corresponding to a shutter time is divided.

FIG. 24 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 25 is a diagram illustrating conditions for region determination.

FIG. 26 is a diagram showing an example of a region identification result of the region identification unit 103.

FIG. 27 is a diagram showing an example of a result of specifying a region by the region specifying unit 103.

FIG. 28 is a flowchart illustrating a region specifying process.

FIG. 29 is a block diagram showing another example of the configuration of the area specifying unit 103.

FIG. 30 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 31 is a diagram showing an example of a background image.

FIG. 32 is a block diagram showing a configuration of a binary object image extraction unit 302.

FIG. 33 is a diagram illustrating calculation of a correlation value.

FIG. 34 is a diagram illustrating calculation of a correlation value.

FIG. 35 is a diagram showing an example of a binary object image.

FIG. 36 is a block diagram showing a configuration of a time change detection unit 303.

FIG. 37 is a diagram illustrating a determination made by the area determination unit 342.

FIG. 38 is a diagram showing an example of determination by the time change detection unit 303.

FIG. 39 is a flowchart illustrating a region specifying process of a region determining unit 103.

FIG. 40 is a flowchart illustrating details of area determination processing.

FIG. 41 is a block diagram showing still another configuration of the area specifying unit 103.

[Fig. 42] Fig. 42 is a block diagram illustrating a configuration of a robust unit 361.

[Fig. 43] Fig. 43 is a diagram for describing motion compensation of the motion compensation unit 381.

[Fig. 44] Fig. 44 is a diagram for describing motion compensation of the motion compensation unit 381.

FIG. 45 is a flowchart illustrating a region specifying process.

FIG. 46 is a flowchart illustrating details of robust processing.

47 is a block diagram showing a configuration of a mixture ratio calculation unit 104. FIG.

FIG. 48 is a diagram showing an example of an ideal mixing ratio α.

FIG. 49 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 50 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 51 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 52 is a diagram illustrating a straight line approximating the mixture ratio α.

FIG. 53 is a diagram illustrating a plane that approximates a mixture ratio α.

FIG. 54 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 55 is a diagram illustrating correspondence between pixels of a plurality of frames when calculating a mixture ratio α.

FIG. 56 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 57 is a block diagram showing a configuration of a mixture ratio estimation processing unit 401.

FIG. 58 is a block diagram showing another configuration of the mixing ratio calculation unit 104.

FIG. 59 is a flowchart illustrating a process of calculating a mixture ratio.

FIG. 60 is a flowchart illustrating a process of calculating an estimated mixing ratio.

61 is a block diagram showing an example of the configuration of the foreground / background separator 105. FIG.

FIG. 62 is a diagram showing an input image, a foreground component image, and a background component image.

FIG. 63 is a model diagram in which a pixel value is expanded in the time direction and a period corresponding to a shutter time is divided.

FIG. 64 is a model diagram in which a pixel value is expanded in the time direction and a period corresponding to a shutter time is divided.

FIG. 65 is a model diagram in which the pixel value is expanded in the time direction and the period corresponding to the shutter time is divided.

FIG. 66 is a block diagram showing an example of a configuration of a separation unit 601.

[Fig. 67] Fig. 67 is a diagram illustrating an example of the separated foreground component image and background component image.

[Fig. 68] Fig. 68 is a flowchart illustrating a process of separating the foreground and the background.

69 is a block diagram showing an example of a configuration of a motion blur adjusting unit 106. FIG.

FIG. 70 is a diagram illustrating a processing unit.

71] A pixel value of a foreground component image is expanded in the time direction,
It is a model figure which divided the period corresponding to shutter time.

72 is a time-direction expanded pixel value of the foreground component image,
It is a model figure which divided the period corresponding to shutter time.

[FIG. 73] Develop pixel values of a foreground component image in the time direction,
It is a model figure which divided the period corresponding to shutter time.

FIG. 74 is a time-direction expansion of pixel values of a foreground component image,
It is a model figure which divided the period corresponding to shutter time.

75 is a diagram showing another configuration of the motion-blur adjusting unit 106. FIG.

FIG. 76 is a flowchart illustrating a process of adjusting the amount of motion blur included in the foreground component image by the motion blur adjustment unit.

77 is a block diagram showing another example of the configuration of the motion-blur adjusting unit 106. FIG.

[Fig. 78] Fig. 78 is a diagram illustrating an example of a model that specifies correspondence between pixel values and foreground components.

[Fig. 79] Fig. 79 is a diagram for describing calculation of a foreground component.

FIG. 80 is a diagram illustrating calculation of a foreground component.

[Fig. 81] Fig. 81 is a flowchart illustrating a process of removing motion blur of a foreground.

[Fig. 82] Fig. 82 is a block diagram illustrating another configuration of the function of the image processing device.

[Fig. 83] Fig. 83 is a diagram illustrating the configuration of a combining unit 1001.

FIG. 84 is a block diagram showing still another configuration of the function of the image processing device.

[Fig. 85] Fig. 85 is a block diagram illustrating a configuration of a mixing ratio calculation unit 1101.

FIG. 86 is a block diagram showing the structure of the foreground / background separator 1102.

[Fig. 87] Fig. 87 is a block diagram illustrating still another configuration of the function of the image processing device.

[Fig. 88] Fig. 88 is a diagram illustrating the configuration of a combining unit 1201.

[Explanation of symbols]

21 CPU, 22 ROM, 23 RAM, 26 input section, 27 output section, 28 storage section, 29 communication section,
51 magnetic disk, 52 optical disk, 53
Magneto-optical disk, 54 semiconductor memory, 101 object extraction unit, 102 motion detection unit, 103
Area specifying unit, 104 mixture ratio calculating unit, 105 foreground / background separating unit, 106 motion blur adjusting unit, 107 selecting unit, 201 frame memory, 202-1 to 20
2-4 static / moving determination unit, 203-1 to 203-3 area determination unit, 204 determination flag storage frame memory,
205 composition unit, 206 determination flag storage frame memory, 301 background image generation unit, 302 binary object image extraction unit, 303 temporal change detection unit,
321 correlation value calculation unit, 322 threshold value processing unit,
341 frame memory, 342 area determination unit, 3
61 Robustization unit, 381 Motion compensation unit, 382
Switch, 383-1 to 383-N frame memory, 384-1 to 384-N weighting unit, 38
5 integrating unit, 401 estimated mixing ratio processing unit, 402
Estimated mixing ratio processing unit, 403 Mixing ratio determination unit, 421
Delay circuit, 422 adder, 423 calculator,
441 selection unit, 442 selection unit, 601 separation unit, 602 switch, 603 combination unit, 604
Switch, 605 combining unit, 621 frame memory, 622 separation processing block, 623 frame memory, 631 uncovered area processing unit, 632
Covered area processing unit, 633 combining unit, 634 combining unit, 801 processing unit determining unit, 802 modeling unit, 803 equation generating unit, 804 adding unit,
805 operation unit, 806 motion blur adding unit, 80
7 selection unit, 821 selection unit, 901 processing unit determination unit, 902 modeling unit, 903 equation generation unit, 904 calculation unit, 905 correction unit, 906
Motion blur adding unit, 907 selecting unit, 1001 combining unit, 1021 background component generating unit, 1022 mixed region image combining unit, 1023 image combining unit, 1101 mixture ratio calculating unit, 1102 foreground / background separating unit, 1121
Selector, 1201 Combiner, 1221 Selector

Continued front page    (72) Inventor Junichi Ishibashi             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation (72) Takashi Sawao, the inventor             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation (72) Inventor Takahiro Nagano             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation (72) Inventor Toru Miyake             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation (72) Inventor Seiji Wada             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation F-term (reference) 5B057 BA11 CA08 CA12 CA16 CB08                       CB12 CB16 CH01 CH11 CH20                       DA08 DB02 DB09 DC22                 5C023 AA06 AA11 AA37 AA38 BA04                       BA11 CA01 DA04                 5L096 CA02 FA06 HA04

Claims (8)

[Claims] 1. An image processing apparatus for processing image data composed of a predetermined number of pixel data acquired by an imaging device having a predetermined number of pixels having a time integration effect, the image processing device corresponding to a target pixel of a target frame of the image data. To do
Pixel data of peripheral frames around the target frame are extracted as background pixel data corresponding to an object serving as a background of the plurality of objects of the image data, and the target pixel data of the target pixel and the target frame are extracted. Located near the pixel of interest in
Extracting neighboring pixel data of neighboring pixels, for the target pixel, the target pixel data and the neighboring pixel data,
And a relational expression generating unit that generates a plurality of relational expressions indicating the relationship between the target pixel data or the background pixel data corresponding to the neighboring pixel data, and based on the relational expression, corresponding to the target pixel, And a mixture ratio detecting unit that detects a mixture ratio indicating a mixture state of the plurality of objects in the real world, wherein the relational expression generating unit has a constant mixture ratio corresponding to the target pixel and the neighboring pixels. An image processing apparatus, wherein the plurality of relational expressions are generated based on the approximation. 2. The relational expression generating means is based on an approximation that a foreground object of the plurality of objects has a constant component, which is included in the target pixel data and the neighboring pixel data. The image processing apparatus according to claim 1, wherein a plurality of relational expressions are generated. 3. The relational expression generating means changes a component of a foreground object included in the target pixel data and the neighboring pixel data, which is a foreground, with respect to a position of the pixel. The image processing apparatus according to claim 1, wherein the plurality of relational expressions are generated on the basis of approximations that are regarded as target. 4. The image data, based on a mixture ratio with respect to the pixel of interest, includes the object image including only the foreground object component forming the foreground object of the image data, and the background object component forming the background object. The image processing apparatus according to claim 1, further comprising a foreground / background separation unit that separates the background object image into a foreground / background image. 5. The image processing apparatus according to claim 1, wherein the mixture ratio detecting means detects the mixture ratio by solving the plurality of relational expressions by a least square method. 6. An image processing method for processing image data consisting of a predetermined number of pixel data acquired by an image pickup device having a predetermined number of pixels having a time integration effect, the method corresponding to a target pixel of a target frame of the image data. To do
Pixel data of peripheral frames around the target frame are extracted as background pixel data corresponding to an object serving as a background of the plurality of objects of the image data, and the target pixel data of the target pixel and the target frame are extracted. Located near the pixel of interest in
Extracting neighboring pixel data of neighboring pixels, for the target pixel, the target pixel data and the neighboring pixel data,
And a relational expression generating step of generating a plurality of relational expressions showing a relation of the background pixel data corresponding to the target pixel data or the neighboring pixel data, and based on the relational expression, corresponding to the target pixel, A mixture ratio detecting step of detecting a mixture ratio indicating a mixture state of the plurality of objects in the real world, and in the relational expression generating step, the mixture ratio corresponding to the target pixel and the neighboring pixels is constant. The image processing method, wherein the plurality of relational expressions are generated based on the approximation. 7. A program for image processing for processing image data composed of a predetermined number of pixel data acquired by an image pickup device having a predetermined number of pixels having a time integration effect, the program comprising: Corresponding to the pixel of interest,
Pixel data of peripheral frames around the target frame are extracted as background pixel data corresponding to an object serving as a background of the plurality of objects of the image data, and the target pixel data of the target pixel and the target frame are extracted. Located near the pixel of interest in
Extracting neighboring pixel data of neighboring pixels, for the target pixel, the target pixel data and the neighboring pixel data,
And a relational expression generating step of generating a plurality of relational expressions showing a relation of the background pixel data corresponding to the target pixel data or the neighboring pixel data, and based on the relational expression, corresponding to the target pixel, A mixture ratio detecting step of detecting a mixture ratio indicating a mixture state of the plurality of objects in the real world, and in the relational expression generating step, the mixture ratio corresponding to the target pixel and the neighboring pixels is constant. A recording medium having a computer-readable program recorded thereon, wherein the plurality of relational expressions are generated based on the approximation. 8. A computer for image processing, which processes image data composed of a predetermined number of pixel data acquired by an image sensor having a predetermined number of pixels having a time integration effect, is provided with a target pixel of a target frame of the image data. Corresponding to,
Pixel data of peripheral frames around the target frame are extracted as background pixel data corresponding to an object serving as a background of the plurality of objects of the image data, and the target pixel data of the target pixel and the target frame are extracted. Located near the pixel of interest in
Extracting neighboring pixel data of neighboring pixels, for the target pixel, the target pixel data and the neighboring pixel data,
And a relational expression generating step of generating a plurality of relational expressions showing a relation of the background pixel data corresponding to the target pixel data or the neighboring pixel data, and based on the relational expression, corresponding to the target pixel, A mixture ratio detecting step of detecting a mixture ratio indicating a mixture state of the plurality of objects in the real world, and in the relational expression generating step, the mixture ratio corresponding to the target pixel and the neighboring pixels is constant. A program in which the plurality of relational expressions are generated based on certain approximations.